CN114603560A - Multi-sensor control system of indoor mobile robot - Google Patents

Multi-sensor control system of indoor mobile robot Download PDF

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Publication number
CN114603560A
CN114603560A CN202210360870.4A CN202210360870A CN114603560A CN 114603560 A CN114603560 A CN 114603560A CN 202210360870 A CN202210360870 A CN 202210360870A CN 114603560 A CN114603560 A CN 114603560A
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CN
China
Prior art keywords
mobile robot
chassis
driving shaft
control system
wheel
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
Application number
CN202210360870.4A
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Chinese (zh)
Inventor
樊刘冰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Zhenhui Network Technology Development Co ltd
Original Assignee
Shanghai Zhenhui Network Technology Development Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Zhenhui Network Technology Development Co ltd filed Critical Shanghai Zhenhui Network Technology Development Co ltd
Priority to CN202210360870.4A priority Critical patent/CN114603560A/en
Publication of CN114603560A publication Critical patent/CN114603560A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • B25J19/0062—Lubrication means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16N—LUBRICATING
    • F16N21/00—Conduits; Junctions; Fittings for lubrication apertures
    • F16N21/02—Lubricating nipples
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16N—LUBRICATING
    • F16N7/00—Arrangements for supplying oil or unspecified lubricant from a stationary reservoir or the equivalent in or on the machine or member to be lubricated

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a multi-sensor control system of an indoor mobile robot, which comprises the mobile robot, the system comprises a main control singlechip, a moving mechanism and a warning module, the main control singlechip is provided with a path planning module, the path planning module is used for planning a moving path of the mobile robot, the moving mechanism comprises a chassis, a front driving shaft and a rear driving shaft, the front wheel, the rear wheel, first spout and second spout, front drive shaft and back drive shaft are parallel arrangement respectively on the chassis, the front wheel sets up the both ends at the front drive shaft respectively, the rear wheel sets up the both ends at the back drive shaft respectively, first spout is sunken to be set up on the lower surface on chassis and be used for placing the front drive shaft, the second spout is sunken to be set up on the lower surface on chassis and be used for placing the back drive shaft, warning module includes the reputation prompting device of being connected with main control monolithic is electromechanical, the reputation prompting device sets up on mobile robot. The mobile robot in the system can effectively avoid obstacles and improve the moving efficiency of the mobile robot.

Description

Multisensor control system of indoor mobile robot
Technical Field
The invention relates to the technical field of robot control, in particular to a multi-sensor control system of an indoor mobile robot.
Background
With the development of industrial automation, machine intelligence is receiving more and more attention, wherein an intelligent robot is regarded as a main development direction in the future, and once the robot moves, understanding of the environment, path planning, autonomous positioning, obstacle avoidance, collision avoidance and the like are inevitably involved.
At present, a robot mainly comprises a chassis and a trunk, wherein the chassis mainly plays a role in stability and movement. The height of a chassis of a robot in the prior art is generally fixed, and when the chassis is too low and meets an obstacle, the problem that the chassis drags the bottom easily occurs, so that the normal motion of the robot is influenced; the robot chassis device is characterized in that the chassis is too high, the trafficability characteristic is increased, the stability is reduced, and the rollover is easy to occur, so that the size of an obstacle can be intelligently detected in the using process, the height of the chassis is automatically adjusted, and the obstacle can smoothly pass through the robot chassis device.
Disclosure of Invention
Accordingly, the present invention is directed to a multi-sensor control system for an indoor mobile robot, which solves at least the above problems.
The technical scheme adopted by the invention is as follows:
a multi-sensor control system of an indoor mobile robot comprises the mobile robot, the system comprises a master control single chip microcomputer, a moving mechanism and a warning module, the master control single chip microcomputer is provided with a path planning module, the path planning module is used for planning a moving path of the mobile robot, the moving mechanism comprises a chassis, a front driving shaft, a rear driving shaft, front wheels, rear wheels, a first sliding groove and a second sliding groove, the front driving shaft and the rear driving shaft are respectively arranged on the chassis in parallel, the front wheels are respectively arranged at two ends of the front driving shaft, the rear wheels are respectively arranged at two ends of the rear driving shaft, the first sliding groove is concavely arranged on the lower surface of the chassis and used for placing the front driving shaft, the second sliding groove is concavely arranged on the lower surface of the chassis and used for placing the rear driving shaft, the warning module comprises an acousto-optic prompter electrically connected with the master control single chip microcomputer, the acousto-optic prompter is arranged on the mobile robot.
Further, including actuating mechanism, actuating mechanism includes holding tank and the drive assembly who is connected with the master control singlechip electricity, the holding tank sets up at sunken upper surface that sets up on the chassis, drive assembly sets up in the holding tank and is used for driving the front drive axle and slides along first spout and confirm that the back drive axle slides along the second spout.
Further, the intelligent robot comprises an infrared camera and an image processor which are respectively arranged on the mobile robot and are respectively electrically connected with the main control single chip microcomputer, wherein the infrared camera is used for acquiring image information of an obstacle in front of the chassis and transmitting the image information to the image processor, and the image processor is used for analyzing height information and width information of the obstacle.
Furthermore, the lifting mechanism comprises a lifting motor and an electric driving wheel which are respectively electrically connected with the master control single chip microcomputer, the fixed end of the lifting motor is connected with the electric driving wheel, and the moving end of the lifting motor is connected with the chassis.
Further, including stabilizing mean, stabilizing mean includes the movable pulley and the electric telescopic handle who is connected with master control singlechip electricity, electric telescopic handle's stiff end sets up respectively in mobile robot's both sides, electric telescopic handle's removal end is connected with the movable pulley respectively.
Furthermore, the electric telescopic rods are obliquely arranged on the mobile robot respectively.
The system further comprises a memory storage module, and the memory storage module carries out advanced identification according to the obstacle information identified by the image processor and the path planning module.
Further, including damper, damper includes shock attenuation cavity, bumper shock absorber, shock attenuation lubricating oil bottle and the electronic shower nozzle of being connected with master control singlechip electricity, the shock attenuation cavity wraps up front wheel and rear wheel respectively, the bumper shock absorber sets up respectively on front wheel and rear wheel, and shock attenuation lubricating oil bottle sets up on the lateral wall of shock attenuation cavity, electronic shower nozzle sets up on shock attenuation lubricating oil bottle and aim at the bumper shock absorber.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a multi-sensor control system of an indoor mobile robot, which is used for detecting and identifying an obstacle in front of a chassis body through an infrared camera and an image processor, and analyzing and obtaining height information and width information of the obstacle, when the height of the chassis from the ground has a maximum value which is constant, and when the height information and the width information of the obstacle obtained through detection are smaller than the maximum height and the maximum width of the chassis body from the ground, the height of the chassis body from the ground is indirectly increased through a lifting motor, so that the obstacle in front can be smoothly passed through, and when the height of the obstacle is larger than the maximum height of the chassis body from the ground, the chassis control system directly feeds back the information to a main control single chip microcomputer of the mobile robot, so that a motion path is planned, and the obstacle is avoided, the system solves the problem that the height of the chassis of the robot is generally fixed, when the chassis is too low and meets an obstacle, the problem that the chassis drags the bottom and the problem that the chassis turns over easily occur.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description are only preferred embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive efforts.
Fig. 1 is a schematic view of an overall structure of a multi-sensor control system of an indoor mobile robot according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an overall circuit connection of a multi-sensor control system of an indoor mobile robot according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a part of a multi-sensor control system of an indoor mobile robot according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a part of a multi-sensor control system of an indoor mobile robot according to an embodiment of the present invention.
In the figure, 1 is a main control single chip microcomputer, 2 is an acousto-optic prompter, 3 is a driving component, 4 is an infrared camera, 5 is an image processor, 6 is a lifting motor, 7 is an electric driving wheel, 8 is an electric telescopic rod, 9 is an electric spray head, 10 is a sliding wheel, 11 is a containing groove, 12 is a chassis, 13 is a damping cavity, 14 is a mobile robot, 15 is a damping lubricating oil bottle, 16 is a damper, 17 is a first chute, 18 is a second chute, 19 is a rear driving shaft, 20 is a front driving shaft, 21 is a front wheel, and 22 is a rear wheel.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, the illustrated embodiments are provided to illustrate the invention and not to limit the scope of the invention.
Referring to fig. 1, 2, 3 and 4, the present invention provides a multi-sensor control system for an indoor mobile robot, including a mobile robot 14, the system including a master control single chip 1, a moving mechanism and a warning module, the master control single chip 1 being provided with a path planning module for planning a moving path of the mobile robot 14, the moving mechanism including a chassis 12, a front driving shaft 20, a rear driving shaft 19, front wheels 21, rear wheels 22, a first chute 17 and a second chute 18, the front driving shaft 20 and the rear driving shaft 19 being respectively disposed on the chassis 12 in parallel, the front wheels 21 being respectively disposed at two ends of the front driving shaft 20, the rear wheels 22 being respectively disposed at two ends of the rear driving shaft 19, the first chute 17 being concavely disposed on a lower surface of the chassis 12 and being used for placing the front driving shaft 20, the second chute 18 being concavely disposed on a lower surface of the chassis 12 and being used for placing the rear driving shaft 19, the warning module comprises an acousto-optic prompter 2 electrically connected with the main control single chip microcomputer 1, and the acousto-optic prompter 2 is arranged on the mobile robot 14.
For example, in order to enable the mobile robot 14 to move, the front driving shaft 20 and the rear driving shaft 19 on the chassis 12 are arranged to drive the front wheels 21 and the rear wheels 22 to move, when the front wheels 21 and the rear wheels 22 move, the path planning module may be further used to plan a moving path of the mobile robot 14, so as to improve the moving efficiency of the mobile robot 14, and in the moving process of the mobile robot 14, the acousto-optic warning device 2 may be further used to perform acousto-optic warning, so as to avoid the occurrence of contact between irrelevant people and the mobile robot 14.
The embodiment comprises a driving mechanism, the driving mechanism comprises a containing groove 11 and a driving component 3 electrically connected with the master control single chip microcomputer 1, the containing groove 11 is arranged on the upper surface of the chassis 12 in a concave mode, the driving component 3 is arranged in the containing groove 11 and is used for driving the front driving shaft 20 to slide along the first sliding groove 17 and determining the rear driving shaft 19 to slide along the second sliding groove 18.
For example, for driving the front wheel 21 and the rear wheel 22, the front wheel 21 and the rear wheel 22 can be driven to move by the driving component 3 arranged in the accommodating groove 11, and the accommodating groove 11 can also avoid the problem that the driving component 3 is exposed to the outside.
The embodiment comprises an infrared camera 4 and an image processor 5 which are respectively arranged on the mobile robot 14 and are respectively electrically connected with the master control single chip microcomputer 1, wherein the infrared camera 4 is used for acquiring the image information of the obstacle in front of the chassis 12 and transmitting the image information to the image processor 5, and the image processor 5 is used for analyzing the height information and the width information of the obstacle.
Illustratively, height information and width information of the obstacle are obtained, when the height of the chassis 12 from the ground is a maximum value, the maximum value is constant, when the height information and the width information of the obstacle obtained through detection are smaller than the maximum height and the maximum width of the chassis 12 body from the ground, the height of the chassis 12 body from the ground is indirectly increased through the lifting motor 6, so that the obstacle in front can smoothly pass through, and when the height of the obstacle is larger than the maximum height of the chassis 12 body from the ground, a control system of the chassis 12 directly feeds back the information to the main control single chip microcomputer 1 of the mobile robot 14, so that a movement path is planned, and the obstacle is avoided.
This embodiment includes elevating system, elevating system includes elevator motor 6 and the electric drive wheel 7 of being connected with master control singlechip 1 electricity respectively, elevator motor 6's stiff end is connected with electric drive wheel 7, elevator motor 6's removal end is connected with chassis 12.
In order to smoothly pass through the front obstacle, the main control single chip microcomputer 1 can send signal commands to the lifting motor 6 and the electric driving wheel 7, so that the lifting motor 6 supports the chassis 12, and the electric driving wheel 7 moves to cross the front obstacle.
This embodiment includes stabilizing mean, stabilizing mean includes movable pulley 10 and the electric telescopic handle 8 of being connected with master control singlechip 1 electricity, electric telescopic handle 8's stiff end sets up respectively in the both sides of mobile robot 14, electric telescopic handle 8's removal end is connected with movable pulley 10 respectively.
Exemplarily, for better guaranteeing that the mobile robot 14 does not topple over when crossing the obstacle, the main control single chip microcomputer 1 may respectively send a signal command to the electric telescopic rods arranged on the two side walls of the mobile robot 14, so that the moving end of the electric telescopic rod 8 drives the sliding wheel 10 to move towards the ground to form a support bracket, and further, the sliding wheel 10 may stably cross the obstacle together with the electric driving wheel 7.
The electric telescopic rods 8 are respectively arranged on the mobile robots 14 in an inclined mode.
For example, the electric telescopic rod 8 arranged obliquely can be more beneficial to protect the mobile robot 14 from forming a stable support frame when crossing obstacles.
The embodiment comprises a memory storage module which carries out early identification according to the obstacle information identified by the image processor 5 and the path planning module.
For example, in order to improve the moving efficiency of the mobile robot 14, the memory storage module may perform early identification and avoidance according to the obstacle information identified by the image processor 5 and the path planning module.
This embodiment includes damper, damper includes shock attenuation cavity 13, bumper shock absorber 16, shock attenuation lubricating oil bottle 15 and the electronic shower nozzle 9 of being connected with main control singlechip 1 electricity, shock attenuation cavity 13 wraps up front wheel 21 and rear wheel 22 respectively, bumper shock absorber 16 sets up respectively on front wheel 21 and rear wheel 22, and shock attenuation lubricating oil bottle 15 sets up on the lateral wall of shock attenuation cavity 13, electronic shower nozzle 9 sets up on shock attenuation lubricating oil bottle 15 and aim at bumper shock absorber 16.
For example, when the mobile robot 14 moves, a road with uneven depressions may be encountered, effective shock absorption may be performed through the shock absorbers 16 respectively disposed on the front wheels 21 and the rear wheels 22, and in order to avoid the problem of noise generated by the shock absorbers 16 during the movement of the mobile robot 14, a signal command may be sent to the electric nozzle 9 through the main control single chip 1, so that the electric nozzle 9 sprays the lubricating oil in the shock absorption lubricating oil bottle 15 onto the shock absorbers 16 for lubrication.
In the above embodiment, the acousto-optic prompter 2, the driving component 3, the infrared camera 4, the image processor 5, the lifting motor 6, the electric driving wheel 7, the electric telescopic rod 8 and the electric nozzle 9 can all adopt the existing models known by those skilled in the art; the main control single chip microcomputer 1 can adopt an STM32 single chip microcomputer.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (8)

1. A multi-sensor control system of an indoor mobile robot comprises a mobile robot and is characterized by comprising a main control single chip microcomputer, a moving mechanism and a warning module, wherein the main control single chip microcomputer is provided with a path planning module, the path planning module is used for planning a moving path of the mobile robot, the moving mechanism comprises a chassis, a front driving shaft, a rear driving shaft, front wheels, rear wheels, a first sliding groove and a second sliding groove, the front driving shaft and the rear driving shaft are respectively arranged on the chassis in parallel, the front wheels are respectively arranged at two ends of the front driving shaft, the rear wheels are respectively arranged at two ends of the rear driving shaft, the first sliding groove is concavely arranged on the lower surface of the chassis and used for placing the front driving shaft, the second sliding groove is concavely arranged on the lower surface of the chassis and used for placing the rear driving shaft, and the warning module comprises an acousto-optic prompter which is electrically connected with the main control single chip microcomputer, the acousto-optic prompter is arranged on the mobile robot.
2. The multi-sensor control system of an indoor mobile robot as claimed in claim 1, comprising a driving mechanism, wherein the driving mechanism comprises a receiving groove and a driving component electrically connected with the master control singlechip, the receiving groove is arranged on the upper surface of the chassis in a concave manner, and the driving component is arranged in the receiving groove and is used for driving the front driving shaft to slide along the first sliding groove and determining the rear driving shaft to slide along the second sliding groove.
3. The multi-sensor control system of an indoor mobile robot as claimed in claim 2, comprising an infrared camera and an image processor, wherein the infrared camera and the image processor are respectively arranged on the mobile robot and are respectively electrically connected with the master control single chip microcomputer, the infrared camera is used for acquiring image information of an obstacle in front of the chassis and transmitting the image information to the image processor, and the image processor is used for analyzing height information and width information of the obstacle.
4. The multi-sensor control system of claim 3, comprising a lifting mechanism, wherein the lifting mechanism comprises a lifting motor and an electric driving wheel which are respectively electrically connected with the master control single chip microcomputer, a fixed end of the lifting motor is connected with the electric driving wheel, and a moving end of the lifting motor is connected with the chassis.
5. The multi-sensor control system of an indoor mobile robot according to claim 1, comprising a stabilizing mechanism, wherein the stabilizing mechanism comprises a sliding wheel and an electric telescopic rod electrically connected with the master control single chip microcomputer, fixed ends of the electric telescopic rod are respectively arranged at two sides of the mobile robot, and moving ends of the electric telescopic rod are respectively connected with the sliding wheel.
6. The multi-sensor control system of an indoor mobile robot as claimed in claim 5, wherein the electric telescopic rods are respectively obliquely arranged on the mobile robot.
7. The multi-sensor control system of claim 3, comprising a memory storage module, wherein the memory storage module performs advanced identification according to the obstacle information identified by the image processor and the path planning module.
8. The multi-sensor control system of the indoor mobile robot according to claim 1, comprising a damping mechanism, wherein the damping mechanism comprises a damping cavity, a damper, a damping lubricating oil bottle and an electric nozzle electrically connected with the master control single chip microcomputer, the damping cavity respectively wraps the front wheel and the rear wheel, the damper is respectively arranged on the front wheel and the rear wheel, the damping lubricating oil bottle is arranged on a side wall of the damping cavity, and the electric nozzle is arranged on the damping lubricating oil bottle and is aligned with the damper.
CN202210360870.4A 2022-04-07 2022-04-07 Multi-sensor control system of indoor mobile robot Pending CN114603560A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210360870.4A CN114603560A (en) 2022-04-07 2022-04-07 Multi-sensor control system of indoor mobile robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210360870.4A CN114603560A (en) 2022-04-07 2022-04-07 Multi-sensor control system of indoor mobile robot

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CN114603560A true CN114603560A (en) 2022-06-10

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114924272A (en) * 2022-07-22 2022-08-19 广东天品医疗科技有限公司 Robot roadblock recognizer and using method thereof

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CN107539388A (en) * 2017-07-27 2018-01-05 安徽工程大学 A kind of running gear system of robot
CN107831760A (en) * 2017-09-27 2018-03-23 安徽硕威智能科技有限公司 Robot barrier thing processing system and method
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CN210881671U (en) * 2019-11-21 2020-06-30 淮安信息职业技术学院 Wheeled mobile robot walking chassis
CN215160680U (en) * 2021-03-01 2021-12-14 邢台职业技术学院 Good-safety transportation robot
CN114227763A (en) * 2021-12-30 2022-03-25 重庆特斯联智慧科技股份有限公司 Wheeled robot chassis structure of altitude mixture control

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107539388A (en) * 2017-07-27 2018-01-05 安徽工程大学 A kind of running gear system of robot
CN107831760A (en) * 2017-09-27 2018-03-23 安徽硕威智能科技有限公司 Robot barrier thing processing system and method
WO2019141257A1 (en) * 2018-01-18 2019-07-25 东莞理工学院 Omni-directional mobile robot applied to intelligent warehouse
CN108942867A (en) * 2018-08-24 2018-12-07 安徽信息工程学院 Robot base apparatus
CN109318203A (en) * 2018-10-09 2019-02-12 张彦頔 Robot chassis movable linearly
CN210565977U (en) * 2019-07-31 2020-05-19 平乡县傲鼎橡塑制品有限公司 Bumper shock absorber dirt proof boot for car
CN210881671U (en) * 2019-11-21 2020-06-30 淮安信息职业技术学院 Wheeled mobile robot walking chassis
CN215160680U (en) * 2021-03-01 2021-12-14 邢台职业技术学院 Good-safety transportation robot
CN114227763A (en) * 2021-12-30 2022-03-25 重庆特斯联智慧科技股份有限公司 Wheeled robot chassis structure of altitude mixture control

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114924272A (en) * 2022-07-22 2022-08-19 广东天品医疗科技有限公司 Robot roadblock recognizer and using method thereof

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