CN108908288A - Wireless remote control article recognizes robot and robot carries out article and knows method for distinguishing - Google Patents
Wireless remote control article recognizes robot and robot carries out article and knows method for distinguishing Download PDFInfo
- Publication number
- CN108908288A CN108908288A CN201811162679.9A CN201811162679A CN108908288A CN 108908288 A CN108908288 A CN 108908288A CN 201811162679 A CN201811162679 A CN 201811162679A CN 108908288 A CN108908288 A CN 108908288A
- Authority
- CN
- China
- Prior art keywords
- robot
- car body
- wireless remote
- remote control
- video image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
Abstract
The present invention provides a kind of wireless remote control article identification robot, including car body, wheel arrangement, support device, lifting device, control system and identifying system, car body is supported by wheel arrangement, and car body and wheel arrangement collectively form can be on the 4 wheel driven chassis of ground Omni-mobile；Lifting device, support device, identifying system and control system are provided with above car body.Wireless remote control article identification provided by the invention robot can be remotely controlled with smart machines such as smart phone, computer or remote-control handles, neatly moved in the operating conditions such as field exploration, offline scouting, massif explosion, accident investigation, it can not only get rid of under dangerous working condition environment human vision bring apart from upper constraint, it can use simultaneously and build the identifying system on robot body to the automatic Classification and Identification of object progress in long distance environment, and will identify that the information come accurately is transferred to external control devices in real time.
Description
Technical field
The present invention relates to a kind of wireless remote control articles to recognize robot.
Background technique
Currently, with the continuous development of artificial intelligence and modern control technology, in industrial production and daily life very
Multiplexing has had stepped through robot substitution.Dangerous work especially under field work and narrow environment, robot is just
Their effect can be played significantly.It, can such as in the operating conditions such as field exploration, offline scouting, massif explosion, accident investigation
There is the demand for catering to market of the robot positive maximum of sensing capability to the object in long distance environment around.By artificial intelligence
Technology is combined with robot wireless control, can make robot under the premise of getting rid of distance restraint, still with the think of of people
Dimension.
Currently, the application for still not combining robot wireless control technology and object detection identification technology, can make
Robot still has in the case where wireless manipulation carries out automatic object detection and Classification and Identification from long-distance video image
Ability, and will identify that come information be accurately transferred to external control devices in real time.
Summary of the invention
In view of the deficiencies of the prior art, it is an object of the present invention to provide a kind of wireless remote control articles to recognize robot, by people
Work intellectual technology is combined with robot wireless control, and robot can be made still to have people under conditions of getting rid of distance restraint
Thinking, realize that far distance control robot carries out automatic object detection and Classification and Identification to the video image in environment, and will
The information identified is accurately transferred to external control devices in real time.
To achieve the above object, the present invention is realized by following scheme：Wireless remote control article recognizes robot, including vehicle
Body, wheel arrangement, support device, lifting device, control system and identifying system, the car body are supported by wheel arrangement, car body
Collectively forming with wheel arrangement can be on the 4 wheel driven chassis of ground Omni-mobile；Lifting device, support are provided with above the car body
Device, identifying system and control system.
The car body includes two front vehicle wheels and two rear wheels for supporting acrylic board vehicle body, acrylic board vehicle body 101
Be equipped with cylindrical copper post, cylindrical, copper top end is fixed on the stationary platform, fixed platform two sides and left and right wheels component it
Between damping spring is installed, for mitigating the vibration of trolley in the process of running.
The wheel arrangement includes U-shaped bearing block, the acrylic board vehicle body of the U-shaped bearing block upper surface and the car body
It is connected, the wheel shaft of the Mecanum wheel is connected by shaft coupling with worm and gear motor output shaft, the worm and gear electricity
Machine fuselage is fixed on U-shaped bearing block lateral surface.
The support device includes stripe shape aluminum profile and U-shaped aluminum profile, by solid between stripe shape aluminum profile and U-shaped aluminum profile
Determine nut and be interconnected to form support corner bracket, support corner bracket is separately fixed at the car body surrounding, for supporting the identification
System.
The lifting device includes stepper motor, stepper motor shaft coupling, trapezoidal screw, linear guide, sliding block and screw rod
Support base, the stepper motor are connect by stepper motor shaft coupling with trapezoidal screw, and the trapezoidal screw bottom end passes through screw rod
Support base is fixed on the car body；The linear guide top is connect by L shape aluminum profile with stepper motor, the linear guide bottom
End is fixed on the car body；The straight-line guide rail slide block by bar shaped aluminum profile lateral connection two-by-two, the straight-line guide rail slide block with
Trapezoidal screw sliding block is connected by trapezoidal aluminum profile；
For stepper motor driving trapezoidal screw to drive trapezoidal screw sliding block to move up and down, trapezoidal screw sliding block passes through screw-driven
Straight-line guide rail slide block is driven to move up and down.
The control system includes singlechip control panel, WIFI digital transmission module, motor driving plate, voltage stabilization plate and 36V lithium electricity
Pond；The singlechip control panel is the intelligent kernel of control system, and the WIFI digital transmission module receives the life that smart phone is sent
Enable, motor driving plate control and driving each motor of telecar, the voltage stabilization plate the pressure stabilizing of 36V lithium battery voltage at 24V and
5V provides power supply for each hardware of electric-control system.
The identifying system includes that camera 404, image acquisition units, object detection unit and object classification identification are single
Member, the image acquisition units, object detection unit, object classification recognition unit integrated installation are in laptop 50
Portion, the laptop 50 and external wireless control equipment establish connection by WIFI, and laptop 50 is by system identification
The environmental information come is sorted out accurately to be transferred in real time in external wireless control equipment；The camera 404 and the notes
Signal transmission is carried out by USB data line 60 between this computer 50, the object detection unit utilizes preparatory trained detection
Son detect and determine to the video image of video image acquisition unit picks the classification of video image, the object classification
Recognition unit determines that the video image of classification carries out sophisticated category identification after detecting to object detection unit.
Article is carried out using the wireless remote control article identification robot and knows method for distinguishing, is included the following steps：
（1）Camera grabs video image, and the transmission of video images that will acquire by USB data line is to laptop 50；
（2）Object detection unit carries out multiclass object detection to video image, using adaboost+haar training multiple objects
Detection carries out object detection to video image using these detection, determines corresponding object category, object in video image
Classification and Identification unit corresponds to the classification of object according to video image, using deep learning algorithm, calls corresponding model, carries out essence
Thin Classification and Identification；
（3）System identification is sorted out the environmental information come and is accurately transferred to external wireless control equipment in real time by laptop
On.
Beneficial effects of the present invention are：1, wireless remote control article identification provided by the invention robot can use intelligent hand
The smart machines such as mechanical, electrical brain or remote-control handle are remotely controlled, neatly field exploration, it is offline scout, massif explosion, accident
Investigation etc. is moved in operating conditions, it can not only get rid of under dangerous working condition environment human vision bring apart from upper constraint,
Automatic Classification and Identification is carried out to the object in long distance environment using the identifying system built on robot body simultaneously, and
It will identify that the information come accurately is transferred to external control devices in real time.The present invention cannot be only used for identification face, vehicle, also
It can recognize the article with a certain feature, can be suitably used for the robot under dangerous, narrow environment and long distance environment object is carried out
The technical issues of accurately autonomous classification is with transmitting in real time.
2, the frame part is supported by four Mecanum wheels, forms 4 wheel driven chassis, can omnidirection spirit on the ground
Movement living.
3, the frame part front end is equipped with lifting device, which includes trapezoidal screw and two linear guides
The vertical rail of formation, wherein trapezoidal screw is attached by shaft coupling and stepper motor, and by screw mandrel support seat with
Car body, which is realized, to be fixed, and the sliding block on sliding block and trapezoidal screw in linear guide is realized by aluminum profile to be connected, camera installation
It is fixed on the platform of sliding block coupling part formation, the transmission of screw rod is driven by the driving of top stepper motor, to make to slide
Block drives camera to move up and down on vertical straight line guide rail, and control camera clearly sensitively captures different vertical orientation
Video image.
4, the frame part upper end is also equipped with support device, for supporting the notebook electricity for integrating insighted other system
Brain, the support device are fixed on vehicle frame surrounding by multiple support frames and are formed, and each support frame is by between different size of aluminum profile
Be connected with each other by screw and nut, center forms rectangular card slot, facilitate the transport and pick-and-place of laptop, at the same convenient for pair
Program in identifying system is modified.
Detailed description of the invention
Following further describes the present invention with reference to the drawings：
Fig. 1 is overall structure figure of the invention.
Fig. 2 is the structure chart of car body of the invention.
Fig. 3 is the structure chart of wheel arrangement of the invention.
Fig. 4 is the structure chart of support device of the invention.
Fig. 5 is the structure chart of lifting device of the invention.
Fig. 6 is the composition schematic diagram of taxonomy of goods identifying system of the invention.
In figure：Car body 10, wheel arrangement 20, support device 30, lifting device 40, laptop 50, USB data line
60；
Acrylic board vehicle body 101, front vehicle wheel 102, rear wheel 103, copper post 104, fixed platform 105, damping spring 106；
Mecanum wheel 201, U-shaped bearing block 202, shaft coupling 203, worm and gear motor 204；
Bar shaped aluminum profile 301, U-shaped aluminum profile 302 support corner bracket 303；
Stepper motor 401, shaft coupling 402, trapezoidal screw 403, camera 404, linear guide 405, straight-line guide rail slide block 406,
Screw mandrel support seat 407, bar shaped aluminum profile 408, trapezoidal aluminum profile 409, L shape aluminum profile 410, trapezoidal screw sliding block 411.
Specific embodiment
As shown in Figure 1, wireless remote control article recognizes robot, including car body 10, wheel arrangement 20, support device 30, liter
Falling unit 40, control system and identifying system, the car body 10 are supported by wheel arrangement 20, and car body 10 and wheel arrangement 20 are common
Composition can be on the 4 wheel driven chassis of ground Omni-mobile；Lifting device 40, support device 30, identification are provided with above the car body 10
System and control system.
The car body 10 includes two front vehicle wheels 102 and two rear wheels 103, Ya Ke of support acrylic board vehicle body 101
Power wooden handcart body 101 is equipped with cylindrical copper post 104, and cylindrical 104 top of copper post is fixed in fixed platform 105, fixed platform
Damping spring 106 is installed, for mitigating the vibration of trolley in the process of running between 105 two sides and left and right wheels component 20.
The wheel arrangement 20 includes U-shaped bearing block 202, the Asia of U-shaped 202 upper surface of bearing block and the car body 10
Gram force wooden handcart body 101 is connected, and the wheel shaft of the Mecanum wheel 201 passes through shaft coupling 203 and 204 output shaft of worm and gear motor
It is connected, 204 fuselage of worm and gear motor is fixed on U-shaped 202 lateral surface of bearing block.Thus structure in the course of work, is led to
Cross the all-around mobile that the turbine and worm motor 204 drives Mecanum wheel 201 to realize entire vehicle.
The support device 30 includes stripe shape aluminum profile 301 and U-shaped aluminum profile 302, stripe shape aluminum profile 301 and U-shaped aluminium profiles
Support corner bracket 303 is interconnected to form by fixture nut between material 302, support corner bracket 303 is separately fixed at the car body 10
Surrounding, for supporting the identifying system.Thus structure facilitates laptop（50）Transport and pick-and-place, be convenient for simultaneously
It modifies to the program in identifying system.
The lifting device 40 includes stepper motor 401, stepper motor shaft coupling 402, trapezoidal screw 403, linear guide
405, sliding block 406 and screw mandrel support seat 407, the stepper motor 401 pass through stepper motor shaft coupling 402 and trapezoidal screw 403
Connection, 403 bottom end of trapezoidal screw are fixed on car body 10 by screw mandrel support seat 407；405 top of linear guide is logical
It crosses L shape aluminum profile 410 to connect with stepper motor 401,405 bottom end of linear guide is fixed on car body 10；The straight line is led
Lateral connection, the straight-line guide rail slide block 406 and trapezoidal screw sliding block 411 are logical two-by-two by bar shaped aluminum profile 408 for rail sliding block 406
Trapezoidal aluminum profile 409 is crossed to connect；
Stepper motor 401 drives trapezoidal screw 403 to drive trapezoidal screw sliding block 411 to move up and down, trapezoidal screw sliding block 411
Straight-line guide rail slide block 406 is driven to move up and down by screw-driven.
The control system includes singlechip control panel, WIFI digital transmission module, motor driving plate, voltage stabilization plate and 36V lithium electricity
Pond；The singlechip control panel is the intelligent kernel of control system, and the WIFI digital transmission module receives the life that smart phone is sent
Enable, motor driving plate control and driving each motor of telecar, the voltage stabilization plate the pressure stabilizing of 36V lithium battery voltage at 24V and
5V provides power supply for each hardware of electric-control system.
The identifying system includes that camera 404, image acquisition units, object detection unit and object classification identification are single
Member, the image acquisition units, object detection unit, object classification recognition unit integrated installation are in laptop 50
Portion, the laptop 50 and external wireless control equipment establish connection by WIFI, and laptop 50 is by system identification
The environmental information come is sorted out accurately to be transferred in real time in external wireless control equipment；The camera 404 and the notes
Signal transmission is carried out by USB data line 60 between this computer 50, the object detection unit utilizes preparatory trained detection
Son detect and determine to the video image of video image acquisition unit picks the classification of video image, the object classification
Recognition unit determines that the video image of classification carries out sophisticated category identification after detecting to object detection unit.
Article is carried out using the wireless remote control article identification robot and knows method for distinguishing, is included the following steps：
（1）Camera 404 grabs video image, and gives notebook electricity by the transmission of video images that USB data line 60 will acquire
Brain 50；
（2）Object detection unit carries out multiclass object detection to video image, using adaboost+haar training multiple objects
Detection carries out object detection to video image using these detection, determines corresponding object category, object in video image
Classification and Identification unit corresponds to the classification of object according to video image, using deep learning algorithm, calls corresponding model, carries out essence
Thin Classification and Identification；
（3）The environmental information that system identification sorts out accurately is transferred to external wireless control in real time and set by laptop 50
It is standby upper.
Further, the camera（404）It is fixed on lifting device（40）Lifting part formed platform on,
Pass through trapezoidal screw（403）With linear guide（405）Form vertical rail, straight-line guide rail slide block（406）With trapezoidal screw sliding block
（411）Pass through trapezoidal aluminum profile（409）Connection, camera are fixed on the platform of sliding block coupling part formation, pass through top
The driving of portion's stepper motor drives the transmission of screw rod, to make sliding block that camera be driven move down on vertical straight line guide rail
Dynamic, control camera clearly delicately captures the video image in different vertical orientation.
Further, the singlechip control panel passes through WIFI digital transmission module and smart phone, computer or remote-control handle etc.
APP client on smart machine is connected, and the APP on the smart machine can not only send control command to machine by WIFI
Device vehicle singlechip control panel makes robot vehicle singlechip control panel control each motor and executes corresponding actions, and the smart machine
On APP wireless connection is also established by WIFI with the laptop for being integrated with identifying system on robot vehicle, can will be
System identification sorts out the environmental information come and is accurately transferred on external control devices in real time.
Wireless remote control article identification provided by the invention robot can use the intelligence such as smart phone, computer and remote-control handle
Equipment is remotely controlled, and is neatly checked etc. in operating conditions and is moved in field exploration, offline scoutings, massif explosion, accident.It
Human vision bring can not only be got rid of under dangerous working condition environment apart from upper constraint, while fast using the identifying system built
Speed effectively identifies the object in long distance environment, distinguishes the type of object, and will identify that the information come is quasi- in real time
True is transferred to external control devices.
Through the above description, those skilled in the art completely can be in the model without departing from this invention technical idea
In enclosing, various changes and amendments are carried out all within protection scope of the present invention.Unaccomplished matter of the invention, belongs to ability
The common knowledge of field technique personnel.
Claims (8)
1. wireless remote control article recognizes robot, including car body（10）, wheel arrangement（20）, support device（30）, lifting device
（40）, control system and identifying system, the car body（10）By wheel arrangement（20）Support, car body（10）With wheel arrangement (20)
Collectively forming can be on the 4 wheel driven chassis of ground Omni-mobile；The car body（10）Top is provided with lifting device（40）, support dress
It sets（30）, identifying system and control system.
2. wireless remote control article according to claim 1 recognizes robot, it is characterised in that：The car body（10）Including branch
Support acrylic board vehicle body（101）Two front vehicle wheels（102）With two rear wheels（103）, acrylic board vehicle body（101）It is equipped with
Cylindrical copper post（104）, cylindrical copper post（104）Top is fixed on fixed platform（105）On, fixed platform（105）Two sides with
Left and right wheels component（20）Between damping spring is installed（106）, for mitigating the vibration of trolley in the process of running.
3. wireless remote control article according to claim 1 recognizes robot, it is characterised in that：The wheel arrangement（20）Packet
Include U-shaped bearing block（202）, the U-shaped bearing block（202）Upper surface and the car body（10）Acrylic board vehicle body（101）Phase
Even, the Mecanum wheel（201）Wheel shaft pass through shaft coupling（203）With worm and gear motor（204）Output shaft is connected, institute
State worm and gear motor（204）Fuselage is fixed on U-shaped bearing block（202）Lateral surface.
4. wireless remote control article according to claim 1 recognizes robot, it is characterised in that：The support device（30）Packet
Include stripe shape aluminum profile（301）With U-shaped aluminum profile（302）, stripe shape aluminum profile（301）With U-shaped aluminum profile（302）Between pass through fixation
Nut is interconnected to form support corner bracket（303）, support corner bracket（303）It is separately fixed at the car body（10）Surrounding is used to branch
The support identifying system.
5. wireless remote control article according to claim 1 recognizes robot, it is characterised in that：The lifting device（40）Packet
Include stepper motor（401）, stepper motor shaft coupling（402）, trapezoidal screw（403）, linear guide（405）, sliding block（406）And silk
Bar support base（407）, the stepper motor（401）Pass through stepper motor shaft coupling（402）With trapezoidal screw（403）Connection, institute
State trapezoidal screw（403）Bottom end passes through screw mandrel support seat（407）It is fixed on car body（10）On；The linear guide（405）Top
Pass through L shape aluminum profile（410）With stepper motor（401）Connection, the linear guide（405）Bottom end is fixed on car body（10）On；
The straight-line guide rail slide block（406）Pass through bar shaped aluminum profile（408）Lateral connection two-by-two, the straight-line guide rail slide block（406）With
Trapezoidal screw sliding block（411）Pass through trapezoidal aluminum profile（409）Connection；
Stepper motor（401）Drive trapezoidal screw（403）To drive trapezoidal screw sliding block（411）It moves up and down, trapezoidal screw
Sliding block（411）Straight-line guide rail slide block is driven by screw-driven（406）It moves up and down.
6. wireless remote control article according to claim 1 recognizes robot, it is characterised in that：The control system includes single
Piece machine control panel, WIFI digital transmission module, motor driving plate, voltage stabilization plate and 36V lithium battery；The singlechip control panel is control system
The intelligent kernel of system, the WIFI digital transmission module receive the order that smart phone is sent, the motor driving plate control and driving
Each motor of telecar, the voltage stabilization plate, at 24V and 5V, provide power supply the pressure stabilizing of 36V lithium battery voltage for each hardware of electric-control system.
7. wireless remote control article according to claim 1 recognizes robot, it is characterised in that：The identifying system includes taking the photograph
As head（404）, image acquisition units, object detection unit and object classification recognition unit, the image acquisition units, object
Detection unit, object classification recognition unit integrated installation are in laptop（50）Inside, the laptop（50）With it is outer
Portion's wireless control apparatus establishes connection, laptop by WIFI（50）It is real-time that system identification is sorted out to the environmental information come
It is accurately transferred in external wireless control equipment；The camera（404）With the laptop（50）Between pass through USB
Data line（60）Signal transmission is carried out, the object detection unit is using trained detection in advance, to video image acquisition
The video image of unit picks detect and determine the classification of video image, and the object classification recognition unit is to object detection
Determine that the video image of classification carries out sophisticated category identification after unit detection.
8. wireless remote control article identification according to claim 1-7 robot carries out article and knows method for distinguishing,
It is characterized in including the following steps：
（1）Camera（404）Video image is grabbed, and passes through USB data line（60）The transmission of video images that will acquire is to notes
This computer（50）；
（2）Object detection unit carries out multiclass object detection to video image, using adaboost+haar training multiple objects
Detection carries out object detection to video image using these detection, determines corresponding object category, object in video image
Classification and Identification unit corresponds to the classification of object according to video image, using deep learning algorithm, calls corresponding model, carries out essence
Thin Classification and Identification；
（3）Laptop（50）System identification is sorted out into the environmental information come and is accurately transferred to external wireless control in real time
In equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811162679.9A CN108908288A (en) | 2018-09-30 | 2018-09-30 | Wireless remote control article recognizes robot and robot carries out article and knows method for distinguishing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811162679.9A CN108908288A (en) | 2018-09-30 | 2018-09-30 | Wireless remote control article recognizes robot and robot carries out article and knows method for distinguishing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108908288A true CN108908288A (en) | 2018-11-30 |
Family
ID=64409114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811162679.9A Pending CN108908288A (en) | 2018-09-30 | 2018-09-30 | Wireless remote control article recognizes robot and robot carries out article and knows method for distinguishing |
Country Status (1)
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110058518A (en) * | 2019-04-04 | 2019-07-26 | 江苏大学 | A kind of screw-pushing type mobile platform and its control method based on automatically controlled electricity drive |
| CN112092936A (en) * | 2020-08-28 | 2020-12-18 | 湖北中科网络科技股份有限公司 | Omnidirectional movement intelligence parking robot |
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