CN109773810A - A kind of service robot kinematic system with positioning function - Google Patents
A kind of service robot kinematic system with positioning function Download PDFInfo
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- CN109773810A CN109773810A CN201910217830.2A CN201910217830A CN109773810A CN 109773810 A CN109773810 A CN 109773810A CN 201910217830 A CN201910217830 A CN 201910217830A CN 109773810 A CN109773810 A CN 109773810A
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Abstract
The service robot kinematic system with positioning function that the invention discloses a kind of, more particularly to robotic technology field, the middle control module is set in robot body, the middle control module attachment end is equipped with induction module, data processing module and drive module, the induction module includes infrared distance measurement module, image capture module, voice acquisition module and the sensing module that tests the speed, the middle control module includes microprocessor and memory module, the data processing module includes path capture module, image-drawing unit, image processing module and image comparison module, the drive module includes speed adjustment module and steering unit.The present invention greatly improves positioning accuracy, improves practicability compared to the mode of traditional GPS positioning chip acquisition position.
Description
Technical field
The present invention relates to robotic technology fields, it is more particularly related to a kind of service with positioning function
Robot motion's system.
Background technique
Service robot is a younger members in family, robot, and up to the present still none stringent is determined
Justice.Country variant is different to the understanding of service robot.
Service robot is of wide application, and is mainly engaged in maintenance, repairing, transport, cleaning, security personnel, rescue, prison
The work such as shield.The world is robot combined to be arranged through collection in a few years, given service robot one preliminary definition: service
Robot is a kind of robot of semi-autonomous or full utonomous working, it can complete the healthy services that is beneficial to man, but not
Including manufacturing-oriented equipment.Here, we are also included in some other wherein close to the robot that people live.
In the inside of some museums and building, service robot is mostly the positioning chip carried using its own at work
Come judge its location of, but be easy influenced by positioning chip precision, cause the positioning accuracy of service robot low, no
It is enough accurate.
Summary of the invention
In order to overcome the drawbacks described above of the prior art, the embodiment of the present invention provides a kind of server with positioning function
Device people's kinematic system, by the distance between comparison in the velocity information and scene in service robot traveling process letter
Breath and travel speed information are collected and detect, and using microprocessor by above-mentioned underlying parameter information and museum or scene
Basic information and structural information carry out analysis comparison, carry out apart from calculating, and the travel path of service robot be collected and
It draws, so that the location information to robot body judges, obtains scene location locating for robot body, complete to machine
The positioning service of device human body greatly improves positioning accurate compared to the mode of traditional GPS positioning chip acquisition position
Degree, improves practicability.
To achieve the above object, the invention provides the following technical scheme: a kind of service robot fortune with positioning function
Dynamic system, including robot body, the robot body bottom offer work nest, driving electricity are equipped in the work nest
Machine；
The driving motor output shaft end is equipped with first gear, and the first gear side is equipped with spool gear, the length
Gear side is equipped with second gear, runs through in the second gear and spool gear and is equipped with rotary shaft, the second gear bottom
Equipped with first bearing, the second gear side is equipped with imperial crown tooth, and the imperial crown flank wall is equipped with the first synchronizing wheel, and described the
One synchronizing wheel side wall is equipped with second bearing, is plugged with first connecting rod in the second bearing, on the first bearing side wall
Equipped with the second connecting rod, the second connection boom end is equipped with walking rod, and the walking rod both ends are equipped with castor, the row
It walks bar outer wall and is arranged with the second synchronizing wheel, second synchronizing wheel side is equipped with telescopic spring bar.
In a preferred embodiment, the driving motor is fixedly installed on the inner cavity top of work nest, the rotation
Shaft is fixedly installed on the intracavity bottom of work nest, and the spool gear is flexibly connected with rotary shaft, the first bearing inner ring with
Second gear bottom is fixedly connected, and the first bearing and second gear are flexibly connected with rotary shaft.
In a preferred embodiment, the first gear and second gear engage connection with spool gear, described
Imperial crown tooth engages connection with second gear, and the imperial crown tooth is fixedly connected with the first synchronizing wheel, and first synchronizing wheel passes through emperor
Crown gear and second gear are sequentially connected, and described first connecting rod one end is plugged in interior second bearing and the other end and first bearing
Outer ring is fixedly connected.
In a preferred embodiment, the walking rod outer wall is also arranged with lantern ring, second connecting rod one end
It is fixedly connected with first bearing outer ring and the other end is fixedly connected with lantern ring outer wall, telescopic spring bar bottom end and lantern ring are solid
Fixed connection and top are fixedly connected with work nest inner cavity top, are equipped on first synchronizing wheel and the second synchronizing wheel outer wall
Synchronous belt, first synchronizing wheel are connected with the second synchronizing wheel by toothed belt transmission.
It in a preferred embodiment, further include a kind of positioning system, the positioning system includes middle control module, institute
It states control module to be set in robot body, the middle control module attachment end is equipped with induction module, data processing module and drive
Dynamic model block.
In a preferred embodiment, the induction module includes infrared distance measurement module, image capture module, voice
Acquisition module and the sensing module that tests the speed, the middle control module includes microprocessor and memory module, the data processing module packet
Path capture module, image-drawing unit, image processing module and image comparison module are included, the drive module includes that speed adjusts mould
Block and steering unit.
In a preferred embodiment, the infrared distance measurement module is specially infrared distance sensor, for fortune
The real-time range between robot body and comparison during dynamic measures collection, and described image acquisition module is specifically set
It is set to high-definition camera, for carrying out admission collection, institute's predicate to scene change information of robot body during traveling
Sound acquisition module is specifically configured to microphone, and for enrolling to the audio-frequency information in external environment, described test the speed senses mould
Block is specially velocity sensor, measures and collects for the real-time speed to the robot body in traveling process.
In a preferred embodiment, the steering unit is specially diverter, and the diverter is set to work
The output end of the inner cavity top of slot, the diverter is equipped with deflecting roller, and the speed adjustment module is connect with driving motor, to drive
The revolving speed of dynamic motor is adjusted, to complete the adjusting to robot body travel speed.
In a preferred embodiment, the microprocessor is used for the every underlying parameter being collected into induction module
Information carries out processing operation, and provides the processing operational capability to image image, the figure for being collected into image image capture module
As information can be handled timely, the storage performance that the memory module is used to provide system operations is supported, to system operations
The data that generate in the process are gentle to deposit into capable storage, while can scene image information in institute, storage service robot service range
With scene structure information.
In a preferred embodiment, described image processing module is the function mould in system to Image Information Processing
Block for being analyzed and processed to the collected scene image information of image capture module, and combines sensing module acquisition of testing the speed
To robot body travel speed and the collected robot body of the sensing module that tests the speed in scene at a distance from each comparison,
Position of the robot body in scene information is calculated；The image-drawing unit passes through to the scene stored in memory module
Information is extracted, and is carried out image information using image comparison module and is compared, simulation modelling is completed, to the scene in scene
Information is drawn, and sharp path capture module draws the travelling route of robot body, thus to robot body
Location information judged.
Technical effect and advantage of the invention:
1, when service robot works in museum or scene, by believing the speed in service robot traveling process
Breath is collected and detects with the distance between comparison in scene information and travel speed information, and utilizes microprocessor general
The basic information and structural information of above-mentioned underlying parameter information and museum or scene carry out analysis comparison, carry out apart from calculating, and
The travel path of service robot is collected and draws, so that the location information to robot body judges, obtains machine
Scene location locating for device human body completes the positioning service to robot body, acquires compared to traditional GPS positioning chip
The mode of position, greatly improves positioning accuracy, improves practicability；
2, by stretching using telescopic spring bar, castor is made to carry out up and down completion damping, castor is upper
When lower activity, the second connecting rod and first bearing can be driven to move up and down by walking rod, to make at the top of first bearing
Second gear and castor synchronize movement, second gear carries out on the side wall of spool gear together while rotation
Lower movement, and be driven, it can not be influenced by landform, compared to traditional shock-damping structure, structure is more compact, is reducing
While service robot volume, transmission efficiency ensure that.
Detailed description of the invention
Fig. 1 is robot body structure schematic diagram of the invention.
Fig. 2 is middle control modular structure schematic diagram of the invention.
Fig. 3 is induction module structural schematic diagram of the invention.
Fig. 4 is drive module structural schematic diagram of the invention.
Fig. 5 is data processing module structural schematic diagram of the invention.
Fig. 6 is system structure diagram of the invention.
Fig. 7 is second gear of the invention and spool gear partial top structural schematic diagram.
Fig. 8 is the left view structural representation of second gear part of the invention.
Appended drawing reference are as follows: 1 robot body, 2 work nests, 3 driving motors, 4 first gears, 5 spool gears, 6 second gears,
7 rotary shafts, 8 first bearings, 9 imperial crown teeth, 10 first synchronizing wheels, 11 second bearings, 12 first connecting rods, 13 second connecting rods,
14 walking rods, 16 telescopic spring bars, module are controlled in 17,18 induction modules, 19 data processing modules, 20 is driven 15 second synchronizing wheels
Dynamic model block, 21 infrared distance measurement modules, 22 image capture modules, 23 voice acquisition modules, 24 are tested the speed sensing module, 25 micro processs
Device, 26 memory modules, 27 path capture modules, 28 image-drawing units, 29 image processing modules, 30 image comparison modules, 31 speed
Adjustment module, 32 steering units.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
A kind of service robot kinematic system with positioning function as shown in figs. 1,7 and 8, including robot sheet
Body 1,1 bottom of robot body offer work nest 2, are equipped with driving motor 3 in the work nest 2；
3 output shaft end of driving motor is equipped with first gear 4, and 4 side of first gear is equipped with spool gear 5, institute
It states 5 side of spool gear and is equipped with second gear 6, run through in the second gear 6 and spool gear 5 and be equipped with rotary shaft 7, described second
6 bottom of gear is equipped with first bearing 8, and 6 side of second gear is equipped with imperial crown tooth 9, and 9 side wall of imperial crown tooth is equipped with first
Synchronizing wheel 10,10 side wall of the first synchronizing wheel are equipped with second bearing 11, are plugged with the first connection in the second bearing 11
Bar 12,8 side wall of first bearing are equipped with the second connecting rod 13, and 13 end of the second connecting rod is equipped with walking rod 14, institute
It states 14 both ends of walking rod and is equipped with castor, 14 outer wall of walking rod is arranged with the second synchronizing wheel 15, second synchronizing wheel
15 sides are equipped with telescopic spring bar 16.
Further, the driving motor 3 is fixedly installed on the inner cavity top of work nest 2, and the rotary shaft 7 is fixedly installed
In the intracavity bottom of work nest 2, the spool gear 5 is flexibly connected with rotary shaft 7,8 inner ring of first bearing and second gear 6
Bottom is fixedly connected, and the first bearing 8 and second gear 6 are flexibly connected with rotary shaft 7.
Further, the first gear 4 and second gear 6 engage connection, the imperial crown tooth 9 and with spool gear 5
The engagement connection of two gears 6, the imperial crown tooth 9 are fixedly connected with the first synchronizing wheel 10, and first synchronizing wheel 10 passes through imperial crown tooth 9
It is sequentially connected with second gear 6, described 12 one end of first connecting rod is plugged in interior second bearing 11 and the other end and first axle
8 outer rings are held to be fixedly connected.
Further, 14 outer wall of walking rod is also arranged with lantern ring, described second connecting rod, 13 one end and first bearing 8
Outer ring is fixedly connected and the other end is fixedly connected with lantern ring outer wall, 16 bottom end of telescopic spring bar be fixedly connected with lantern ring with
And top is fixedly connected with 2 inner cavity top of work nest, is equipped on 15 outer wall of first synchronizing wheel 10 and the second synchronizing wheel same
Band is walked, first synchronizing wheel 10 is connected with the second synchronizing wheel 15 by toothed belt transmission.
Further, in the above-mentioned technical solutions, robot body 1 at work, drives first by the rotation of driving motor 3
Gear 4 engages connection with spool gear 5, and spool gear 5 drives second gear 6 to rotate in rotary shaft 7, to make imperial crown tooth 9 and the
One synchronizing wheel 10 is rotated in 11 side of second bearing, and the first synchronizing wheel 10 drives the second synchronizing wheel 15 to rotate by synchronous belt, is made
The castor at 14 both ends of walking rod drives robot body 1 to be moved, when encounter jolt when, telescopic spring bar 16 is stretched
Contracting makes castor carry out up and down completion damping, and castor can drive the second connection when up and down by walking rod 14
Bar 13 and first bearing 8 move up and down, so that the second gear 6 at 8 top of first bearing and castor be made to synchronize shifting
Dynamic, second gear 6 moves up and down on the side wall of spool gear 5 together while rotation, and is driven, can not be by ground
The influence of shape, compared to traditional shock-damping structure, structure is more compact, while reducing service robot volume, guarantees
Transmission efficiency.
Embodiment 2
A kind of service robot kinematic system with positioning function as shown in figures 1 to 6, further includes a kind of positioning system,
The positioning system includes middle control module 17, and the middle control module 17 is set in robot body 1, and the middle control module 17 connects
It connects end and is equipped with induction module 18, data processing module 19 and drive module 20；
As shown in figures 2-6, the induction module 18 includes infrared distance measurement module 21, image capture module 22, voice collecting
Module 23 and the sensing module 24 that tests the speed, the middle control module 17 include microprocessor 25 and memory module 26, the data processing
Module 19 includes path capture module 27, image-drawing unit 28, image processing module 29 and image comparison module 30, the driving mould
Block 20 includes speed adjustment module 31 and steering unit 32.
Further, as shown in figures 1 and 3, the infrared distance measurement module 21 be specially infrared distance sensor, for pair
Robot body 1 in motion process and the real-time range between comparison measure collection, described image acquisition module 22
It is specifically configured to high-definition camera, for carrying out admission collection to scene change information of the robot body 1 during traveling,
The voice acquisition module 23 is specifically configured to microphone, for being enrolled to the audio-frequency information in external environment, the survey
Fast sensing module 24 is specially velocity sensor, is measured for the real-time speed to the robot body 1 in traveling process
And it collects.
Further, as shown in Figure 1 and Figure 4, the steering unit 32 is specially diverter, and the diverter is set to work
Make the inner cavity top of slot 2, the output end of the diverter is equipped with deflecting roller, and the speed adjustment module 31 connects with driving motor 3
It connects, the revolving speed of driving motor 3 is adjusted, to complete the adjusting to 1 travel speed of robot body.
Further, as shown in Figs. 1-2, the items basis ginseng that the microprocessor 25 is used to be collected into induction module 18
Number information carries out processing operation, and provides the processing operational capability to image image, is collected into image image capture module 22
Image information can timely be handled, the storage performance that the memory module 26 is used to provide system operations is supported, to being
The data that generate are gentle in system calculating process deposits into capable storage, while can scene figure in institute, storage service robot service range
As information and scene structure information.
Further, as shown in Figure 1 and Figure 5, described image processing module 29 is the function in system to Image Information Processing
Energy module for being analyzed and processed to the collected scene image information of image capture module 22, and combines to test the speed and senses mould
It is each in collected 1 travel speed of robot body of block 24 and the test the speed collected robot body 1 of sensing module 24 and scene
The distance of comparison calculates position of the robot body 1 in scene information；The image-drawing unit 28 is by storage
The scene information stored in module 26 is extracted, and is carried out image information using image comparison module 30 and is compared, completes mould
Proposed mould draws the scene information in scene, and sharp path capture module 27 to the travelling route of robot body 1 into
Row is drawn, to judge the location information of robot body 1.
Further, in the above-mentioned technical solutions, service robot will do it movement, the figure of setting in the process of work
Understand as acquisition module 22 and image information encountered in 1 traveling process of robot body is acquired, and utilizes infrared distance measurement
Module 21 detects the distance between comparison and the robot body 1 in scene, using the sensing module 24 that tests the speed to machine
The real-time movement speed of device human body 1 detects, and utilizes the every basis letter collected to induction module 18 of microprocessor 25
Breath carries out calculation process, according to the field stored in acquired image information, range information and velocity information, with memory module 26
Scape information compares operation, simulation modelling is completed, according to the movement of the range information of comparison in scene and robot body 1
Speed, scene structure chart compares in scene information, carries out apart from calculating, and sharp path capture module 27 is to robot sheet
The travelling route of body 1 is drawn, to judge the location information of robot body 1, is obtained locating for robot body 1
Scene location, complete positioning service to robot body 1, compared to the mode of traditional positioning chip acquisition position, greatly
Big improves positioning accuracy.
The several points that should finally illustrate are: firstly, in the description of the present application, it should be noted that unless otherwise prescribed and
It limits, term " installation ", " connected ", " connection " shall be understood in a broad sense, can be mechanical connection or electrical connection, be also possible to two
Connection inside element, can be directly connected, and "upper", "lower", "left", "right" etc. are only used for indicating relative positional relationship, when
The absolute position for being described object changes, then relative positional relationship may change；
Secondly: the present invention discloses in embodiment attached drawing, relates only to the structure being related to the embodiment of the present disclosure, other knots
Structure, which can refer to, to be commonly designed, and under not conflict situations, the same embodiment of the present invention and different embodiments be can be combined with each other；
Last: the foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, all in the present invention
Spirit and principle within, any modification, equivalent replacement, improvement and so on, should be included in protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of service robot kinematic system with positioning function, including robot body (1), it is characterised in that: described
Robot body (1) bottom offers work nest (2), is equipped with driving motor (3) in the work nest (2)；
Driving motor (3) output shaft end is equipped with first gear (4), and first gear (4) side is equipped with spool gear
(5), spool gear (5) side is equipped with second gear (6), through equipped with rotation in the second gear (6) and spool gear (5)
Shaft (7), second gear (6) bottom are equipped with first bearing (8), and second gear (6) side is equipped with imperial crown tooth (9),
Imperial crown tooth (9) side wall is equipped with the first synchronizing wheel (10), and the first synchronizing wheel (10) side wall is equipped with second bearing
(11), it is plugged with first connecting rod (12) in the second bearing (11), first bearing (8) side wall is equipped with the second connection
Bar (13), the second connecting rod (13) end are equipped with walking rod (14), and walking rod (14) both ends are equipped with castor, institute
It states walking rod (14) outer wall to be arranged with the second synchronizing wheel (15), the second synchronizing wheel (15) side is equipped with telescopic spring bar
(16)。
2. a kind of service robot kinematic system with positioning function according to claim 1, it is characterised in that: described
Driving motor (3) is fixedly installed on the inner cavity top of work nest (2), and the rotary shaft (7) is fixedly installed on the interior of work nest (2)
Bottom of chamber portion, the spool gear (5) are flexibly connected with rotary shaft (7), first bearing (8) inner ring and second gear (6) bottom
It is fixedly connected, the first bearing (8) and second gear (6) are flexibly connected with rotary shaft (7).
3. a kind of service robot kinematic system with positioning function according to claim 1, it is characterised in that: described
First gear (4) and second gear (6) engage connection with spool gear (5), and the imperial crown tooth (9) is engaged with second gear (6)
Connection, the imperial crown tooth (9) is fixedly connected with the first synchronizing wheel (10), first synchronizing wheel (10) by imperial crown tooth (9) and
Second gear (6) transmission connection, described first connecting rod (12) one end is plugged in second bearing (11) and the other end and the
One bearing (8) outer ring is fixedly connected.
4. a kind of service robot kinematic system with positioning function according to claim 1, it is characterised in that: described
Walking rod (14) outer wall is also arranged with lantern ring, described second connecting rod (13) one end be fixedly connected with first bearing (8) outer ring with
And the other end is fixedly connected with lantern ring outer wall, telescopic spring bar (16) bottom end is fixedly connected with lantern ring and top and work
Slot (2) inner cavity top is fixedly connected, and is equipped with synchronous belt on first synchronizing wheel (10) and the second synchronizing wheel (15) outer wall, institute
It states the first synchronizing wheel (10) and is connected with the second synchronizing wheel (15) by toothed belt transmission.
5. a kind of service robot kinematic system with positioning function according to claim 1, it is characterised in that: also wrap
A kind of positioning system is included, the positioning system includes middle control module (17), and the middle control module (17) is set to robot body
(1) in, middle control module (17) connecting pin is equipped with induction module (18), data processing module (19) and drive module (20).
6. a kind of service robot kinematic system with positioning function according to claim 5, it is characterised in that: described
Induction module (18) includes infrared distance measurement module (21), image capture module (22), voice acquisition module (23) and the sensing that tests the speed
Module (24), the middle control module (17) include microprocessor (25) and memory module (26), the data processing module (19)
Including path capture module (27), image-drawing unit (28), image processing module (29) and image comparison module (30), the driving
Module (20) includes speed adjustment module (31) and steering unit (32).
7. a kind of service robot kinematic system with positioning function according to claim 6, it is characterised in that: described
Infrared distance measurement module (21) is specially infrared distance sensor, for the robot body (1) and comparison in motion process
Between real-time range measure collection, described image acquisition module (22) is specifically configured to high-definition camera, for machine
Scene change information of the device human body (1) during traveling carries out admission collection, and the voice acquisition module (23) specifically sets
It is set to microphone, for enrolling to the audio-frequency information in external environment, the sensing module that tests the speed (24) is specially speed
Sensor is measured and is collected for the real-time speed to the robot body (1) in traveling process.
8. a kind of service robot kinematic system with positioning function according to claim 7, it is characterised in that: described
Steering unit (32) is specially diverter, and the diverter is set to the inner cavity top of work nest (2), the output of the diverter
End is equipped with deflecting roller, and the speed adjustment module (31) connect with driving motor (3), adjusts to the revolving speed of driving motor (3)
Section, to complete the adjusting to robot body (1) travel speed.
9. a kind of service robot kinematic system with positioning function according to claim 8, it is characterised in that: described
Microprocessor (25) is used to carry out every underlying parameter information that induction module (18) is collected into processing operation, and provides to figure
As the processing operational capability of image, the image information for being collected into image image capture module (22) can be handled timely,
The storage performance that the memory module (26) is used to provide system operations is supported, gentle to the data generated during system operations
Deposit into capable storage, while can scene image information and scene structure information in institute, storage service robot service range.
10. a kind of service robot kinematic system with positioning function according to claim 9, it is characterised in that: institute
Stating image processing module (29) is the functional module in system to Image Information Processing, for acquiring to image capture module (22)
To scene image information be analyzed and processed, and combine test the speed sensing module (24) collected robot body (1) traveling
Speed and the sensing module that tests the speed (24) collected robot body (1) are in scene at a distance from each comparison, to robot sheet
Position of the body (1) in scene information is calculated；The image-drawing unit (28) passes through to the field stored in memory module (26)
Scape information is extracted, and is carried out image information using image comparison module (30) and is compared, simulation modelling is completed, in scene
Scene information drawn, and sharp path capture module (27) draws the travelling route of robot body (1), thus
The location information of robot body (1) is judged.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910217830.2A CN109773810A (en) | 2019-03-21 | 2019-03-21 | A kind of service robot kinematic system with positioning function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910217830.2A CN109773810A (en) | 2019-03-21 | 2019-03-21 | A kind of service robot kinematic system with positioning function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20090007907A (en) * | 2007-07-16 | 2009-01-21 | 엘지전자 주식회사 | Robot cleaner |
| CN105599823A (en) * | 2014-11-23 | 2016-05-25 | 重庆山朕科技发展有限公司 | Structure-modifiable robot with two modules |
| CN106428292A (en) * | 2016-11-15 | 2017-02-22 | 深圳市中舟智能科技有限公司 | Quadricycle walking mechanism for moving robot |
| CN208000498U (en) * | 2018-04-08 | 2018-10-23 | 上海仙知机器人科技有限公司 | Indoor crusing robot trolley |
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2019
- 2019-03-21 CN CN201910217830.2A patent/CN109773810A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090007907A (en) * | 2007-07-16 | 2009-01-21 | 엘지전자 주식회사 | Robot cleaner |
| CN105599823A (en) * | 2014-11-23 | 2016-05-25 | 重庆山朕科技发展有限公司 | Structure-modifiable robot with two modules |
| CN106428292A (en) * | 2016-11-15 | 2017-02-22 | 深圳市中舟智能科技有限公司 | Quadricycle walking mechanism for moving robot |
| CN208000498U (en) * | 2018-04-08 | 2018-10-23 | 上海仙知机器人科技有限公司 | Indoor crusing robot trolley |
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Application publication date: 20190521 |