CN109227567A - Sniffing robot - Google Patents
Sniffing robot Download PDFInfo
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- CN109227567A CN109227567A CN201811257380.1A CN201811257380A CN109227567A CN 109227567 A CN109227567 A CN 109227567A CN 201811257380 A CN201811257380 A CN 201811257380A CN 109227567 A CN109227567 A CN 109227567A
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of sniffing robots, comprising: nucleus module, replaceable sensing module and replaceable motor-driven module；The replaceable sensing module is detachably connected by the first mechanical interface and the first communication interface and the nucleus module, the perceptional function for replacing robot；The replaceable motor-driven module is detachably connected by the second mechanical interface and the second communication interface and the nucleus module, the motor pattern for replacing robot.The embodiment of the present invention is by being divided into motor-driven module, sensing module and nucleus module for robot, motor-driven module, sensing module and nucleus module are quickly connected using the universal machine interface and General Electric's interface of fast demountable again, the rapid refit to robot function is realized, so that the robot after repacking can satisfy application scenarios and quickly put into task use.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of sniffing robots.
Background technique
In the detection mission in the fields such as disaster prevention and control, activity security, environment investigation, production safety, often there is people
Power relies on the limitations such as serious, existing equipment volume is larger, device intelligence degree is low, seriously affects task efficiency and effect.With
The development of the technologies such as robot, machine vision, novel detecting devices continuously emerge, these equipment being capable of effective extended operation person
Investigative range, extend to the tradition such as narrow space, complex scene and hazardous environment and be difficult to reach or risk is larger by manpower
Scene.By the organic integration of camera, positioning system and sensor, the perceptional function for having certain is enabled a device to,
Equipment availability is greatly strengthened, labor intensity is alleviated, improves task execution efficiency.
Generally speaking, sniffing robot is comprehensive organ's system with perception, decision and locomitivity, which is related to
To the more professional techniques such as artificial intelligence, automatic control, information processing, image procossing, pattern-recognition, across computer, automation,
The multiple subjects such as communication, machinery, electronics, embody the development level of information technology and artificial intelligence technology.With computer with
The development of intellectual technology, sniffing robot will obtain extensively in civilian and military fields such as industrial manufacture, exploration, security protection, investigations
Using, it has also become the hot spot direction of robot research has important practical significance and society to the research of novel detecting devices
Value.
However traditional robot is mostly single form, function is also relatively simple, is unable to satisfy under more multi-environment and scene
Application demand.
Summary of the invention
The embodiment of the present invention provides a kind of sniffing robot, to solve robot form existing in the prior art and function
The single problem of energy.
In a first aspect, the embodiment of the present invention provides a kind of sniffing robot, comprising: nucleus module, replaceable sensing module
With replaceable motor-driven module；
The replaceable sensing module is detachable by the first mechanical interface and the first communication interface and the nucleus module
Connection, the replaceable sensing module are used to replace the perceptional function of robot；
The replaceable motor-driven module is detachable by the second mechanical interface and the second communication interface and the nucleus module
Connection, the replaceable motor-driven module are used to replace the motor pattern of robot.
Optionally, the nucleus module includes set casing and communication unit, and the communication unit is set to the set casing
It is interior, it is provided on the communication unit for the first communication interface with the replaceable sensing module communication connection and is used for
With the second communication interface of the replaceable motor-driven module communication connection；First mechanical interface is to be arranged in the set casing
On holding tank.
Optionally, the replaceable sensing module includes putting part and sension unit, and the sension unit is set to described
In putting part, the sension unit and the communication unit are communicated to connect by first communication interface；The putting part is set
It sets in the holding tank and is detachably connected with the set casing.
Optionally, the replaceable motor-driven module includes the first movement mechanism and the second movement mechanism, first movement
Mechanism is identical as the structure of second movement mechanism, and the first movement mechanism and second movement mechanism are symmetricly set on described
Set casing two sides are detachably connected with the set casing；The driving unit of first movement mechanism and the second movement mechanism
Driving unit is connect by second communication interface with the communication unit communication.
Optionally, the replaceable motor-driven module is Land Movement module, the first fitness machine of the Land Movement module
Structure and the second movement mechanism include: the first shell being detachably connected with the set casing by the second mechanical interface and set
Set the runner in the first shell；It is provided with chamber resettling in the first shell, drive is provided in the chamber resettling
The first driving unit of the runner rotation is moved, first driving unit is logical by the second communication interface and the communication unit
Letter connection.
Optionally, the replaceable motor-driven module is motion module of paddling, the first fitness machine of the motion module of paddling
Structure and the second movement mechanism include: that the second shell being detachably connected with the second mechanical interface of the set casing and setting exist
Impeller in the second shell；It is provided with chamber resettling in the second shell, driving institute is provided in the chamber resettling
The second driving unit of wheel rotation is stated, second driving unit is connect by second interface with the communication unit communication.
Optionally, the replaceable motor-driven module is sporting flying module, the first fitness machine of the sporting flying module
Structure and the second movement mechanism include: the third shell being detachably connected with the set casing by the second mechanical interface, and described
Prolong on three shells be parallel to the set casing direction rotation be provided with connection shell, prolong on the connection shell perpendicular to the fixation
The direction of shell is hinged with rotation all-wing aircraft；It is provided with wheel rotor on the rotation all-wing aircraft and drives the of wheel rotor rotation
Three driving units, the third driving unit are connect by the second communication interface with the communication unit communication；
It is provided with accommodating cavity in the third shell, the 4th of the driving connection shell rotation is provided in the accommodating cavity
Driving unit, the 4th driving unit are connect with the communication unit communication.
Optionally, the set casing is cylindric；
First movement mechanism and the second movement mechanism are that hemispherical, cylindric or end is the cylindric of spherical shape.
Optionally, the sension unit includes following one or more: panorama camera unit, infrared detecting unit, sound
Capture unit, electromagnetic sensing unit and temperature and humidity sensing unit.
Optionally, the nucleus module further includes the wireless communication unit being arranged in the set casing；
The wireless communication unit is connect with the communication unit communication, and the wireless communication unit is for receiving remote control letter
Number.
The embodiment of the present invention is by being divided into motor-driven module, sensing module and nucleus module for robot, then by motor-driven mould
It is quickly connected between block, sensing module and nucleus module using the universal machine interface of fast demountable and General Electric's interface,
The rapid refit to robot function is realized, so that the robot after repacking can satisfy application scenarios and quickly investment is taken office
In use of make suring.The embodiment of the present invention, using modularized design, greatly improves spy compared with the robot of single form and function
It surveys the mobility of robot, enrich the functionality of robot, meet the application demand under more multi-environment and scene.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is the overall structure diagram of first embodiment of the invention sniffing robot；
Fig. 2 is the functional block diagram of first embodiment of the invention sniffing robot；
Fig. 3 is each modular structure schematic diagram of second embodiment of the invention sniffing robot；
Fig. 4 is the first motor-driven modular structure schematic diagram of second embodiment of the invention sniffing robot；
Fig. 5 is the structural schematic diagram of third embodiment of the invention sniffing robot；
Fig. 6 is the structural schematic diagram that the present invention the 4th implements detection example robot.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
First embodiment of the invention provides a kind of sniffing robot, as depicted in figs. 1 and 2, including it is nucleus module, replaceable
Sensing module and replaceable motor-driven module；
The replaceable sensing module is detachably connected by sensing module interface and the nucleus module, described replaceable
Sensing module is used to replace the perceptional function of robot；Wherein sensing module interface includes that the first mechanical interface and the first communication connect
Mouthful；
The replaceable motor-driven module by being detachably connected with motor-driven module interface and the nucleus module, it is described can be more
Dynamic model block of changing planes is used to replace the motor pattern of robot.Wherein motor-driven module interface includes the second mechanical interface and the second communication
Interface
In the present embodiment, nucleus module includes the portions such as core calculations system (calculating board), built-in camera, internal battery
Point, nucleus module provides the inherent function of robot system, such as information processing, calculating analysis, control and communication.Specifically,
In conjunction with Fig. 3, nucleus module includes set casing and communication unit, and the communication unit is set in the set casing, the communication
Unit be provided with for the replaceable sensing module communication connection the first communication interface and for it is described replaceable
Second communication interface of motor-driven module communication connection；First mechanical interface is the holding tank being arranged on the set casing.
Wherein, nucleus module further includes the wireless communication unit being arranged in the set casing；
The wireless communication unit is connect with the communication unit communication, and the wireless communication unit is for receiving remote control dress
It sets, the remote signal of the remote control equipments such as mobile phone or portable computer；Motion control is realized through wireless communication
It is transmitted with signal.Controller can obtain the image and other sensors information that robot passes back in distal end in real time, and to detection
Task carries out route planning, target setting etc..In addition it can realize that the information between multiple robots is passed by communication unit
It is defeated, and then realize the information sharing between multirobot and task cooperation, and realize signal bridging, expand the control of user away from
From the tasks such as achievable regionally detecting, target homing between more robots.It is same that same remote control device can be used in user
When multiple robots are implemented to control, information sharing and control authority distribution can also be carried out between several users, is suitble to more
The cooperation task scene of people's multimachine uses.
In this implementation, the acquisition acquisition that can more change sensing module and be mainly responsible for information, not according to acquisition target
With that can be camera, acoustic sensor, electromagnetic sensor and Temperature Humidity Sensor etc., can specifically carry out according to actual needs
Adjustment.Specific replaceable sensing module includes putting part, is provided with sension unit in the putting part, the sension unit with
The communication unit is communicated to connect by first communication interface；The putting part be arranged in the holding tank and with it is described
Set casing is detachably connected.
In the present embodiment, the replaceable motor-driven module include the first movement mechanism and the second movement mechanism, described first
Movement mechanism is identical as the structure of second movement mechanism, and the first movement mechanism and second movement mechanism are symmetricly set on
The two sides of the set casing of the nucleus module are detachably connected with the set casing；The driving unit of first movement mechanism
It is connect by second communication interface with the communication unit communication with the driving unit of the second movement mechanism.In the present embodiment
Motor-driven module be mainly responsible for realize robot movement, according to the difference of use environment can be divided into land module, module of paddling,
Flight module.
Second embodiment of the invention provides a kind of sniffing robot, and on the basis of example 1, the present embodiment specifically mentions
For a kind of sniffing robot for being applicable in terrestrial environment, including nucleus module, replaceable sensing module and replaceable motor-driven module；
Nucleus module includes set casing and communication unit, and the communication unit is set in the set casing, the communication
Unit be provided with for the replaceable sensing module communication connection the first communication interface and for it is described replaceable
Second communication interface of motor-driven module communication connection；First mechanical interface is the holding tank being arranged on the set casing.
Replaceable sensing module includes putting part and sension unit, and the sension unit is set in the putting part, institute
It states sension unit and the communication unit is communicated to connect by first communication interface；The putting part is arranged in the receiving
It is detachably connected in slot and with the set casing.Specifically, sension unit includes one or more of: panorama camera unit,
Infrared detecting unit, sound capture unit, electromagnetic sensing unit and temperature and humidity sensing unit, it should be noted that the present embodiment
Middle sension unit is including but not limited to above several, can specifically be adjusted according to actual needs.
Replaceable motor-driven module is Land Movement module, the first movement mechanism of the Land Movement module and the second movement
Mechanism includes: the first shell being detachably connected with the set casing by the second mechanical interface and is arranged described first
Runner on shell；It is provided with chamber resettling in the first shell, the driving runner is provided in the chamber resettling and is turned
The first dynamic driving unit, first driving unit are connect by the second communication interface with the communication unit communication.Such as Fig. 3
With shown in Fig. 4.First shell and second shell are at symmetrical hemispherical, and on the wheel and second shell in first shell
Wheel is symmetrical hemispherical, and hemispheric wheel is set on hemispheric shell, and wheel uses left and right dicycly motor
Reason adjusts horizontal direction by the differential motion of two wheels.Pass through actuating means and control built-in respectively in motor-driven module
Making sheet card, to control wheel.It is heavier below nucleus module in the present embodiment, robot can be made to protect during the motion
Hold vertical direction.
Set casing described in the present embodiment be it is cylindric, first movement mechanism and the second movement mechanism are hemisphere
Shape, the overall appearance of robot are spherical shape, as shown in Figure 1.By the way that robot is arranged to spherical shape, there is robot convenient for throwing
It can continue the advantage rolled, controllability is strong after throwing, jettisoninging along direction of dishing out.To enhance portability, the typical ruler of bulb diameter
It is very little in 8-20cm.
Specifically, set casing can also be cylindric；First movement mechanism and the second movement mechanism are cylindric, machine
The overall appearance of people is cylindric.Or set casing be it is cylindric, first movement mechanism and the second movement mechanism are end
For the cylindric of spherical shape, the overall appearance of robot is cylindrical capsule shape；It can also be according to actual needs to the whole of robot
Shape is adjusted.
Third embodiment of the invention provides a kind of sniffing robot, in conjunction with Fig. 5, on the basis of example 1, this implementation
Example specifically provides a kind of sniffing robot of environment in suitable water, including nucleus module, replaceable sensing module and replaceable machine
Dynamic model block；
Nucleus module includes set casing and communication unit, and the communication unit is set in the set casing, the communication
Unit be provided with for the replaceable sensing module communication connection the first communication interface and for it is described replaceable
Second communication interface of motor-driven module communication connection；First mechanical interface is the holding tank being arranged on the set casing.
Replaceable sensing module includes putting part and sension unit, and sension unit is arranged in the putting part, the sense
Know that unit and the communication unit are communicated to connect by first communication interface；The putting part is arranged in the holding tank
And it is detachably connected with the set casing.
The replaceable motor-driven module is motion module of paddling, the first movement mechanism and second of the motion module of paddling
Movement mechanism includes: the second shell being detachably connected with the second mechanical interface of the set casing and is arranged described second
Impeller on shell；It is provided with chamber resettling in the second shell, the driving impeller is provided in the chamber resettling and is turned
The second dynamic driving unit, second driving unit are connect by second interface with the communication unit communication.
In the present embodiment, motor-driven module principle of paddling is similar with the motor-driven block motion principle in land in second embodiment, area
It is not that the wheel of the motor-driven module in land is replaced with to the impeller with blade of paddling.Robot can float on water under environment of paddling
On face, expose the camera in front and the sensing module at top to detect to ambient enviroment.
Fourth embodiment of the invention provides a kind of sniffing robot, and on the basis of example 1, the present embodiment specifically mentions
For a kind of sniffing robot for being applicable in air environment, including nucleus module, replaceable sensing module and replaceable motor-driven module；
Nucleus module includes set casing and communication unit, and the communication unit is set in the set casing, the communication
Unit be provided with for the replaceable sensing module communication connection the first communication interface and for it is described replaceable
Second communication interface of motor-driven module communication connection；First mechanical interface is the holding tank being arranged on the set casing.
Replaceable sensing module includes putting part and sension unit, and the sension unit is set in the putting part, institute
It states sension unit and the communication unit is communicated to connect by first communication interface；The putting part is arranged in the receiving
It is detachably connected in slot and with the set casing.
The replaceable motor-driven module is sporting flying module, the first movement mechanism and second of the sporting flying module
Movement mechanism includes: the third shell being detachably connected with the set casing by the second mechanical interface, on the third shell
Prolong and be parallel to the direction rotation of the set casing and be provided with connection shell, prolongs the direction perpendicular to the set casing on the connection shell
It is hinged with rotation all-wing aircraft；It is provided with wheel rotor on the rotation all-wing aircraft and drives the third driving of the wheel rotor rotation single
Member, the third driving unit are connect by the second communication interface with the communication unit communication；Setting in the third shell
There is accommodating cavity, the 4th driving unit for driving the connection shell rotation, the 4th driving unit are provided in the accommodating cavity
It is connect with the communication unit communication.
Specifically, the form for being provided simultaneously with flight and Land Movement robot is as follows in the present embodiment.As shown in fig. 6, flying
Row generates lift required for downward air-flow generation band mobile robot flies by rotating all-wing aircraft.The motor-driven module of every side has
3 main freedom degrees.The rotation all-wing aircraft for being folded in fuselage two sides can open (freedom degree 1) around rotary shaft (third shell), shape
At the horizontal double rotor mode in nucleus module two sides, the rotation (freedom degree 2) of the wheel rotor on two rotation all-wing aircrafts is square
To opposite.It is axial straight up in two rotors, and when revolving speed is identical, robot can be with vertical flight；By by third shell
With set casing rotation connection realize rotary freedom 3, and then make rotate all-wing aircraft deflection and it is at an angle with vertical direction,
When rotating left and right all-wing aircraft to ipsilateral deflection equal angular, robot water square can be made to moving ahead or retreating, flown when rotating left and right
Flapwise opposite direction deflects equal angular, can make robot adjustment direction in situ, by the revolving speed for rationally adjusting left and right rotor
And deflection angle, robot can be made to adjust direction in flight course, realize the movement such as turning.Specifically, in the present embodiment
The quantity for rotating all-wing aircraft can also be 4,6,8 or more, can specifically be adjusted according to actual needs.
The embodiment of the present invention is by being divided into motor-driven module, sensing module and nucleus module for robot, then by motor-driven mould
It is quickly connected between block, sensing module and nucleus module using the universal machine interface of fast demountable and General Electric's interface,
The rapid refit to robot function is realized, so that the robot after repacking can satisfy application scenarios and quickly investment is taken office
In use of make suring.The embodiment of the present invention, using modularized design, greatly improves spy compared with the robot of single form and function
It surveys the mobility of robot, enrich the functionality of robot, meet the application demand under more multi-environment and scene to robot
Demand.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of sniffing robot characterized by comprising nucleus module, replaceable sensing module and replaceable motor-driven module；
The replaceable sensing module is detachably connected by the first mechanical interface and the first communication interface with the nucleus module,
The replaceable sensing module is used to replace the perceptional function of robot；
The replaceable motor-driven module is detachably connected by the second mechanical interface and the second communication interface with the nucleus module,
The replaceable motor-driven module is used to replace the motor pattern of robot.
2. sniffing robot as described in claim 1, which is characterized in that the nucleus module includes set casing and communication unit
Member, the communication unit are set in the set casing, be provided on the communication unit for the replaceable perception mould
The first communication interface that block communicates to connect and the second communication interface for being communicated to connect with the replaceable motor-driven module；Institute
Stating the first mechanical interface is the holding tank being arranged on the set casing.
3. sniffing robot as claimed in claim 2, which is characterized in that the replaceable sensing module includes putting part and sense
Know unit, the sension unit is set in the putting part, and the sension unit and the communication unit pass through described first
Communication interface communication connection；The putting part is arranged in the holding tank and is detachably connected with the set casing.
4. sniffing robot as claimed in claim 2, which is characterized in that the replaceable motor-driven module includes the first fitness machine
Structure and the second movement mechanism, first movement mechanism is identical as the structure of second movement mechanism, the first movement mechanism and
Second movement mechanism is symmetricly set on the set casing two sides, is detachably connected with the set casing；First movement
The driving unit of the driving unit of mechanism and the second movement mechanism passes through second communication interface and the communication unit communication
Connection.
5. sniffing robot as claimed in claim 4, which is characterized in that the replaceable motor-driven module is Land Movement mould
Block, the first movement mechanism and the second movement mechanism of the Land Movement module include: to pass through the second machine with the set casing
The first shell and the runner being arranged in the first shell that tool interface is detachably connected；It is provided in the first shell
Chamber resettling is provided with the first driving unit for driving the runner rotation, first driving unit in the chamber resettling
It is connect by the second communication interface with the communication unit communication.
6. sniffing robot as claimed in claim 4, which is characterized in that the replaceable motor-driven module is to paddle to move mould
Block, the first movement mechanism and the second movement mechanism of the motion module of paddling include: to connect with the second machinery of the set casing
The mouth second shell being detachably connected and the impeller being arranged in the second shell；Accommodating is provided in the second shell
Chamber is provided with the second driving unit for driving the wheel rotation in the chamber resettling, and second driving unit passes through
Second interface is connect with the communication unit communication.
7. sniffing robot as claimed in claim 4, which is characterized in that the replaceable motor-driven module is sporting flying mould
Block, the first movement mechanism and the second movement mechanism of the sporting flying module include: mechanical by second with the set casing
The third shell that interface is detachably connected prolongs on the third shell and is parallel to the direction rotation of the set casing and is provided with connection
Shell, the direction prolonged perpendicular to the set casing on the connection shell are hinged with rotation all-wing aircraft；It is provided with and turns on the rotation all-wing aircraft
Movable vane wheel and the third driving unit for driving wheel rotor rotation, the third driving unit by the second communication interface with
The communication unit communication connection；
It is provided with accommodating cavity in the third shell, the 4th driving of the driving connection shell rotation is provided in the accommodating cavity
Unit, the 4th driving unit are connect with the communication unit communication.
8. the sniffing robot as described in claim 5,6 or 7, which is characterized in that the set casing is cylindric；
First movement mechanism and the second movement mechanism are that hemispherical, cylindric or end is the cylindric of spherical shape.
9. sniffing robot as claimed in claim 3, which is characterized in that the sension unit includes following one or more:
Panorama camera unit, infrared detecting unit, sound capture unit, electromagnetic sensing unit and temperature and humidity sensing unit.
10. multi-modal portable sniffing robot as described in claim 1, which is characterized in that the nucleus module further includes
Wireless communication unit in the set casing is set；
The wireless communication unit is connect with the communication unit communication, and the wireless communication unit is for receiving remote signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811257380.1A CN109227567B (en) | 2018-10-26 | 2018-10-26 | Detection robot |
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|---|---|---|---|
| CN201811257380.1A CN109227567B (en) | 2018-10-26 | 2018-10-26 | Detection robot |
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| CN109227567A true CN109227567A (en) | 2019-01-18 |
| CN109227567B CN109227567B (en) | 2022-02-01 |
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| WO2021135489A1 (en) * | 2019-12-30 | 2021-07-08 | .美智纵横科技有限责任公司 | Integrated component, cleaning robot and cleaning robot system |
| CN114834560A (en) * | 2022-06-09 | 2022-08-02 | 江南大学 | Remote control six football shape-changeable robot |
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| CN109227567B (en) | 2022-02-01 |
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