CN110355770A - A kind of service robot of accompanying and attending to operational capacity - Google Patents
A kind of service robot of accompanying and attending to operational capacity Download PDFInfo
- Publication number
- CN110355770A CN110355770A CN201910715330.1A CN201910715330A CN110355770A CN 110355770 A CN110355770 A CN 110355770A CN 201910715330 A CN201910715330 A CN 201910715330A CN 110355770 A CN110355770 A CN 110355770A
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- attending
- chassis
- accompanying
- service robot
- manipulator
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 36
- 230000003993 interaction Effects 0.000 claims abstract description 31
- 238000009434 installation Methods 0.000 claims abstract description 24
- 230000002452 interceptive effect Effects 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims description 19
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of service robot of accompanying and attending to operational capacity, including chassis, lifting straight line mould group, lifting support, manipulator and head assembly；Chassis is removable；Going up and down straight line mould group includes mould group pedestal and translation unit；Lifting support is fixed in translation unit, and top has head installation position, and lower end has manipulator installation position；Manipulator is mounted on manipulator installation position, and it has execution gripper；Head assembly is mounted on the installation position of head, and it includes binocular camera.Service robot of accompanying and attending to operational capacity of the invention passes through setting manipulator, it can make robot that there is the ability for implementing specific physical operations, and its head assembly can be gone up and down relative to chassis together with manipulator, so that manipulator has biggish opereating specification, both it can implement to operate on higher table top or implement to operate on the ground, it is practical, and user can optionally remove the first interaction screen control robot, interactive experience is preferable.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of service robot of accompanying and attending to operational capacity.
Background technique
Currently, occurred some service robot products of accompanying and attending on the market with the development of robot technology, it is this kind of to accompany
Protecting service robot is mostly a moveable interaction platform, generally stays at dialogue with the interactive mode of people and interacts
On, i.e., robot built-in has voice assistant, can accompany people's chat, help some information of user query, can at most execute certain
Patrol mission, function is less, specifically can not need to service user in the affairs operated.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides one kind and can accompany and attend to user and to use
Implement the service robot of accompanying and attending to operational capacity for the affairs for centainly specifically needing to operate in family.
Technical solution: to achieve the above object, a kind of service robot of accompanying and attending to operational capacity of the invention, packet
It includes:
Chassis comprising chassis pedestal is equipped with two driving wheels and several driven wheels on the chassis pedestal；
Straight line mould group is gone up and down, it includes erect the mould group pedestal that is fixed on the chassis and can be relative to the mould group
Pedestal makees the translation unit of elevating movement；
Lifting support is fixed in the translation unit；It is the strip structure erect, and its entirety is in the mould
Make translational motion in the side of group pedestal；Its top has head installation position, and lower end has manipulator installation position；
Manipulator is mounted on the manipulator installation position, and it has execution gripper；And
Head assembly is mounted on the head installation position, and it includes that binocular camera and the first interaction are shielded, described
First interaction screen can be relative to other unit disassemblings of the head assembly.
It further, further include shell mechanism, the shell mechanism includes:
Base shell, mask are fixed on the chassis；
Upper housing is fixedly installed around the lifting support, and will be including the top mask of the lifting straight line mould group；
And
Bellows set, for structure up and down, lower end connects the base shell, and the upper end connects the upper casing
Body, and its surrounding for being set in the mould group pedestal.
Further, the head assembly includes:
Rotating seat, can be relative to the lifting support controllable rotating, and its rotary shaft is vertical；
Pitching seat can controllably make pitching rotary motion relative to the rotating seat；The binocular camera is fixedly mounted
On it.
Further, the rotating seat is positive the U-shaped structure set, and the pitching seat is inverted U-shaped structure, described
The side plate of pitching seat two sides is respectively relative to the side plate rotational installation of the rotating seat two sides；
The pitching seat is driven by first motor and is rotated relative to the rotating seat；The rotating seat is by being mounted on the head
The second motor driven on portion installation position is rotated relative to the lifting support.
Further, the driving wheel is hub motor, is mounted on the chassis pedestal by dampening assembly, described
Dampening assembly includes:
Fixing seat is in reverse U shape, and it is fixedly mounted relative to the chassis pedestal；
Rotating seat, one end are rotatablely installed relative to the fixing seat, and the driving wheel is fixed on its other end；And
Damper, both ends are respectively hinged on the fixing seat and the rotating seat.
Further, two driving wheels are symmetrically mounted on the arranged on left and right sides in the middle part of the chassis pedestal, the chassis
The front and rear sides of pedestal is respectively provided with several driven wheels.
Further, the head assembly includes the bracket for installing the first interaction screen, the first interaction screen
It is detachably installed relative to the bracket.
Further, laser radar, depth camera and ultrasonic sensor are installed on the chassis.
Further, the back side of the upper housing is provided with management interactive component, and the management interactive component includes second
Interaction screen and automatically controlled interface group.
Further, being equipped on the upper housing can be with respect to the revolving door of its opening and closing, and the revolving door is relative to described
When upper housing is closed, the automatically controlled interface group is hidden in the revolving door.
The utility model has the advantages that the service robot of accompanying and attending to operational capacity of the invention can make machine by setting manipulator
People has the ability for implementing specific physical operations, such as user can be assisted to take article, wiping desktop, and its head assembly and machine
Tool hand can be gone up and down relative to chassis together, so that manipulator has biggish opereating specification, can both be implemented on higher table top
Operation can also be implemented to operate on the ground, practical, and user can optionally remove the first interaction screen control robot, interaction
Experience is preferable.
Detailed description of the invention
Attached drawing 1 is the outline drawing of the service robot of accompanying and attending to operational capacity；
Attached drawing 2 is the internal structure chart of the service robot of accompanying and attending to operational capacity；
Attached drawing 3 is the structure chart of dampening assembly；
Attached drawing 4 is the combination assumption diagram for going up and down straight line mould group and lifting support；
Attached drawing 5 is the internal structure chart of head assembly；
Attached drawing 6 is the back outline drawing of the service robot of accompanying and attending to operational capacity.
The parts title that each appended drawing reference indicates in attached drawing is as follows:
The chassis 1-；The chassis 11- pedestal；12- driving wheel；13- driven wheel；2- goes up and down straight line mould group；21- mould group pedestal；22-
Translation unit；3- lifting support；The head 31- installation position；32- manipulator installation position；4- manipulator；41- executes gripper；42- machine
Tool arm；5- head assembly；51- binocular camera；52- rotating seat；53- pitching seat；54- first motor；The second motor of 55-；56-
One interaction screen；57- bracket；58- synchronous belt component；59- rotating platform speed reducer；6- shell mechanism；61- base shell；On 62-
Shell；63- bellows set；64- revolving door；7- dampening assembly；71- fixing seat；72- rotating seat；73- damper；8- management
Interactive component；The interaction screen of 81- second；The automatically controlled interface group of 82-；91- laser radar；92- depth camera；93- ultrasonic sensor.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
With the service robot of accompanying and attending to (hereinafter referred to as " robot ") of operational capacity, including bottom as shown in attached drawing 1-2
Disk 1, lifting straight line mould group 2, lifting support 3, manipulator 4 and head assembly 5, in addition, robot further includes for controlling it
The controller of movement.
Wherein, chassis 1 includes chassis pedestal 11, is equipped with two driving wheels 12 on the chassis pedestal 11 and four driven
Wheel 13；Specifically, two driving wheels 12 are symmetrically mounted on the arranged on left and right sides at 11 middle part of chassis pedestal, the chassis
The front and rear sides of pedestal 11 is respectively provided with two driven wheels 13.Using the chassis of six wheel construction, support is steady and will lead
Driving wheel 12 on both sides of the middle of chassis pedestal 11 is set, it can be achieved that chassis 1 cast, the radius of gyration is minimum；Two masters
Driving wheel 12 is electrically connected controller, controller rotated by two 12 differentials of driving wheel of driving can be achieved robots advance, after
It moves back, turn, the elemental motions such as cast.
In the present embodiment, the driving wheel 12 is hub motor, is mounted on the chassis pedestal 11 by dampening assembly 7
On, as shown in Fig. 3, the dampening assembly 7 includes fixing seat 71, rotating seat 72 and damper 73；Wherein, fixing seat 71 is in
Reverse U shape, and it is fixedly mounted relative to the chassis pedestal 11；One end of rotating seat 72 is relative to 71 side of fixing seat
Vertical beam rotational installation, the driving wheel 12 is fixed on its other end；Damper 73, both ends are respectively hinged at the fixing seat
On 71 upper beam and the rotating seat 72.By be arranged dampening assembly 7, one can play the role of buffer shock-absorbing, two, subtract
Shake device 73 can guarantee that driving wheel 12 with ground face contact, guarantees that usually driving wheel 12 does not have with ground yet and connects well on ground always
Touching, to can effectively ensure that the walking precision on chassis 1.
As shown in Fig. 4, lifting straight line mould group 2 is fixed on the One On The Chassis mould group pedestal 21 comprising setting and can
Make the translation unit 22 of elevating movement relative to the mould group pedestal 21；Lifting support 3 is fixed in the translation unit 22,
For the strip structure of setting, and its entirety makees translational motion in the side of the mould group pedestal 21, in this way, lifting straight line mould group
2 can drive lifting support 3 to move between high-order and low level, since lifting support 3 is in the sideways motion of mould group pedestal 21, work as liter
When descending branch frame 3 is in low level, lifting support 3 is integrally located at the side of mould group pedestal 21, when lifting support 3 is in a high position, rises
The side that descending branch frame 3 only has lower end to be located at mould group pedestal 21.
The top of lifting support 3 has head installation position 31, and lower end has manipulator installation position 32；Manipulator 4 is installed
On the manipulator installation position 32, and its mechanical arm 42 with multiaxis open-chain structure and be mounted on mechanical arm 42 execute end
The execution gripper 41 at end；Head assembly 5 is mounted on the head installation position 31, and it includes binocular camera 51.Above-mentioned lifting
Straight line mould group 2, manipulator 4 and binocular camera 51 are all connected with controller, and binocular camera 51 can execute grasping movement for controller and obtain
The depth data information for taking image data and image, can so facilitate and position to target item, and control gripper 41 moves
Complete task to setting point, due to manipulator 4 and head assembly 5 by lifting straight line mould group 2 drive synchronize make elevating movement, because
The relative position of this manipulator 4 and both head assemblies 5 remains constant, the relative coordinate of the two namely relatively fixed, control
The image data that device processed is acquired according to binocular camera 51 and the movement that picture depth data calculation manipulator 4 should execute are also opposite
Conveniently, complicated coordinate transformation is needed not move through between.And due to the opposite mounting means of lifting support 3 and mould group pedestal 21,
Manipulator 4 can drop to downwards lower position, and manipulator 4 of being more convenient for executes task in lower position, such as pick up from ground
Thing etc..Further, since head assembly 5 can be increased with lifting support 3 to be reduced, controller can be according to the height or appearance for object of accompanying and attending to
State (such as stand or be seated) adjusts the height of robot head parts 5, so that robot adapts to the user of different heights, Yi Jishi
Using family and different postures when robot interactive.
As shown in Fig. 5, head assembly 5 further includes rotating seat 52 and pitching seat 53, and rotating seat 52 can be relative to the liter
3 controllable rotating of descending branch frame, and its rotary shaft is vertical；Pitching seat 53 can controllably make pitching rotation fortune relative to the rotating seat 52
It is dynamic；The binocular camera 51 is fixedly mounted on pitching seat 53, and such binocular camera 51 can make head shaking movement and pitching motion, can
The visual range of binocular camera 51 is effectively increased, and makes robot can be at bigger visual angle without rotating frequently adjustment visual angle
Data are obtained in range.
Specifically, the rotating seat 52 is positive the U-shaped structure set, and the pitching seat 53 is inverted U-shaped structure, institute
The side plate for stating 53 two sides of pitching seat is respectively relative to the side plate rotational installation of 52 two sides of rotating seat；In on the rotating seat 52
The first motor 54 that both drivings relatively rotate is installed；The rotating seat 52 by be mounted on the head installation position 31
The driving rotation of two motors 55.In the present embodiment, first motor 54 drives pitching seat 53 to rotate by a synchronous belt component 58, and second
Motor 55 drives rotating seat 52 to rotate by rotating platform speed reducer 59.
In addition, as shown in Fig. 1, head assembly 5 further includes that the first interaction shields 56 and for installing the first interaction screen 56
Bracket 57, the bracket 57 is fixedly mounted relative to pitching seat 53, and the first interaction screen 56 can be fixed relative to bracket 57
And disassembly, the first interaction screen 56 can be wirelessly communicated with controller.In this way, the first interaction screen 56 can both be fixed on bracket 57 and open up
Show human-computer interaction interface and necessary information, and can remove and be used as the controller of control robot, user is without another
Capable mobile phone or tablet computer connection robot are convenient to control robot.Such interactive mode interaction logic is more clear
Clear, when user needs robot autonomous completion task, the first interaction screen 56 can show image (such as smiling face) or necessary information
(such as user query stock, the first interaction, which is shielded, shows corresponding stock information on 56)；It needs to intervene robot manually in user
When movement, 56 control robot manipulating task of the first interaction screen, the image that binocular camera 51 can be acquired such as controller can be directly removed
Data are shown on the first interaction screen 56, and can show virtual controlling button on the first interaction screen 56, and user can look at image
Robot is controlled by virtual controlling button to be advanced, retreat, head movement and crawl target object, execute other tasks
It does not need Deng, user with the control robot motion such as handle, mobile phone, tablet computer of peripheral hardware, letter has saved searching peripheral hardware, downloading
APP, foundation and the connection of robot, debugging etc. complicated intermediary operation.
In addition to above-mentioned interactive mode, robot further includes for loudspeaker and microphone, and controller is equipped with intelligent sound
System (such as Microsoft little Na, small love classmate voice assistant), such user can talk with robot.
Further, as shown in Fig. 1, in order to keep robot overall appearance more beautiful, and the machinery of its main body is protected
Structure and circuit, robot further include shell mechanism 6, and the shell mechanism 6 includes base shell 61, upper housing 62 and ripple
Telescopic 63,61 mask of base shell are fixed on the chassis 1；Upper housing 62 is fixedly installed around the lifting support 3, and
Including the top mask of the lifting straight line mould group 2, as the raising of lifting support 3 reduces, straight line mould group 2 is gone up and down by upper casing
The part that body 62 covers also constantly is changing；Bellows set 63 is structure up and down, and lower end connects the base shell
61, the upper end connects the upper housing 62, and its surrounding for being set in the mould group pedestal 21, since bellows set 63 is can
Flexible flexible structure, therefore with the raising of lifting support 3, reduction, bellows set 63 can be unfolded therewith, fold, so
Can be always by internal mechanical structure and circuit protection, so that it will not exposed.In addition, for the ease of heat dissipation, the shell knot
Correspond to the generation such as controller biggish position of heat on structure 6 and be provided with heat release hole, when necessary, wind can be set in heat dissipation hole site
Fan is to accelerate air flowing, improving heat radiation efficiency.
Sensor group is installed, the sensor group includes laser radar 91, depth camera 92 and surpasses on the chassis 1
Sonic sensor 93, controller can acquire environmental data by sensor group, and with establishing environment according to the environmental data of acquisition
Figure and the independent navigation movement for realizing robot, above-mentioned SLAM navigation procedure is the prior art, does not make specific be situated between to this herein
It continues, the SLAM airmanship based on laser radar can refer to the patent of Patent No. 201510727853.X, be based on depth camera
SLAM airmanship can refer to the patent of Patent No. 201810610969.9.
In addition, as shown in Fig. 6, the back side of the upper housing 62 is provided with management interactive component 8, the management interaction group
Part includes the second interaction screen 81 and automatically controlled interface group 82, automatically controlled interface group 82 can external equipment, the second interaction screen 81 can show
Debugging interface, developer can carry out exploitation debugging, system administration etc. using management interactive component 8.In order to protect automatically controlled interface
82 are organized, being equipped on the upper housing 62 can be with respect to the revolving door 63 of its opening and closing, and the revolving door 63 is relative to the upper housing
When 62 closing, the automatically controlled interface group 82 is hidden in the revolving door 63.
Service robot of accompanying and attending to operational capacity of the invention can be such that robot has and be implemented by setting manipulator
The ability of specific physical operations, such as user can be assisted to take article, wiping desktop, and its head assembly can be together with manipulator
Relative to chassis go up and down so that manipulator have biggish opereating specification, can both implement on higher table top operate and also
Implement operation on ground, it is practical.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of service robot of accompanying and attending to operational capacity characterized by comprising
Chassis comprising chassis pedestal is equipped with two driving wheels and several driven wheels on the chassis pedestal；
Straight line mould group is gone up and down, it includes erect the mould group pedestal that is fixed on the chassis and can be relative to the mould group pedestal
Make the translation unit of elevating movement；
Lifting support is fixed in the translation unit；It is the strip structure erect, and its entirety is in the mould group seat
Make translational motion in the side of body；Its top has head installation position, and lower end has manipulator installation position；
Manipulator is mounted on the manipulator installation position, and it has execution gripper；And
Head assembly is mounted on the head installation position, and it includes that binocular camera and the first interaction are shielded, and described first
Interaction screen can be relative to other unit disassemblings of the head assembly.
2. the service robot of accompanying and attending to according to claim 1 with operational capacity, which is characterized in that further include shell knot
Structure, the shell mechanism include:
Base shell, mask are fixed on the chassis；
Upper housing is fixedly installed around the lifting support, and will be including the top mask of the lifting straight line mould group；And
Bellows set, for structure up and down, lower end connects the base shell, and the upper end connects the upper housing,
And its surrounding for being set in the mould group pedestal.
3. the service robot of accompanying and attending to according to claim 1 with operational capacity, which is characterized in that the head assembly
Include:
Rotating seat, can be relative to the lifting support controllable rotating, and its rotary shaft is vertical；
Pitching seat can controllably make pitching rotary motion relative to the rotating seat；The binocular camera is fixedly mounted on it
On.
4. the service robot of accompanying and attending to according to claim 3 with operational capacity, which is characterized in that the rotating seat is
The U-shaped structure just set, the pitching seat are inverted U-shaped structure, and the side plate of pitching seat two sides is respectively relative to institute
State the side plate rotational installation of rotating seat two sides；
The pitching seat is driven by first motor and is rotated relative to the rotating seat；The rotating seat is pacified by being mounted on the head
The second motor driven on dress position is rotated relative to the lifting support.
5. the service robot of accompanying and attending to according to claim 1 with operational capacity, which is characterized in that the driving wheel is
Hub motor, is mounted on the chassis pedestal by dampening assembly, and the dampening assembly includes:
Fixing seat is in reverse U shape, and it is fixedly mounted relative to the chassis pedestal；
Rotating seat, one end are rotatablely installed relative to the fixing seat, and the driving wheel is fixed on its other end；And
Damper, both ends are respectively hinged on the fixing seat and the rotating seat.
6. the service robot of accompanying and attending to according to claim 5 with operational capacity, which is characterized in that two actives
Wheel is symmetrically mounted on the arranged on left and right sides in the middle part of the chassis pedestal, and the front and rear sides of the chassis pedestal is respectively provided with several described
Driven wheel.
7. the service robot of accompanying and attending to according to claim 1 with operational capacity, which is characterized in that the head assembly
Including the bracket for installing the first interaction screen, the first interaction screen is detachably installed relative to the bracket.
8. the service robot of accompanying and attending to according to claim 1 with operational capacity, which is characterized in that pacify on the chassis
Equipped with laser radar, depth camera and ultrasonic sensor.
9. the service robot of accompanying and attending to according to claim 1 with operational capacity, which is characterized in that the upper housing
Back side is provided with management interactive component, and the management interactive component includes the second interaction screen and automatically controlled interface group.
10. the service robot of accompanying and attending to according to claim 9 with operational capacity, which is characterized in that the upper housing
On be equipped with can with respect to its opening and closing revolving door, when the revolving door is closed relative to the upper housing, the automatically controlled interface group
It is hidden in the revolving door.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910715330.1A CN110355770A (en) | 2019-08-05 | 2019-08-05 | A kind of service robot of accompanying and attending to operational capacity |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910715330.1A CN110355770A (en) | 2019-08-05 | 2019-08-05 | A kind of service robot of accompanying and attending to operational capacity |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115683087A (en) * | 2022-10-27 | 2023-02-03 | 清华大学 | Positioning and mapping device and positioning and mapping method |
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| CN109986533A (en) * | 2019-05-07 | 2019-07-09 | 合肥工业大学 | A home service robot with mobile grabbing function |
| CN210414565U (en) * | 2019-08-05 | 2020-04-28 | 昆山市工研院智能制造技术有限公司 | Accompanying service robot with operation capability |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110757477A (en) * | 2019-10-31 | 2020-02-07 | 昆山市工研院智能制造技术有限公司 | Height and orientation self-adaptive adjusting method of accompanying robot and accompanying robot |
| CN115683087A (en) * | 2022-10-27 | 2023-02-03 | 清华大学 | Positioning and mapping device and positioning and mapping method |
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