CN108706060A - Intelligent barrow for upstairs - Google Patents
Intelligent barrow for upstairs Download PDFInfo
- Publication number
- CN108706060A CN108706060A CN201810667291.8A CN201810667291A CN108706060A CN 108706060 A CN108706060 A CN 108706060A CN 201810667291 A CN201810667291 A CN 201810667291A CN 108706060 A CN108706060 A CN 108706060A
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- Prior art keywords
- wheel
- sensor
- electric
- control
- upstairs
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Handcart (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of technology and methods of intelligent barrow for upstairs.It is to adopt the method computerizedd control using technologies such as sensor, push-pull rods and realize car body stair activity.Intelligent barrow for upstairs is mainly made of perception part, control section and execution part in addition to controlled device car body.Wherein perception part is made of distance measuring sensor, pressure sensor etc..Control section is made of data collector, embedded computer and software etc.；Execution part is made of advance and retreat system, jacking system.Advance and retreat system is made of 8 dynamic wheels and controller；Jacking system is made of 4 or 8 electric pushrods and controller etc..(Fig. 1) intelligent barrow for upstairs in real time perceives external environment and oneself state by sensor, and these information are transmitted to computer.Computer by comparing, analysis, differentiates, calculates, the forward travel of electric push rod up and down motion and electric wheel being controlled, to realize autonomous stair activity according to these information.
Description
Technical field
This vehicle includes sensor measurement, computer system, dynamic wheel system, power push-pull rod rise and fall kinetic system
The combination of system and software algorithm, it is a complete system, is related to equipment and control method.More particularly to machinery, motor,
Electronics, photoelectricity, computer, automatically control with the contents such as software, belong to the classes such as robot, intelligent control, automatic Pilot field.
Background technology
Step and stair can be described as one of great innovation and creation of the mankind.There is it, the mankind travel upwardly climbing the mountain etc.
In the process can be the same to level land is walked, liberate both hands.It plays an important role for human development.It is human progress
Inevitable outcome.However, being for the bad elderly and the disabled of legs and feet, or to carrying for heavier object, still
One obstacle for being difficult to overcome.Especially in the building of not elevator or lack the public place of Wheelchair Accessible.Although various countries
All carry out the Wheelchair Accessible of disabled person energetically, but inevitably there are many occasions to only have step without elevator.For
People's walking can be replaced using motor vehicles and machines as walking level land in these places, to develop can go up downstairs
The vehicle of ladder is the needs of society and human development.
In order to solve the problems, such as top bar, many engineers and inventor, which have designed and developed, at present various climbs building
Tower wagon, main realization method has leg formula, crawler type and wheeled, but fails to be generalizable in main actual life.Mainly
Problem is that volume is larger, complicated, it is difficult to be operated, poor for applicability, load is small, and stability is poor, dangerous to wait to make application
It is restricted.
Due to the progress of scientific and technological level, sensor technology, electromechanical integration, the high-tech such as optoelectronic integration, intelligent control
Development be possible to design a kind of equipment that the intelligence of practicality climbs building, realize that it is desirable to utilize machine stair activity
Hope.
Invention content
As previously mentioned, it is the needs of people's daily life to help people's stairs-mover using machine.Stair activity vehicle is big at present
Mostly there is safety, stability, operability, flexibility, the load various problems such as small.In order to help people's stair activity, and
Solve the problems, such as that above-mentioned stair climbing vehicle exists, the present invention, which proposes, a kind of utilizing sensor, power push-pull rod and dynamic wheel skill
Art climbs vehicle --- the intelligent barrow for upstairs in building using vertical lift with the computer control method realization that horizontal movement is combined.
1. product form：
The intelligent barrow for upstairs is by car body, sensing and control system hardware, power advance and retreat system, powered lift system and control
Five most of composition (Fig. 1) of software composition processed：
1) car body
Car body includes mainly chassis, vehicle body, handlebar, operating mechanism etc.；
2) sensing and control system hardware
Sensing includes mainly distance, position, speed, pressure sensor, data acquisition, communication electricity with control system hardware
Road and embedded computer；
3) powered lift system
Powered lift system includes mainly 4 or 8 electric push rods, controller and brake locking device for inclined roller；
4) power advance and retreat system
Power advance and retreat system includes mainly 8 electric wheels, wheel control mechanism and wheel braking device etc.；
5) control software
Control software includes mainly analyzing, comparing, differentiating, calculating and relevant algorithm routine.
2. function and composition：
Car body is vehicle body, chassis and subsystem aggregate.Chassis is used to support vehicle body, subsystem and damper etc.；Vehicle body
For installing each component and operating mechanism；Handlebar is turned to for the stabilization of personnel and control；Operating mechanism is used for forward-reverse control
It makes and controls speed, direction when driving on plane ground.
Sensing and control system hardware major function are measurement distance, position, speed and pressure information, are adopted by data
Collecting system, communication system send control computer to.Calculating is machined, is handled, storing various data, and is analyzed by software
Calculating provides control instruction, controls body movement.Distance measuring sensor is mounted near dynamic wheel axle center, for measuring wheel
At a distance from step.Pressure sensor is mounted between vehicle body and the joint face for lifting push-pull rod, for measuring push-pull rod stress
Situation.
4 of powered lift system or 8 electric push rods are independently mounted on chassis of vehicle body according to certain intervals
On.It respective can move up and down under the control of the controller.Function is realize car body lifting or wheel flexible.
8 electric wheels of power advance and retreat system are mounted on power push-pull rod bottom end；They in respective control mechanism and
The lower rotating speed that can be certain of brake apparatus control realizes rotating forward, reversion, braking.Function is to realize the acceleration of car body, deceleration, preceding
Into, retreat, stop and turn to.For having 4 power push-pull rods and 8 push-pull rods, a push-pull rod can be divided into and install two
Dynamic wheel (being known as 84 groups of wheels) and a push-pull rod install two kinds of structure types of a dynamic wheel (being known as 88 groups of wheels).See
Attached drawing 2 and attached drawing 3.
Control software be the distance of sensor measurement is analyzed with status information, compared with, calculate, differentiate.Last shape
At instruction, jacking system and the work of advance and retreat system are controlled.
3. operation principle：
By the function of product with constitute it is found that power push-pull rod can be moved forward and backward with wheel, car body can be by push-pull rod above and below
Movement.The forward-reverse can accelerate, slow down, advancing, retreating, brake to car body moves, but can up and down it is vertical
Movement.The operation principle of intelligent barrow for upstairs is believed by sensor measurement, the relative position of perception vehicle and step, away from discrete state
Breath controls the movement of power push-pull rod by computer and stair activity is realized in the collaborative work of dynamic wheel movement.(Fig. 4, figure
5)
Description of the drawings
It is attached that Fig. 1 shows products to constitute figure
Attached drawing 2 is the installation side for indicating intelligent barrow for upstairs using the push-pull rod and wheel of 8 dynamic wheel, 4 power push-pull rod
Formula (2 power wheels correspond to 1 power push-pull rod scheme of installation)；
Attached drawing 3 is the installation side for indicating intelligent barrow for upstairs using the push-pull rod and wheel of 8 dynamic wheel, 8 power push-pull rod
Formula (1 power wheel corresponds to 1 power push-pull rod scheme of installation)；
Attached drawing 4 indicates simplify control block diagram when intelligent barrow for upstairs is gone upstairs；
Attached drawing 5 indicates simplify control block diagram when intelligent barrow for upstairs is gone downstairs；
Step is measured before 6 top bar of attached drawing, vehicle deceleration halts；
7 front-wheel of attached drawing and car body lift (in addition to first run group, other wheel groups are released, and car body is raised)；
8 Chinese herbaceous peony of attached drawing into；
9 second groups of wheels of attached drawing lift；
10 vehicle of attached drawing is transported forward.
Specific implementation mode
The specific building embodiment of climbing of intelligent barrow for upstairs can be realized by top bar step and step of getting out of a predicament or an embarrassing situation：
A. top bar step：
1) vehicle travels forward, and distance measuring sensor measures whether vehicle and front have step；
2) when having step before being measured to sensor when preceding, the data measured are transmitted to control computer, computer passes through
Analysis calculates, and determines the information such as distance, the height of step, while regulation speed.And judge that the distance between wheel and step are
It is no too small；If too small, control halts, to ensure that vehicle does not collide with front step；(Fig. 3)
3) slowing down in stopped process, computer control makes other push-pull rods being not close to corresponding to step wheel
Downward simultaneous ejection realizes that front-wheel is promoted together with car body, and car body keeps horizontal；(Fig. 4)
4) if hoisting depth reaches the limit of, but step height is still not achieved in front-wheel height.Then stop being promoted, decline
Fall back auto-returned；
5) when front-wheel and car body hoisting depth are higher than step, computer control, which is promoted, to be stopped, vehicle forward.
6) after wheel reaches above step, front-wheel decline lands.Front-wheel completes top bar work.(Fig. 5)
7) control system continues to control wheel movement, and car body travels forward.In the process, sensor has detected whether
Some wheel group is close to step；
8) when by measuring or calculate, it is found that when certain wheel group is close to step below, regulation speed.This wheel group passes through
Power push-pull rod is promoted；(Fig. 6)
9) ditto, when this group of wheel height is higher than step height, vehicle advances.When this group of wheel is reached above step,
This group of wheel is set to land, vehicle moves on.Until last group of wheel rises on step.
For the stair for having multiple continuous steps to constitute, every group of wheel repeats above procedure, you can realizes vehicle stair climbing
Purpose.Referring to (Fig. 6~Figure 10).During realization, wheel pushes away at a distance from step with power
B. it gets out of a predicament or an embarrassing situation step：
Note：The sensor that top bar is mainly used is distance measuring sensor, and gets out of a predicament or an embarrassing situation that mainly use is pressure sensing
Device.It gets out of a predicament or an embarrassing situation with top bar in addition to the sensor used is different, substantially top bar inverse process of getting out of a predicament or an embarrassing situation, schematic diagram of getting out of a predicament or an embarrassing situation
Top bar schematic diagram is can refer to, only the direction of motion is opposite.Figure eyes front from being seen last of top bar.
1) vehicle travels forward, and measures vehicle by distance measuring sensor and whether front is in need gets out of a predicament or an embarrassing situation.
2) when having step before being measured to sensor when preceding, the data measured are transmitted to control computer.
3) when close to step, control vehicle deceleration is gone slowly, and so that front-wheel is crossed step, and ensure that each wheel is in platform below
On rank.
4) when front-wheel fully passes over step edge, the output of this wheel group pressure sensor is zero.When this information is transmitted to control
After computer.Computer control front-wheel lifting drive push-pull rod is released downwards, while measuring whether wheel arrived step bottom
Portion.
5) if front-wheel dropping distance has arrived the limit, it is zero that pressure sensor, which still exports, illustrates that step height is raised,
Beyond falling head, front-wheel is withdrawn, and falls back auto-returned.
6) after current wheel reaches the bottom of the steps, the output of pressure sensor will become non-zero signal from zero.It is transmitted to control meter
Calculation machine, control computer send out to push away under power push-rod stops according to this signal and travel forward instruction with dynamic wheel, and vehicle is forward
Movement.Sensor measurement and discriminate whether that wheel crosses step simultaneously；
7) when there is wheel to cross step, the same corresponding power push-pull rod is released downwards, until this group of wheel reaches platform
Rank bottom, stairs-mover move on；
8) to the last one group of wheel crosses step edge.Each power push-pull rod in a front, which synchronizes, at this time retracts, and makes last
One group of wheel is fallen into place together with car body.
For the stair for having multiple continuous steps to constitute, every group of wheel repeats above procedure, you can realizes that vehicle is gone downstairs
Purpose.The decline opportunity of power push-pull rod and the information of falling head during realizing that car body is got out of a predicament or an embarrassing situation are passed by pressure
Sensor measures, and feeds back to computer.Computer by comparing, differentiate and calculate to wheel descending depth, forward speed and position
Set control.
Claims (5)
1. intelligent barrow for upstairs is to utilize sensor, computer control, the technologies such as the lifting of power push-pull rod and power wheel advance and retreat, using more
Rock-steady structure is taken turns, using comprehensive coordination control method, the stair activity realized the autonomous level of vehicle, stablized.Its realization includes
Technology, method, system product etc., it is characterised in that the following aspects：
Realize car body relative to the position of step, distance and vehicle using the combination technique of distance measuring sensor and pressure sensor
The perception (technology and method) of state.
2. realizing the lifting and decline of car body using electric push rod, moving band motor vehicles bodies using electric wheel advances so that people
Or object smoothly and steadily climbing up and down stairs.(technology)
3. being perceived using sensor, adopting and computerized control, manipulate electric push rod and electric wheel execution, make body movement,
It constitutes closed loop and climbs building control system.(system product)
4. carrying out synergistic combination control to electric push rod and electric wheel using algorithm and realizing self-determination climbing stairs.(method)
5. being constituted using 8 electric push rods of 84 groups of wheels or 8 electric wheels of 8 electric wheels, 4 electric push rods or 8 taking turns 8
Group rock-steady structure form.It can guarantee under normally use condition, all constituted in several carrying rollers by object carrier center of gravity several
Inside what figure, without outside them.(structure)
Features above belongs to protection content.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810667291.8A CN108706060A (en) | 2018-06-26 | 2018-06-26 | Intelligent barrow for upstairs |
| PCT/CN2019/000029 WO2020000991A1 (en) | 2018-06-26 | 2019-02-20 | Intelligent vehicle with the ability to climb stairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810667291.8A CN108706060A (en) | 2018-06-26 | 2018-06-26 | Intelligent barrow for upstairs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108706060A true CN108706060A (en) | 2018-10-26 |
Family
ID=63872157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810667291.8A Withdrawn CN108706060A (en) | 2018-06-26 | 2018-06-26 | Intelligent barrow for upstairs |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108706060A (en) |
| WO (1) | WO2020000991A1 (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109646202A (en) * | 2019-01-21 | 2019-04-19 | 吉林大学 | A kind of intelligence all-wheel drive auxiliary device |
| CN109677507A (en) * | 2019-01-04 | 2019-04-26 | 南开大学 | A kind of rolling wheeled robot chassis |
| CN110525538A (en) * | 2019-08-16 | 2019-12-03 | 武汉理工大学 | A kind of Stair climbing device |
| WO2020000991A1 (en) * | 2018-06-26 | 2020-01-02 | Shi Gaorong | Intelligent vehicle with the ability to climb stairs |
| CN111232081A (en) * | 2020-03-13 | 2020-06-05 | 西安文理学院 | All-dimensional horizontal posture stair climbing robot mechanical system and method |
| CN111267793A (en) * | 2020-02-11 | 2020-06-12 | 北京眸视科技有限公司 | Obstacle-surmountable robot and obstacle-surmountable method thereof |
| CN111449577A (en) * | 2020-04-29 | 2020-07-28 | 重庆理工大学 | Floor sweeping robot capable of climbing stairs and working method thereof |
| CN111543904A (en) * | 2020-05-25 | 2020-08-18 | 天津韩洁日用品有限公司 | Floor cleaning machine capable of cleaning side wall of step and climbing step |
| CN111572670A (en) * | 2020-05-18 | 2020-08-25 | 国网天津市电力公司 | Obstacle crossing device applied to AGV trolley |
| WO2020182129A1 (en) * | 2019-03-10 | 2020-09-17 | 冯春魁 | Moving device, machine, control method, storage medium and control device |
| CN112224300A (en) * | 2020-12-15 | 2021-01-15 | 之江实验室 | Stable walking method for biped robot to descend steps |
| CN112572624A (en) * | 2020-12-22 | 2021-03-30 | 武汉尹珞蝌蚪教育科技有限公司 | But remote control's robot that can climb height |
| CN112660271A (en) * | 2020-12-31 | 2021-04-16 | 三一汽车制造有限公司 | Transfer trolley for inside and outside of plant |
| CN112693556A (en) * | 2021-01-19 | 2021-04-23 | 北京三快在线科技有限公司 | Electric vehicle, and motion control device and control method thereof |
| CN112829844A (en) * | 2021-01-05 | 2021-05-25 | 中国长江电力股份有限公司 | Intelligent stair climbing carrying robot and method |
| CN113370228A (en) * | 2021-06-06 | 2021-09-10 | 湖南环境生物职业技术学院 | Intelligence propaganda pronunciation robot structure |
| CN113719123A (en) * | 2021-09-18 | 2021-11-30 | 中印恒盛(北京)贸易有限公司 | Intelligent engineering robot suitable for modular building |
| WO2022020974A1 (en) * | 2020-07-31 | 2022-02-03 | Shi Gao Rong | Intelligent motion platform robot |
| WO2022033044A1 (en) * | 2020-08-11 | 2022-02-17 | 腾讯科技（深圳）有限公司 | Leg assembly and device for robot |
| CN115151479A (en) * | 2020-02-27 | 2022-10-04 | 戴森技术有限公司 | Vehicle with a steering wheel |
| CN115320684A (en) * | 2022-09-20 | 2022-11-11 | 燕山大学 | Material transport vehicle capable of automatically going upstairs and downstairs |
| CN116018570A (en) * | 2020-08-06 | 2023-04-25 | 三菱电机楼宇解决方案株式会社 | Control device for autonomous mobile body, and autonomous mobile body |
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| FR3127461B1 (en) * | 2021-09-25 | 2024-03-15 | Mathieu Bailly | Stair lift device independent of a rail |
| TWI818414B (en) * | 2022-01-18 | 2023-10-11 | 黃啟光 | Ladder vehicle system and its vehicle module |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020000991A1 (en) * | 2018-06-26 | 2020-01-02 | Shi Gaorong | Intelligent vehicle with the ability to climb stairs |
| CN109677507A (en) * | 2019-01-04 | 2019-04-26 | 南开大学 | A kind of rolling wheeled robot chassis |
| CN109677507B (en) * | 2019-01-04 | 2020-05-19 | 南开大学 | Chassis of rolling wheel type robot |
| CN109646202A (en) * | 2019-01-21 | 2019-04-19 | 吉林大学 | A kind of intelligence all-wheel drive auxiliary device |
| WO2020182129A1 (en) * | 2019-03-10 | 2020-09-17 | 冯春魁 | Moving device, machine, control method, storage medium and control device |
| CN110525538A (en) * | 2019-08-16 | 2019-12-03 | 武汉理工大学 | A kind of Stair climbing device |
| CN111267793B (en) * | 2020-02-11 | 2021-07-16 | 北京眸视科技有限公司 | Obstacle-surmountable robot and obstacle-surmountable method thereof |
| CN111267793A (en) * | 2020-02-11 | 2020-06-12 | 北京眸视科技有限公司 | Obstacle-surmountable robot and obstacle-surmountable method thereof |
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| CN111232081B (en) * | 2020-03-13 | 2024-02-27 | 西安文理学院 | Mechanical system and method of omnibearing horizontal posture stair climbing robot |
| CN111232081A (en) * | 2020-03-13 | 2020-06-05 | 西安文理学院 | All-dimensional horizontal posture stair climbing robot mechanical system and method |
| CN111449577A (en) * | 2020-04-29 | 2020-07-28 | 重庆理工大学 | Floor sweeping robot capable of climbing stairs and working method thereof |
| CN111572670A (en) * | 2020-05-18 | 2020-08-25 | 国网天津市电力公司 | Obstacle crossing device applied to AGV trolley |
| CN111543904A (en) * | 2020-05-25 | 2020-08-18 | 天津韩洁日用品有限公司 | Floor cleaning machine capable of cleaning side wall of step and climbing step |
| CN111543904B (en) * | 2020-05-25 | 2021-11-05 | 胡佳威 | Floor cleaning machine capable of cleaning side wall of step and climbing step |
| WO2022020974A1 (en) * | 2020-07-31 | 2022-02-03 | Shi Gao Rong | Intelligent motion platform robot |
| CN116018570A (en) * | 2020-08-06 | 2023-04-25 | 三菱电机楼宇解决方案株式会社 | Control device for autonomous mobile body, and autonomous mobile body |
| WO2022033044A1 (en) * | 2020-08-11 | 2022-02-17 | 腾讯科技（深圳）有限公司 | Leg assembly and device for robot |
| CN112224300A (en) * | 2020-12-15 | 2021-01-15 | 之江实验室 | Stable walking method for biped robot to descend steps |
| CN112572624A (en) * | 2020-12-22 | 2021-03-30 | 武汉尹珞蝌蚪教育科技有限公司 | But remote control's robot that can climb height |
| CN112660271A (en) * | 2020-12-31 | 2021-04-16 | 三一汽车制造有限公司 | Transfer trolley for inside and outside of plant |
| CN112829844A (en) * | 2021-01-05 | 2021-05-25 | 中国长江电力股份有限公司 | Intelligent stair climbing carrying robot and method |
| CN112693556B (en) * | 2021-01-19 | 2022-03-11 | 北京三快在线科技有限公司 | Electric vehicle, and motion control device and control method thereof |
| CN112693556A (en) * | 2021-01-19 | 2021-04-23 | 北京三快在线科技有限公司 | Electric vehicle, and motion control device and control method thereof |
| CN113370228A (en) * | 2021-06-06 | 2021-09-10 | 湖南环境生物职业技术学院 | Intelligence propaganda pronunciation robot structure |
| CN113719123A (en) * | 2021-09-18 | 2021-11-30 | 中印恒盛(北京)贸易有限公司 | Intelligent engineering robot suitable for modular building |
| CN115320684A (en) * | 2022-09-20 | 2022-11-11 | 燕山大学 | Material transport vehicle capable of automatically going upstairs and downstairs |
| CN115320684B (en) * | 2022-09-20 | 2024-03-12 | 燕山大学 | Material transport vehicle capable of independently going upstairs and downstairs |
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|---|---|
| WO2020000991A1 (en) | 2020-01-02 |
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