CN108942869A - A kind of intelligence omni-directional mobile robots - Google Patents
A kind of intelligence omni-directional mobile robots Download PDFInfo
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- CN108942869A CN108942869A CN201811017818.9A CN201811017818A CN108942869A CN 108942869 A CN108942869 A CN 108942869A CN 201811017818 A CN201811017818 A CN 201811017818A CN 108942869 A CN108942869 A CN 108942869A
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- 230000002093 peripheral effect Effects 0.000 claims abstract description 32
- 238000004891 communication Methods 0.000 claims abstract description 22
- 238000009434 installation Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 5
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 2
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intelligent omni-directional mobile robots, including round top plate, round middle plate, round bottom plate, upper peripheral plate, lower peripheral plate, controller, wireless communication module, power module, battery, motor drive module, laser sensor, ultrasonic sensor, PSD sensor, operation panel, camera, three driving motors and three omni-directional wheels.The intelligence omni-directional mobile robots acquire external signal using each sensor, by functions such as mutually coordinated Omni-mobile, automatic obstacle avoiding and the voice controls for realizing robot of controller, the high, good reliability with stability, it can adapt to a variety of environment, the operation of autonomous intelligence avoidance, it is able to carry out speech control, can be widely applied in intelligent logistics system.
Description
Technical field
The invention is related to a kind of mobile robot, especially a kind of intelligent omni-directional mobile robots.
Background technique
Currently, intelligent mobile robot has been widely used in automatic material flow production line, and forms relevant production
Industry.The core of intelligent mobile robot is location and navigation technology, there are commonly: magnetic stripe navigation, vision guided navigation, laser SLAM navigation
Deng although can satisfy enterprise demand, having some limitations, if magnetic stripe navigates, route fixes, need to be laid with specific
Magnetic stripe, be difficult to realize robot intelligent mobile and automatic obstacle-avoiding, if necessary to replace route then need to re-lay magnetic stripe,
Laser SLAM navigation is expensive, and cost performance is not high.
Summary of the invention
Innovation and creation purpose: a kind of robot for capableing of Omni-mobile is provided, can be realized the autonomous omnidirectional of path planning
It is mobile.
Technical solution: intelligent omni-directional mobile robots described in the invention, including round top plate, round middle layer
Plate, round bottom plate, upper peripheral plate, lower peripheral plate, controller, wireless communication module, power module, battery, motor
Drive module, laser sensor, ultrasonic sensor, PSD sensor, operation panel, camera, three driving motors and three
A omni-directional wheel；Round top plate, round middle plate and round bottom plate are from top to bottom spaced installation；Upper peripheral plate is around peace
The periphery of circular space between round top plate and round middle plate；Lower peripheral plate around be mounted on round middle plate with
The periphery of circular space between round bottom plate；Controller and wireless communication module are arranged on round top plate；Power supply mould
Block, battery and motor drive module are arranged on the upper side of round bottom plate；Laser sensor, supersonic sensing
Device, PSD sensor and operation panel are arranged on the upper side of round middle plate；Camera is mounted on operation panel
On；Detection window is equipped on upper peripheral plate and at each sensor position；On upper peripheral plate and it is located at behaviour
Make to be equipped with action pane at positions of panels；Three omni-directional wheels are mounted on the downside of round bottom plate；Three driving motors point
It Tong Guo not three motor reducers three omni-directional wheels of driving；Controller respectively with wireless communication module, motor drive module, laser
Sensor, ultrasonic sensor, PSD sensor and camera electrical connection；Motor drive module is electrically connected with three driving motors
It connects, for respectively driving three driving motor rotations；Battery by power module be respectively controller, wireless communication module,
Motor drive module, laser sensor, ultrasonic sensor, PSD sensor and camera power supply.
Further, three support posts, and three supports are vertically provided in the upper side edge of round bottom plate
The radians such as column are arranged at intervals on the upper side edge of round bottom plate；Round top plate and round middle plate are fixedly mounted
On three support posts.
Further, support post is square column, and is vertically provided with T shape on four sides of support post and slides
Slot；It is mounted on L shape support in round top plate, round middle plate and round bottom plate, each L shape support is pacified by bolt
On the T shape sliding slot of corresponding position support post.
Further, fixed block, upper peripheral plate and lower peripheral plate are installed on the outside T shape sliding slot of support post
Medial surface be fixedly mounted by each fixed block.
Further, upper peripheral plate and lower peripheral plate are made of three pieces of arc panels, and arc panel is at fixed block
Abutting joint.
Further, the upper side of laminate is equipped with three blocks of L shape side plates, and the radians interval such as three blocks of L shape side plates in a circle
It is arranged on the upper side edge of laminate in a circle；Ultrasonic sensor and PSD sensor are three, and three pieces of L shape sides
A ultrasonic sensor and a PSD sensor are mounted on plate.
Further, the speech transducer being electrically connected with the controller is additionally provided on operation panel, battery passes through power supply
Module is speech transducer power supply.
Further, the switching key being electrically connected with the controller and start and stop key are additionally provided on operation panel.
Further, three omni-directional wheels are McCrum omni-directional wheel, and the wheel shaft of three omni-directional wheels is along round bottom plate
Be arranged radially.
Further, one is equipped at the center of round top plate, round middle plate and round bottom plate to be used for
The centre bore of threading；Roller support there are three being set on the downside of round bottom plate；Three omni-directional wheels are separately mounted to three
On roller support；An idler wheel access hole is equipped in round bottom plate and at three roller supports.
The invention compared with prior art, the beneficial effect is that: using each sensor acquire external signal, by controlling
The functions such as mutually coordinated Omni-mobile, automatic obstacle avoiding and the voice control for realizing robot of device processed have stability high, reliable
Property it is good, can adapt to a variety of environment, the operation of autonomous intelligence avoidance is able to carry out speech control, can be widely applied to intelligent object
In streaming system.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the invention；
Fig. 2 is the sensor fixing structure schematic diagram of the invention；
Fig. 3 is the round bottom plate upper side mounting structure schematic diagram of the invention；
Fig. 4 is the round bottom plate downside mounting structure schematic diagram of the invention；
Fig. 5 is the support post end structure illustration of the invention；
Fig. 6 is the electrical structure schematic illustration of the invention；
Fig. 7 is the movement avoidance schematic diagram of the invention.
Specific embodiment
The invention technical solution is described in detail with reference to the accompanying drawing, but the protection scope of the invention
It is not limited to the embodiment.
Embodiment 1:
As shown in figures 1 to 6, it includes: round top plate 1, circle that the invention, which discloses a kind of intelligent omni-directional mobile robots,
Shape middle plate 4, round bottom plate 5, upper peripheral plate 9, lower peripheral plate 10, controller 2, wireless communication module 3, power module
30, battery 7, motor drive module 6, laser sensor 25, ultrasonic sensor 23, PSD sensor 33, operation panel 26,
28, three driving motors 15 of camera and three omni-directional wheels 14；Round top plate 1, round middle plate 4 and round bottom plate
5 interval installations from top to bottom；Upper peripheral plate 9, which surrounds, is mounted on circular space between round top plate 1 and round middle plate 4
Periphery；Lower peripheral plate 10 surrounds the periphery for being mounted on circular space between round middle plate 4 and round bottom plate 5；Controller 2
It is arranged on round top plate 1 with wireless communication module 3；Power module 30, battery 7 and motor drive module 6 are all provided with
It sets on the upper side of round bottom plate 5；Laser sensor 25, ultrasonic sensor 23, PSD sensor 33 and operation panel
26 are arranged on the upper side of round middle plate 4；Camera 28 is mounted on 26 on operation panel；On upper peripheral plate 9
And it is located at each sensor position and is equipped with detection window 11；On upper peripheral plate 9 and it is located at 26 position of operation panel
Equipped with action pane 12；Three omni-directional wheels 14 are mounted on the downside of round bottom plate 5；Three driving motors 15 pass through respectively
Three motor reducers 16 drive three omni-directional wheels 14；Controller 2 respectively with wireless communication module 3, motor drive module 6, swash
Optical sensor 25, ultrasonic sensor 23, PSD sensor 33 and camera 28 are electrically connected；Motor drive module 6 and three drives
Dynamic motor 15 is electrically connected, and is rotated for respectively driving three driving motors 15；Battery 7 is respectively to control by power module 30
It device 2, wireless communication module 3, motor drive module 6, laser sensor 25, ultrasonic sensor 23, PSD sensor 33 and takes the photograph
As head 28 is powered.
Further, three support posts 21, and three branch are vertically provided in the upper side edge of round bottom plate 5
The radians such as support column 21 are arranged at intervals on the upper side edge of round bottom plate 5；Round top plate 1 and round middle plate 4 are
It is fixedly mounted on three support posts 21.
Further, support post 21 is square column, and is vertically provided with T shape on four sides of support post 21
Sliding slot 24；L shape support 18, each L shape support are mounted in round top plate 1, round middle plate 4 and round bottom plate 5
18 are mounted on the T shape sliding slot 24 of corresponding position support post 21 by bolt, can ensure each layer using L shape support 18
The mounting structure intensity of plate, and suitable position can be selected to carry out installation fixation on T shape sliding slot 24, it is easy to adjust.
Further, fixed block 19 is installed on the outside T shape sliding slot 24 of support post 21, upper peripheral plate 9 is under
The medial surface of side peripheral board 10 is fixedly mounted by each fixed block 19, can be facilitated using fixed block 19 and be installed in outer side mounting
Each coaming plate.Upper peripheral plate 9 and lower peripheral plate 10 are made of three pieces of arc panels, and arc panel docks at fixed block 19
Installation constitutes coaming plate using three pieces of arc panels, can be convenient for later period demolition and maintenance, reduces assembling difficulty.
Further, the upper side of laminate 4 is equipped with the radians such as three blocks of L shape side plates 22, and three blocks of L shape side plates 22 in a circle
It is arranged at intervals on the upper side edge of round middle plate 4；Ultrasonic sensor 23 and PSD sensor 33 are three, and
It is mounted on a ultrasonic sensor 23 and a PSD sensor 33 on three blocks of L shape side plates 22, the setting of radians interval such as utilizes
The detection that can ensure omnidirectional's angle meets omnidirectional's testing requirements.
Further, the speech transducer 17 being electrically connected with controller 2 is additionally provided on operation panel 26, battery 7 is logical
Power module 30 is crossed as the power supply of speech transducer 17.The switching key being electrically connected with controller 2 is additionally provided on operation panel 26
27 and start and stop key 29, can be convenient for artificial and automatically switching rotation using switching key 27, it can using start and stop key 29
Convenient for interim start-up and shut-down control.
Further, three omni-directional wheels 14 are McCrum omni-directional wheel, and the wheel shaft of three omni-directional wheels 14 is along circular base
Laminate 5 is arranged radially, and can satisfy rotation and the various operations of rectilinear form using three omni-directional wheels 14 being disposed radially
It needs.Be equipped at the center of round top plate 1, round middle plate 4 and round bottom plate 5 one for threading center
The electric wire connection communication of each interlayer is convenient in hole 31 using centre bore 31；Idler wheel there are three being set on the downside of round bottom plate 5
Support 13；Three omni-directional wheels 14 are separately mounted on three roller supports 13；In round bottom plate 5 and it is located at three idler wheel branch
It is equipped with an idler wheel access hole 8 at seat 13, it can be under conditions of not being put into robot to omni-directional wheel using idler wheel access hole 8
14 are overhauled.
In intelligence omni-directional mobile robots disclosed in the invention, controller 2 using laptop, industrial personal computer or
Single-chip minimum system；Wireless communication module 3 is using WiFi communication module, ZigBee wireless communication module or Bluetooth communication mould
Block；Speech transducer 17 is using conventional sound pick-up；Ultrasonic sensor 23 is constituted using conventional ultrasonic transceiver module；
PSD sensor 33 is using conventional PSD position sensor；Laser sensor 25 is using conventional laser sensor；Camera shooting
First 28, using conventional camera, can satisfy controller 2 to image processing requirements；Driving motor 15 is relaxed using conventional
Take driving motor；Power module 30 can be realized multiple voltage supply output.
As shown in fig. 7, mobile robot passes through when mobile robot moves downward from 1. position and reaches 2. position
Sensor detects at a distance from neighbouring barrier a and d, and when reaching default value L, mobile robot changes route automatically,
To the right forward reach 3. position continue to move ahead and the distance of moment detection barrier c, d, f with this to reach Omni-mobile automatic
Avoidance.
Intelligence omni-directional mobile robots disclosed in the invention are at work:
Ultrasonic sensor 23 outwardly constantly inspires ultrasonic wave, and when encountering barrier, ultrasonic wave is returned, according to super
The passing time of sound wave can accurately just calculate the relative distance of barrier, and data are then passed through communication transfer to controller
2, avoidance obstacle is carried out according to data by controller 2 or the reception of module 3 manual control signal is manually controlled by wireless communication
System.
The electric signal that PSD sensor 33 exports when impinging upon the different location of device photosurface by handling incident light, analysis
Position of the incident luminous point on PSD device photosurface out, thus detect the plan-position coordinate and one-dimensional position coordinate of luminous point,
Finally by target position and it is sent to controller 2, carries out avoidance obstacle or by wireless communication module according to data by controller 2
3, which receive manual control signal, carries out manual control.
Laser sensor 25 constantly launches outward light wave, measures distance of the peripheral obstacle apart from omni-directional mobile robots,
Then transferring data in controller 2 assists omni-directional mobile robots to carry out avoidance navigation.
Camera 28 acquires extraneous image, is then transmit to controller 2 and is analyzed and processed to image, runs existing
Image processing software pre-processes the pixel in image, after processing the images, carries out identification judgement, auxiliary
Omni-directional mobile robots carry out avoidance navigation.
Controller 2 switches manual control according to the input signal of switching key 27 and still automatically controls, and controller 2 being capable of root
Automatic obstacle-avoiding is carried out according to the measurement parameter of each sensor, manual control letter can be also received according to module 3 by wireless communication
Number manual control is carried out, three driving motors 15 are controlled by motor drive module 6, three omni-directional wheels 14 is finally controlled and completes
Avoidance and Omni-mobile.
Voice outside the acquisition in real time of speech transducer 17, and speech recognition and analysis, correlation data are carried out by controller 2
The voice control mode of library storage is acted according to corresponding instruction to complete corresponding voice control.
As described above, although the invention has been indicated and described referring to specific preferred embodiment, it must not
It is construed to the limitation to the invention itself.In the spirit and scope for not departing from the invention that appended claims define
Under the premise of, it can various changes can be made in the form and details to it.
Claims (10)
1. a kind of intelligence omni-directional mobile robots, it is characterised in that: including round top plate (1), round middle plate (4), circle
Bottom plate (5), upper peripheral plate (9), lower peripheral plate (10), controller (2), wireless communication module (3), power module
(30), battery (7), motor drive module (6), laser sensor (25), ultrasonic sensor (23), PSD sensor (33),
Operation panel (26), camera (28), three driving motors (15) and three omni-directional wheels (14)；Round top plate (1), circle
Middle plate (4) and the interval installation from top to bottom of round bottom plate (5)；Upper peripheral plate (9) surrounds and is mounted on round top plate
(1) between round middle plate (4) circular space periphery；Lower peripheral plate (10) around be mounted on round middle plate (4) with
The periphery of circular space between round bottom plate (5)；Controller (2) and wireless communication module (3) are arranged at round top plate
(1) on；Power module (30), battery (7) and motor drive module (6) are arranged at the upper side of round bottom plate (5)
On；Laser sensor (25), ultrasonic sensor (23), PSD sensor (33) and operation panel (26) are arranged at circle
On the upper side of middle plate (4)；Camera (28) is mounted on operation panel on (26)；On upper peripheral plate (9) and it is located at
Detection window (11) are equipped at each sensor position；On upper peripheral plate (9) and it is located at operation panel (26) position
Equipped with action pane (12)；Three omni-directional wheels (14) are mounted on the downside of round bottom plate (5)；Three driving motors (15)
Three omni-directional wheels (14) are driven by three motor reducers (16) respectively；Controller (2) respectively with wireless communication module (3),
Motor drive module (6), laser sensor (25), ultrasonic sensor (23), PSD sensor (33) and camera (28) electricity
Connection；Motor drive module (6) is electrically connected with three driving motors (15), for respectively driving three driving motor (15) rotations
Turn；Battery (7) by power module (30) be respectively controller (2), wireless communication module (3), motor drive module (6),
Laser sensor (25), ultrasonic sensor (23), PSD sensor (33) and camera (28) power supply.
2. intelligence omni-directional mobile robots according to claim 1, it is characterised in that: in the upside of round bottom plate (5)
Face edge is vertically provided with three support posts (21), and the radians such as three support posts (21) are arranged at intervals on round bottom
On the upper side edge of plate (5)；Round top plate (1) and round middle plate (4) are fixedly mounted on three support posts (21)
On.
3. intelligence omni-directional mobile robots according to claim 2, it is characterised in that: support post (21) is rectangular vertical
Column, and T shape sliding slot (24) is vertically provided on four sides of support post (21)；Round top plate (1), round middle plate
(4) and on round bottom plate (5) it is mounted on L shape support (18), each L shape support (18) is mounted on corresponding position by bolt
On the T shape sliding slot (24) for setting place support post (21).
4. intelligence omni-directional mobile robots according to claim 3, it is characterised in that: in the outside T of support post (21)
It is equipped on shape sliding slot (24) fixed block (19), the medial surface of upper peripheral plate (9) and lower peripheral plate (10) passes through each solid
Determine block (19) fixed installation.
5. intelligence omni-directional mobile robots according to claim 4, it is characterised in that: outside upper peripheral plate (9) and downside
Coaming plate (10) is made of three pieces of arc panels, and arc panel abutting joint at fixed block (19).
6. intelligence omni-directional mobile robots according to claim 1, it is characterised in that: the upside of laminate (4) in a circle
Face is equipped with three pieces of L shape side plates (22), and the radians such as three pieces of L shape side plates (22) are arranged at intervals on the upper side of round middle plate (4)
On edge；Ultrasonic sensor (23) and PSD sensor (33) are three, and are mounted on three pieces of L shape side plates (22)
One ultrasonic sensor (23) and a PSD sensor (33).
7. intelligence omni-directional mobile robots according to claim 1, it is characterised in that: be additionally provided on operation panel (26)
The speech transducer (17) being electrically connected with controller (2), battery (7) are speech transducer (17) confession by power module (30)
Electricity.
8. intelligence omni-directional mobile robots according to claim 1, it is characterised in that: be additionally provided on operation panel (26)
The switching key (27) and start and stop key (29) being electrically connected with controller (2).
9. intelligence omni-directional mobile robots according to claim 1, it is characterised in that: three omni-directional wheels (14) are Mike's drawing
Nurse omni-directional wheel, and the wheel shaft of three omni-directional wheels (14) being arranged radially along round bottom plate (5).
10. intelligence omni-directional mobile robots according to claim 1, it is characterised in that: in round top plate (1), circle
Be equipped at the center of middle plate (4) and round bottom plate (5) one for threading centre bore (31)；In round bottom plate
(5) there are three being set on downside roller support (13)；Three omni-directional wheels (14) are separately mounted on three roller supports (13)；
An idler wheel access hole (8) is equipped on round bottom plate (5) and at three roller supports (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811017818.9A CN108942869B (en) | 2018-09-02 | 2018-09-02 | Intelligent omnidirectional mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811017818.9A CN108942869B (en) | 2018-09-02 | 2018-09-02 | Intelligent omnidirectional mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN108942869A true CN108942869A (en) | 2018-12-07 |
| CN108942869B CN108942869B (en) | 2024-05-03 |
Family
ID=64475467
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811017818.9A Active CN108942869B (en) | 2018-09-02 | 2018-09-02 | Intelligent omnidirectional mobile robot |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376274A (en) * | 2018-12-28 | 2020-07-07 | 深圳市优必选科技有限公司 | Robot |
| WO2020259167A1 (en) * | 2019-06-28 | 2020-12-30 | 炬星科技（深圳）有限公司 | Robot path updating method, electronic device and computer-readable storage medium |
| CN112441155A (en) * | 2020-11-30 | 2021-03-05 | 西安邮电大学 | Wall climbing detection device and detection method thereof |
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| CN105320137A (en) * | 2015-11-16 | 2016-02-10 | 江苏物联网研究发展中心 | A home service-oriented indoor wheeled robot |
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| CN207037463U (en) * | 2017-05-22 | 2018-02-23 | 华南理工大学 | A kind of robot obstacle-avoiding system based on ultrasonic sensor and wireless module |
| CN207155772U (en) * | 2017-06-28 | 2018-03-30 | 深圳市元创兴科技有限公司 | Modularization intelligent mobile robot |
| CN208812074U (en) * | 2018-09-02 | 2019-05-03 | 南京吉目希自动化科技有限公司 | A kind of intelligence omni-directional mobile robots |
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| CN105320137A (en) * | 2015-11-16 | 2016-02-10 | 江苏物联网研究发展中心 | A home service-oriented indoor wheeled robot |
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| WO2020259167A1 (en) * | 2019-06-28 | 2020-12-30 | 炬星科技（深圳）有限公司 | Robot path updating method, electronic device and computer-readable storage medium |
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| CN112441155B (en) * | 2020-11-30 | 2022-02-08 | 西安邮电大学 | Wall climbing detection device and detection method thereof |
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| Publication number | Publication date |
|---|---|
| CN108942869B (en) | 2024-05-03 |
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