CN110032109A - A kind of full landform intelligent robot - Google Patents
A kind of full landform intelligent robot Download PDFInfo
- Publication number
- CN110032109A CN110032109A CN201910308605.XA CN201910308605A CN110032109A CN 110032109 A CN110032109 A CN 110032109A CN 201910308605 A CN201910308605 A CN 201910308605A CN 110032109 A CN110032109 A CN 110032109A
- Authority
- CN
- China
- Prior art keywords
- chip
- module
- pin
- tracking
- intelligent robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24032—Power on reset, powering up
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of full landform intelligent robots, full landform intelligent robot includes single chip machine controlling circuit, power supply module, tracking module, ultrasonic wave module, the voice module, drive module being electrically connected with single chip machine controlling circuit, single chip machine controlling circuit include single-chip microcontroller and crystal oscillating circuit and reset circuit with monolithic mechatronics；Tracking module includes the tracking chip of several and monolithic mechatronics；Drive module includes in-wheel driving module and sufficient formula drive module；Ultrasonic wave module and voice module are electrically connected with the pin of single-chip microcontroller respectively.The present invention provides a kind of robot that can deal with multiple road or road conditions, it is defined as full ground anthropomorphic robot, and full ground anthropomorphic robot also has that there are two types of motor patterns；Full ground anthropomorphic robot in the present invention includes wheeled and sufficient formula.
Description
Technical field
The present invention relates to machinery field more particularly to robot fields, and in particular to a kind of full landform intelligent robot.
Background technique
For present road surface and road conditions, robot is difficult normally to be walked, because possible robot is carrying out directly
When walking, the road surface in front occurs cheating suddenly or the complex road surfaces such as mound and emergent unknown object etc., these accidents
Situation is a severe test for robot, and extraneous scholar and scientist possess some special knowledge to this, but is all needle
To a certain road surface or special road conditions.
Therefore, it is further satisfaction demand, a kind of robot that can deal with multiple road or road conditions need to be researched and developed, be defined as
Full ground anthropomorphic robot, and full ground anthropomorphic robot also has there are two types of motor pattern.
Summary of the invention
The present invention overcomes the deficiencies in the prior art, provide a kind of robot that can deal with multiple road or road conditions, fixed
Justice be complete ground anthropomorphic robot, and full ground anthropomorphic robot also have there are two types of motor pattern；Full ground anthropomorphic robot in the present invention includes
Wheeled and sufficient formula.
In order to achieve the above objectives, the technical solution adopted by the present invention are as follows: a kind of full landform intelligent robot, full landform intelligence
Robot includes single chip machine controlling circuit, the power supply module that is electrically connected with the single chip machine controlling circuit, tracking module, ultrasonic wave
Module, voice module, drive module, the single chip machine controlling circuit include Chip Microcomputer A 1 and the crystalline substance that is electrically connected with Chip Microcomputer A 1
Shake circuit and reset circuit；The tracking module includes the tracking chip that several are electrically connected with Chip Microcomputer A 1；The driving mould
Block includes in-wheel driving module and sufficient formula drive module；The ultrasonic wave module and the voice module pin with Chip Microcomputer A 1 respectively
Electrical connection.
In a preferred embodiment of the invention, voice module includes speech chip A4, and is electrically connected with speech chip A4
The loudspeaker and microphone connect.
In a preferred embodiment of the invention, in-wheel driving module uses four driving modules；The foot formula drive module is adopted
With six sufficient drive modules.
In a preferred embodiment of the invention, six sufficient drive modules include several described steering engines and by the rudder
The steering engine that machine is electrically connected with Chip Microcomputer A 1 controls core plate A3.
In a preferred embodiment of the invention, four driving modules include the motor drive module and WIFI digital transmission module；
The motor drive module includes being electrically connected with the motor drive ic A2 of monolithic mechatronics and with motor drive ic A2
Multiple driving motors.
In a preferred embodiment of the invention, power supply module includes supplying cell and the electricity that connect with supplying cell
Source Voltage stabilizing module.
In a preferred embodiment of the invention, the single-chip microcontroller model that Chip Microcomputer A 1 uses is single-chip microcontroller STM32；Institute's predicate
Sound module is speech chip WEGASUN M6 using speech chip A3 model；Tracking chip use tracking chip model be
Tracking chip TCRT5000；The ultrasound chip A5 model that ultrasonic wave module uses is ultrasound chip HC-SR04.
It is that motor drives that motor drive ic A2 model is used in a preferred embodiment of the invention, in motor drive module
Dynamic chip L9110S or motor drive ic TB6612FNG, and multiple drivings electricity of chip A2 drive connection is driven by motor
Machine.
In a preferred embodiment of the invention, power supply circuit to single-chip microcontroller STM32, speech chip WEGASUN M6, follow
Mark chip TCRT5000, ultrasound chip HC-SR04 power supply.
In a preferred embodiment of the invention, PA9 pin, the PA10 pin of single-chip microcontroller STM32 is connected with speech chip
The input terminal pin of WEGASUN M6, speech chip WEGASUN M6 are connected with microphone, and speech chip WEGASUN M6's is defeated
Enter pin is held to be connected with power amplifier；PC1 pin ~ PC4 pin of single-chip microcontroller STM32 is respectively with corresponding tracking chip TCRT5000's
Input/output terminal connection；PH1 pin ~ PH8 pin of single-chip microcontroller STM32 is connect with the input terminal pin of motor drive ic A2,
And the output pin of motor drive ic A2 is connected separately with the input terminal and output end of driving motor, motor drive ic A2
Drive corresponding driving motor；Crystal oscillating circuit includes 32.768KHZ crystal oscillating circuit and 25MHZ crystal oscillating circuit, single-chip microcontroller STM32's
PC15 pin and PC14 pin are separately connected the input terminal OSC32-IN of 32.768KHZ crystal oscillating circuit, output end OSC32-OUT；
The PH0 pin and PH1 pin of single-chip microcontroller STM32 is separately connected the input terminal OSC-IN of 25MHZ crystal oscillating circuit, output end OSC-
OUT；The NRST pin of single-chip microcontroller STM32 connects reset circuit.
The invention solves the defect existing in the background technology, beneficial effects of the present invention:
The present invention provides a kind of robot that can deal with multiple road or road conditions, is defined as full ground anthropomorphic robot, and full landform
Robot also has there are two types of motor pattern；Full ground anthropomorphic robot in the present invention includes wheeled and sufficient formula.
Full ground anthropomorphic robot of the invention can be travelled quickly mainly for paved road, with ultrasonic wave module, then
It is able to carry out avoidance, also has the function of tracking etc.；Another kind is sufficient formula, uses six foots for second of motor pattern, because of six foots
Robot is more stable with four-footed than biped, and sufficient formula structure can swim sword when coping with various complicated landforms and have
It is remaining, so can more have good performance than wheeled using the motion mode of sufficient formula in non-paved road.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the electrical block diagram of single chip machine controlling circuit and four driving modules in the present invention；
Fig. 2 is the electrical block diagram of tracking module in the present invention, ultrasonic wave module, voice module, six sufficient drive modules；
Fig. 3 is the electrical block diagram of crystal oscillating circuit and reset circuit in the present invention.
Specific embodiment
Presently in connection with drawings and examples, the present invention is described in further detail, these attached drawings are simplified signal
Figure, the basic structure of the invention will be illustrated schematically only, therefore it only shows the composition relevant to the invention.
As shown in Fig. 1 ~ 3: present embodiment discloses a kind of full landform intelligent robot, full landform intelligent robot includes single
Piece machine control circuit, single chip machine controlling circuit include Chip Microcomputer A 1 and the crystal oscillating circuit being electrically connected with Chip Microcomputer A 1 and reset electric
Road；And power supply module, tracking module, ultrasonic wave module, voice module, the driving mould being electrically connected with single chip machine controlling circuit
Block.Specifically, the model for the Chip Microcomputer A 1 that Chip Microcomputer A 1 uses is single-chip microcontroller STM32 in present pre-ferred embodiments；Tracking mould
Block includes the tracking chip that several are electrically connected with Chip Microcomputer A 1；The model that tracking chip uses is tracking chip TCRT5000；
Ultrasonic wave module and voice module are electrically connected with the pin of Chip Microcomputer A 1 respectively；The ultrasound chip A5 type that ultrasonic wave module uses
It number is ultrasound chip HC-SR04；Voice module includes speech chip A4, and with the speech chip A4 loudspeaker being electrically connected and
Microphone；Voice module is speech chip WEGASUN M6 using speech chip A4 model.Power supply module includes power supply electricity
Pond and the power regulator module being connect with supplying cell, power supply module to single-chip microcontroller STM32, speech chip WEGASUN M6,
Tracking chip TCRT5000, ultrasound chip HC-SR04 power supply.
Specifically, drive module includes in-wheel driving module and sufficient formula drive module in a preferred embodiment of the present invention；
Sufficient formula drive module is using six sufficient drive modules.Specifically, six sufficient drive modules include 6 steering engines and by 6 steering engines and list
The steering engine of piece machine A1 connection controls core plate A3.
In-wheel driving module uses four driving modules, and four driving modules include the motor drive module and WIFI digital transmission module；
Motor drive module includes the motor drive ic A2 being electrically connected with Chip Microcomputer A 1 and is electrically connected with motor drive ic A2
Multiple driving motors.Motor drive module includes motor drive ic A2, and the more of chip A2 drive connection are driven by motor
A driving motor；Motor drive ic A2 model uses motor drive ic L9110S or motor drive ic TB6612FNG.One
In a preferred embodiment, motor drive ic TB6612FNG is selected.WIFI digital transmission module by small-sized router A6, power supply line, take the photograph
As head A7 is constituted.Need to only be inserted to power supply line in small-sized router when use makes small-sized router A6 operating emission WIFI signal；
The USB of camera A7 is connected on small-sized router A6 again, obtains voltage, camera A7 is made to work；Finally by small-sized routing
The WIFI of device A6D by video signal transmission to mobile phone, it can be achieved that the purpose remotely monitored, is not controlled by single-chip microcontroller STM32.
Embodiment:
In a preferred embodiment of the present invention, PA9 pin, the PA10 pin of single-chip microcontroller STM32 is connected with speech chip WEGASUN
The input terminal pin of M6, speech chip WEGASUN M6 are connected with microphone, the input terminal pin of speech chip WEGASUN M6
It is connected with power amplifier；PC1 pin ~ PC4 pin of single-chip microcontroller STM32 respectively with the input and output of corresponding tracking chip TCRT5000
End connection；PH1 pin ~ PH8 pin of single-chip microcontroller STM32 is connect with the input terminal pin of motor drive ic A2, and motor drives
The output pin of dynamic chip A2 is connected separately with the input terminal and output end of driving motor, the corresponding drive of motor drive ic A2
Dynamic motor, driving motor model is using 3530 motors；The PC15 pin and PC14 pin of single-chip microcontroller STM32 is separately connected
Input terminal OSC32-IN, output end OSC32-OUT, the 32.768KHZ crystal oscillating circuit of 32.768KHZ crystal oscillating circuit include
32.768KHZ crystal oscillator and two small capacitances；The PH0 pin and PH1 pin of single-chip microcontroller STM32 is separately connected 25MHZ crystal oscillator electricity
Input terminal OSC-IN, output end OSC-OUT, the 25MHZ crystal oscillating circuit on road include 25MHZ crystal oscillator and two small capacitances；Monolithic
The PC15 pin and PC14 pin of machine STM32；The NRST pin of single-chip microcontroller STM32 connects reset circuit, and reset circuit is used and pressed
Key reset circuit；Single-chip microcontroller STM32 is additionally provided with debugging downloading end BOOT0 pin, and the BOOT0 pin of single-chip microcontroller STM32 passes through
Resistance R1 ground connection.
Steering engine control core plate A4 is selected into happy unreal 24 road steering engine controller of Sol, steering engine controls RX pin, the YX of core plate A4
Pin is connect with the PC6 pin of single-chip microcontroller STM32 and PC7 pin, 6 steering engines using LD-1501MG model uniaxial rudder
Machine.For the uniaxial steering engine of LD-1501MG model as common steering engine, one shares 3 lines, a VCC, a GND, (a S
+) signal wire.3 lines of each steering engine are connected on steering engine control core plate A4, are uniformly controlled by steering engine control core plate A4.
Based on the above description of the preferred embodiments of the present invention, through the above description, related personnel completely can be with
Without departing from the scope of the technological thought of the present invention', various changes and amendments are carried out.The technical scope of this invention
It is not limited to the contents of the specification, it is necessary to determine the technical scope according to the scope of the claims.
Claims (10)
1. a kind of full landform intelligent robot, full landform intelligent robot includes single chip machine controlling circuit, with the single-chip microcontroller control
The power supply module of circuit electrical connection processed, tracking module, ultrasonic wave module, voice module, drive module, it is characterised in that: described
Single chip machine controlling circuit includes Chip Microcomputer A 1 and the crystal oscillating circuit and reset circuit that are electrically connected with Chip Microcomputer A 1；The tracking mould
Block includes the tracking chip that several are electrically connected with Chip Microcomputer A 1；The drive module includes in-wheel driving module and sufficient formula driving
Module；The ultrasonic wave module and voice module are electrically connected with the pin of Chip Microcomputer A 1 respectively.
2. full landform intelligent robot according to claim 1, it is characterised in that: the voice module includes speech chip
A4, and with the speech chip A4 loudspeaker being electrically connected and microphone.
3. full landform intelligent robot according to claim 1, it is characterised in that: the in-wheel driving module uses 4 wheel driven
Module；The foot formula drive module is using six sufficient drive modules.
4. full landform intelligent robot according to claim 3, it is characterised in that: described six sufficient drive modules include several
A steering engine and the steering engine for being electrically connected the steering engine with Chip Microcomputer A 1 control core plate A3.
5. full landform intelligent robot according to claim 3, it is characterised in that: four driving module includes the motor
Drive module and WIFI digital transmission module；The motor drive module include with the motor drive ic A2 of monolithic mechatronics, with
And the multiple driving motors being electrically connected with motor drive ic A2.
6. full landform intelligent robot according to claim 1, it is characterised in that: the power supply module includes power supply electricity
Pond and the power regulator module being connect with supplying cell.
7. full landform intelligent robot according to claim 5, it is characterised in that: the single-chip microcontroller that the Chip Microcomputer A 1 uses
Model is single-chip microcontroller STM32；The voice module is speech chip WEGASUN M6 using speech chip A3 model；Tracking
The tracking chip model that chip uses is tracking chip TCRT5000；The ultrasound chip A5 model that ultrasonic wave module uses is super
Sound wave chip HC-SR04.
8. full landform intelligent robot according to claim 7, it is characterised in that: motor drive module includes motor driven
Chip A2, and multiple driving motors of chip A2 drive connection are driven by motor；Motor drive ic A2 model uses motor
Driving chip L9110S or motor drive ic TB6612FNG.
9. full landform intelligent robot according to claim 8, it is characterised in that: power supply circuit is to single-chip microcontroller STM32, language
Sound chips W EGASUN M6, tracking chip TCRT5000, ultrasound chip HC-SR04 power supply.
10. full landform intelligent robot according to claim 9, it is characterised in that: the PA9 pin of single-chip microcontroller STM32,
PA10 pin is connected with speech chip WEGASUN M6, and the input terminal pin of speech chip WEGASUN M6 is connected with microphone,
The input terminal pin of speech chip WEGASUN M6 is connected with power amplifier；
PC1 pin ~ PC4 pin of single-chip microcontroller STM32 is connected with the input/output terminal of corresponding tracking chip TCRT5000 respectively；
PH1 pin ~ PH8 pin of single-chip microcontroller STM32 is connect with the input terminal pin of motor drive ic A2, and motor driven core
The output pin of piece A2 is connected separately with the input terminal and output end of driving motor, and motor drive ic A2 drives corresponding drive
Dynamic motor；
Crystal oscillating circuit includes 32.768KHZ crystal oscillating circuit and 25MHZ crystal oscillating circuit, the PC15 pin and PC14 of single-chip microcontroller STM32
Pin is separately connected the input terminal OSC32-IN of 32.768KHZ crystal oscillating circuit, output end OSC32-OUT；
The PH0 pin and PH1 pin of single-chip microcontroller STM32 are separately connected input terminal OSC-IN, the output end of 25MHZ crystal oscillating circuit
OSC-OUT；
The NRST pin of single-chip microcontroller STM32 connects reset circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910308605.XA CN110032109A (en) | 2019-04-17 | 2019-04-17 | A kind of full landform intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910308605.XA CN110032109A (en) | 2019-04-17 | 2019-04-17 | A kind of full landform intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110032109A true CN110032109A (en) | 2019-07-19 |
Family
ID=67238813
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910308605.XA Pending CN110032109A (en) | 2019-04-17 | 2019-04-17 | A kind of full landform intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110032109A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204116959U (en) * | 2014-09-28 | 2015-01-21 | 广东石油化工学院 | Based on the dolly Intelligent anti-touch collision device of ultrasonic technology |
| CN104898673A (en) * | 2015-05-21 | 2015-09-09 | 苏州工业职业技术学院 | Intelligent tracking trolley based on infrared sensors and tracking method thereof |
| CN205049908U (en) * | 2015-10-09 | 2016-02-24 | 深圳市申议实业有限公司 | Teaching robot control system |
| CN205139705U (en) * | 2015-11-11 | 2016-04-06 | 湖南工业大学 | Wireless small -size intelligent vehicle based on monocular vision |
| CN106502171A (en) * | 2016-12-28 | 2017-03-15 | 郑州欧印数字科技有限公司 | A kind of multi-sensory speech robot based on embedded system |
| CN106791635A (en) * | 2016-12-06 | 2017-05-31 | 青岛滨海学院 | A kind of various visual angles monitor of mobile phone remote |
| CN207424599U (en) * | 2017-11-16 | 2018-05-29 | 大连科技学院 | A kind of robot based on APP controls |
| CN108415021A (en) * | 2018-06-15 | 2018-08-17 | 苏州工业职业技术学院 | Biped robot's Intelligent tracking device |
| CN108481348A (en) * | 2018-03-14 | 2018-09-04 | 合肥工业大学 | Hexapod Robot control system based on Arduino platforms |
| CN109079746A (en) * | 2018-11-02 | 2018-12-25 | 中国人民解放军陆军工程大学 | A kind of four-wheel and the deformable real training robot devices of six foots and control method |
| CN109227544A (en) * | 2018-10-24 | 2019-01-18 | 西南交通大学 | A kind of six sufficient trolley full ground anthropomorphic robot of c-type leg |
| CN210155528U (en) * | 2019-04-17 | 2020-03-17 | 苏州工业职业技术学院 | All-terrain intelligent robot |
-
2019
- 2019-04-17 CN CN201910308605.XA patent/CN110032109A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204116959U (en) * | 2014-09-28 | 2015-01-21 | 广东石油化工学院 | Based on the dolly Intelligent anti-touch collision device of ultrasonic technology |
| CN104898673A (en) * | 2015-05-21 | 2015-09-09 | 苏州工业职业技术学院 | Intelligent tracking trolley based on infrared sensors and tracking method thereof |
| CN205049908U (en) * | 2015-10-09 | 2016-02-24 | 深圳市申议实业有限公司 | Teaching robot control system |
| CN205139705U (en) * | 2015-11-11 | 2016-04-06 | 湖南工业大学 | Wireless small -size intelligent vehicle based on monocular vision |
| CN106791635A (en) * | 2016-12-06 | 2017-05-31 | 青岛滨海学院 | A kind of various visual angles monitor of mobile phone remote |
| CN106502171A (en) * | 2016-12-28 | 2017-03-15 | 郑州欧印数字科技有限公司 | A kind of multi-sensory speech robot based on embedded system |
| CN207424599U (en) * | 2017-11-16 | 2018-05-29 | 大连科技学院 | A kind of robot based on APP controls |
| CN108481348A (en) * | 2018-03-14 | 2018-09-04 | 合肥工业大学 | Hexapod Robot control system based on Arduino platforms |
| CN108415021A (en) * | 2018-06-15 | 2018-08-17 | 苏州工业职业技术学院 | Biped robot's Intelligent tracking device |
| CN109227544A (en) * | 2018-10-24 | 2019-01-18 | 西南交通大学 | A kind of six sufficient trolley full ground anthropomorphic robot of c-type leg |
| CN109079746A (en) * | 2018-11-02 | 2018-12-25 | 中国人民解放军陆军工程大学 | A kind of four-wheel and the deformable real training robot devices of six foots and control method |
| CN210155528U (en) * | 2019-04-17 | 2020-03-17 | 苏州工业职业技术学院 | All-terrain intelligent robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107185259A (en) | Electronic module and modular electronic construction system for multi-orientation connection | |
| CN106057056A (en) | Teaching robot dolly based on STM32F4 microcontroller | |
| KR20120036680A (en) | The educational robot kit using toy block | |
| CN106890458A (en) | A kind of magnetic-type intelligent building blocks, system, control method and application method | |
| CN205968983U (en) | Intelligent robot and control system thereof | |
| CN207206431U (en) | A kind of Movement Controller of Mobile Robot | |
| CN110032109A (en) | A kind of full landform intelligent robot | |
| Meteab et al. | Controlling and monitoring a robot-car based on smart phone applications | |
| CN205969039U (en) | Intelligent robot and control system thereof | |
| CN106272400A (en) | A kind of special steering engine driving device of six degree of freedom mechanical arm | |
| CN207384845U (en) | A kind of electronic module and modular electronic for multi-faceted connection builds system | |
| CN210155528U (en) | All-terrain intelligent robot | |
| CN206700768U (en) | A kind of magnetic-type intelligent building blocks, system | |
| CN206432894U (en) | A kind of feedback device for wearable device | |
| CN210173581U (en) | Remote robot control system based on VR technique | |
| CN217157092U (en) | Internet of things reconnaissance trolley based on STM32 | |
| CN109434859A (en) | A kind of Remote Robot Control System and method based on VR technology | |
| CN106125374B (en) | For driving the driving plate of liquid crystal cell in naked eye 3D display mould group | |
| D’Ademo et al. | eBug-An open robotics platform for teaching and research | |
| CN206154317U (en) | Open -ended modularization education robot control system | |
| CN208888614U (en) | A kind of multi-functional steering engine controller | |
| CN209056951U (en) | A kind of power management module of electronic building blocks | |
| CN209566129U (en) | A kind of more coordination controllers of robot | |
| CN205721195U (en) | Robot controller | |
| CN206242057U (en) | A kind of reconnaissance robot based on wifi controls |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |