CN203157679U - Universal remote control wheel-type moving robot - Google Patents
Universal remote control wheel-type moving robot Download PDFInfo
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- CN203157679U CN203157679U CN2013201310063U CN201320131006U CN203157679U CN 203157679 U CN203157679 U CN 203157679U CN 2013201310063 U CN2013201310063 U CN 2013201310063U CN 201320131006 U CN201320131006 U CN 201320131006U CN 203157679 U CN203157679 U CN 203157679U
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Abstract
Disclosed is a universal remote control wheel-type moving robot. The universal remote control wheel-type moving robot mainly comprises a robot car body, a walking mechanism, a drive motor, a motor control mechanism, a sensor system and a comprehensive control system. The moving robot is of a double side motor drive structure. A wheel-type walking mechanism is adopted by the walking mechanism. Each side of the car body is provided with driving wheels and a chain wheel, wherein chain wheels drive a transmission chain to transmit the torque of the drive motor to the driving wheels on the same side, the transmission chain is provided with a plurality of compressing gears, three driving wheels are installed on the same side, the axial distance between every two neighboring driving wheels is smaller than three times of the radius of one driving wheel, and the axial distances of neighbouring drive wheels on the same side are the same, and the driving wheels are tooth-shaped wheels. The layout structure of the specific driving wheels of the robot improves running stability of the robot and obstacle crossing ability, and ensures that the robot has the fast moving advantages of a wheel-type moving robot, and also has the obstacle crossing ability of a crawler-type moving robot.
Description
Technical field
The utility model belongs to the robot apparatus technical field, is specifically related to a kind of remote control wheel type mechanically moving device with artificial intelligence.
Background technology
The mobile robot is an important branch in the robotics, relate to multi-door subjects such as artificial intelligence, control theory, sensor technology and computer technology, continuous development along with mobile robot technology, the mobile robot has been applied to fields such as industrial and agricultural production, military affairs, medical science and human daily life more and more widely, be engaged in or replace the mankind can't finish or be not suitable for the dangerous work that the mankind finish, for the mankind's life provides various services easily, the advantage that it has makes it more and more receive many scholars' concern.
Mobile robot's research starts from phase late 1960s, people such as the NilsNilssen of Stanford Research Institute (SRI) and Charles Rosen, developed the autonomous mobile robot that is named as Shakey at 1966 to 1972, its objective is research using artificial intellectual technology, meanwhile, operated walking robot is the earliest also succeeded in developing, thereby begun the research of robot walking mechanism aspect, to solve the motion problems of robot on uneven road surface, design has also been developed the polypody walking robot, and wherein foremost is the walking robot of General Electric Quadruped.The end of the seventies, development along with computer application and sensing technology, new climax has appearred again in mobile robot's research, particularly at the mid-80, design and manufacturing machine people's tide sweeps across the whole world, large quantities of world-renowned companies begin to develop mobile robot platform, and these mobile robots are mainly as mobile robot's experiment porch of laboratory in colleges and universities and research institution, thereby have promoted the mobile robot to learn the appearance of a plurality of research directions.Since the nineties, to develop high-caliber environmental information sensor and information-handling technique, the mobile robot control technology of high-adaptability, the planning technology under the true environment are sign, carried out the higher level research of mobile robot, the mobile robot is just towards having self-organizing, self study, the development of adaptive intelligent direction.
The mobile robot is an open intelligence system of environment high to external world, can be when carrying out assignment instructions given in advance, according to local environmental information around constantly perceiving in advancing, independently make various decision-makings, automatically avoiding obstacles guides inherently safe ground to exercise the target location of appointment.This just requires the mobile robot can carry multiple device, is used for carrying out dangerous operations such as scouting, detection, anti-terrorism, anti-riot, fire-fighting.In these operation process, mobile robot self then is responsible for its loading device is transported to the destination of regulation, bears the landing ground task.Mobile robot's own wt cannot be excessive, can realize in use throwing in fast and flexible, is convenient to robot and carries out hiddenly, and advances fast.Simultaneously, certain flying power must be arranged, satisfy necessary production time length.For the destination of arriving safe and sound, require robot autonomous avoiding obstacles or get over follow-up the continuing in slope and sail in the process of moving.For environment condition of severe relatively, as explosion scene, sleety weather, ground in various degree ponding etc. is arranged, robot is wanted to bear certain dust and rainwater.Behind the robot target of investication, can store certain audiovideo data except itself, also to transmit information in real time, realize the interpersonal communication of machine.In addition, in unpredictable hazardous environment, in case communicating interrupt, robot will not know how to carry out next step action, and this just requires robot that certain autonomous ability to act can be arranged under the situation of communicating interrupt.
In view of above-mentioned requirement to the mobile robot, consider complexity and the variety of avenue environment and open-air off-road terrain environment, can the mobile robot finish the work, and its mode of motion is being brought into play crucial effects.Seek a kind of general mobile chassis form becomes the key of entire machine robot system for this reason.By analysis and the comparison to multiple mobile robot's mobile form, can draw to draw a conclusion: wheeled construction is under the good form condition of avenue and state of ground, can bring into play its fast-moving advantage, shortcoming is the cross country power deficiency, the walking structure has traffic potential preferably on specific rugged road surface, cross country power is strong, but complex structure, maximum speed are low, pavement rideability is relatively poor, track structure has stronger open-air cross country power, but the energy consumption height, speed is low, the complicated in mechanical structure heaviness.
Utility model patent " a kind of remote control wheel type mobile robot platform " (notification number: CN201626318U) of Shanhe Intelligent Machinery Co., Ltd., Hunan's invention, its keystone configuration is: the platform vehicle frame adopts case structure, in be provided with vehicle electronic device, Battery case.Platform truck has set up wheeled four wheel drive running gear, is driven by traction electric machine.Vehicle electronic device mainly comprises motor driver, ultrasonic transduter, IP camera, entire car controller, GPS, inertial navigation system, wireless telecommunication system.On the ground remote control control desk, can check video image before and after the described robot platform, platform pose coordinate and accurately attitude, and can carry out work by control handle and the described robot platform of push-botton operation.Before and after the described robot platform ultrasonic transduter is installed all, certain automatic obstacle-avoiding function is arranged.Robot platform is at the civilian instrument that is used for the tasks such as execution investigation, patrol, lift-launch detector or weapon under the hazardous environments such as transportation, earthquake, fire.Its robot adopts four wheels, and every side has a motor to drive front and back wheel (as shown in Figure 1) by transmission shaft.But this robot platform does not possess the ability of stair climbing, is not suitable for being operated in building and rural atmosphere.And this platform drive configuration complexity, the homonymy wheel adopts transmission shaft transmission front and back wheel, and complicated in mechanical structure is unfavorable for safeguarding.
The application for a patent for invention " small-sized caterpillar belt inspect robot system for cable tunnel hazardous environment " (publication number CN101468664A) of Electric Cable Transmission and Distribution Co. of Shanghai Power Company's application, as shown in Figure 2, it comprises mobile platform, loam cake, the gas sensor box, data transmission antenna, the image transmit antenna, the infrared photography machine head, ultrasonic transduter, the wireless surveillance device, the control casing, control unit and guidance panel, described mobile platform comprises leading to belt wheel, lock screw, swing arm, first tensioning screw, preceding BOGEY WHEEL, second tensioning screw, middle track adjusting wheel, crawler belt, back BOGEY WHEEL, worm decelerating machine, the swing arm motor, drive motor.But this crawler-mounted robot platform exists moving velocity slow, defectives such as productive costs height.
Summary of the invention
Therefore, it is general to design a function, both had mobile rapidly, have particularly necessary that stair climbing or slope, mobile robot that the obstacle carrying capacity is strong just show again.The purpose of this utility model is that a movement of design is active and intelligent, can walk with higher speed under the lowered in field environment, radius turns to arbitrarily, carrying capacity is strong, can climb ramp and the standard stair of certain slope by general obstacle under the rural atmosphere, conformability is stronger, can carry out work in harsh environment, have advantages of compact and light structure, center of gravity is low, stability is high in advancing, disguised high, suitable communication distance is arranged, be suitable for the wireless telecommunications under the rural atmosphere, promptness is strong, and the data that collect can be passed back to long-range charge terminal, based on remote control, have the universal remote control wheeled mobile robot of certain barrier avoiding function.
For this reason, the utility model provides a kind of universal remote control wheeled mobile robot, it is mainly by robot car body, traveling gear, drive motor and motor control mechanism, sensing system, complex control system constitutes, described traveling gear comprises sprocket wheel 2, driving chain 6, compress gear 3, drive wheel 1, described drive motor and motor control mechanism comprise drive motor 10, it is characterized in that, described mobile robot's drive motor and motor control mechanism are the two-side motor drive configuration, the bilateral symmetry of described mobile robot's car body is provided with drive motor 10, described mobile robot's traveling gear adopts wheel type traveling mechanism and chain transmission mode, every side of described mobile robot's car body has a sprocket wheel 2 to be connected to receive power with described motor and motor control mechanism, and described sprocket wheel drives driving chain 6 and gives drive wheel 1 with transmission of power.
Every side at described mobile robot's car body is separately installed with a plurality of drive wheels 1 and sprocket wheel 2, and described sprocket wheel 2 drives driving chain 6 drive motor 10 moments of torsion are passed to side drive wheel 1, and a plurality of gears 3 that compress are installed on the described driving chain 6.Each side is equipped with three drive wheels in the described traveling gear, and the wheelbase between the homonymy adjacent drive wheel is less than 3 times of the drive wheel radius, and the wheelbase of homonymy adjacent drive wheel equates.
Described drive motor and motor control mechanism also include retarder 8, Hall element 9, magnetic clutch 11 and the electric machine controller 7 with described drive motor 10 supporting settings, and every side of described mobile robot's car body has a sprocket wheel 2 to be connected with transfer motion power with the retarder 8 of described drive motor and motor control mechanism.
The drive wheel 1 of described traveling gear is " dentation " wheel, adopts distinctive " dentation " drive wheel, has strengthened the ground ability of grabbing of wheel, can stair climbing, cross step, climbing.
Described mobile robot's sensing system comprises: forward sight camera 25, rearview camera 14, acoustic pickup 23, infrared pickoff 12, gps system 16, described camera adopts high definition, 180 ° of cameras of infrared night vision wide-angle, and described acoustic pickup 23 adopts the audio connector of standard.
Described complex control system is that the basis constitutes with the dsp board, and is connected with device electric machine controller, wireless telecommunication system, camera, image transmission radio station, infrared pickoff that described robot carries.
Described complex control system is provided with three road RS232 serial ports, and one road RS232 links to each other with the data transmission radio station, and one road RS232 links to each other with the data channel of image transmission radio station, and one the tunnel is alternate serial port.
Described mobile robot's steering mode adopts the differential steering device.
Can increase the extension crawler attachment on the drive wheel 1 of described mobile robot's traveling gear.
Universal remote control wheeled mobile robot of the present utility model is compared with the mobile robot platform of aforementioned prior art, has following advantage: the traveling gear that 1, improves robot, adopt distinctive " dentation " drive wheel, strengthened the ground ability of grabbing of wheel, can stair climbing, cross step, climbing, strengthen the ability that robot breaks the barriers; 2, adopt the two-side motor drive configuration, homonymy adopts chain gear, compress gear chain setting, the wheelbase of adjacent two drive wheels of homonymy is less than 3 times of the drive wheel radius, and homonymy adjacent driven wheel base equates that radius turns to arbitrarily, the distinctive drive wheel layout structure of robot had both strengthened the stability of robot ride, promote obstacle climbing ability again, made robot both have the fast-moving characteristics of wheeled mobile robot, had the ability of caterpillar mobile robot across obstacle again; Under special circumstances, can increase the extension crawler attachment, become the mobile robot that wheel is carried out unification, widen in building or the adaptive capacity on open-air road surface; 3, high-resolution, infrared night vision camera and acoustic pickup be equipped with; The voice transfer radio station that is equipped with has the bidirectional transmission function, can uply finish the audio detection function, but downlink transfer audio-frequency information again; Robot underwater acoustic remote control distance can reach 1 kilometer, is suitable for the radio communication under the rural atmosphere, and promptness is strong, and the data that collect can be passed back to the charge terminal, has strengthened the investigation function of robot, makes it have round-the-clock audio frequency and video investigation function.
Description of drawings
Fig. 1: the structural representation of the remote control wheel type mobile robot platform of prior art;
Fig. 2: the structural representation of the small-sized caterpillar belt inspection machine robot system of prior art;
Fig. 3: the structural representation of universal remote control wheeled robot platform of the present utility model;
Fig. 4: the control system structural representation of universal remote control wheeled robot platform of the present utility model;
Fig. 5: " dentation " drive wheel scheme drawing of universal remote control wheeled robot platform of the present utility model;
Fig. 6: the chain gear structural representation of universal remote control wheeled robot platform of the present utility model.
Reference numeral: 1-drive wheel, the 2-sprocket wheel, 3-compresses gear, the 4-general controller, 5-image transmission radio station, the 6-driving chain, the 7-electric machine controller, the 8-retarder, the 9-Hall element, the 10-drive motor, the 11-magnetic clutch, the 12-infrared pickoff, the 13-charge port, the 14-rearview camera, the 15-source switch, the 16-GPS antenna, 17-data transmission radio station, 18-voice transfer radio station, the 19-power module, 20-GPS, the 21-lithium cell, 22-data radio station antenna, the 23-acoustic pickup, the 24-handle, 25-forward sight camera, the 26-figure platform antenna that conducts electricity, 27-voice radio station antenna;
31-front wheel sprockets, 32-driving chain, 33-compress gear 1,34-and compress that wheel sprocket, 36-compress gear 3 among gear 2, the 35-, 37-compresses gear 4,38-rear wheel sprocket
The specific embodiment
Universal remote control wheeled mobile robot total of the present utility model adopts modular design, mainly is made of mechanisms such as robot car body, traveling gear, drive motor and motor control mechanism, sensing system, complex control systems.Mobile robot's of the present utility model structural representation mainly is made up of concrete parts such as robot car body, drive wheel, drive motor, lithium cell, sensor and general controller as shown in Figure 3.Robot car body adopts rectangular structure, traveling gear adopts six wheel drive, robot turns to and adopts differential steering to finish, and drive system adopts the two-side motor drive configuration, and drive motor is installed in the terminal both sides of car body, drive motor one end is installed magnetic clutch, the other end links to each other with retarder, the mouth chain link wheel of retarder, and sprocket wheel drives chain the drive motor moment of torsion is passed to three drive wheels of homonymy, installed on the chain and compressed gear, Hall element has been installed on the drive motor; Robot car body head and afterbody middle position are equipped with camera and infrared pickoff, also are provided with lithium cell, image transmission radio station, data transmission radio station, voice transfer radio station, power module, GPS, acoustic pickup, figure conduct electricity platform antenna, voice radio station antenna, data radio station antenna, gps antenna, infrared pickoff etc. in robot car body.
Traveling gear
Mobile robot's traveling gear adopts wheel type traveling mechanism, adopts chain transmission mode, and it mainly comprises sprocket wheel 2, driving chain 6, compresses gear 3, drive wheel 1.The every side of described mobile robot's car body is installed three drive wheels 1 and sprocket wheel 2 respectively, described each side has a sprocket wheel 2 to be connected to receive driving force with the mouth of retarder 8, this sprocket wheel 2 drives driving chain 6 drive motor 10 moments of torsion is passed to three drive wheels 1 of homonymy, is equipped with on the driving chain 6 and compresses gear 3.Wherein the wheelbase between the homonymy adjacent drive wheel is less than 3 times of the drive wheel radius, homonymy adjacent drive wheel 1 wheelbase equates, drive wheel adopts " dentation " wheel, adopt this kind wheel to strengthen and grab the ground ability, can climb the standard stair, strengthened the ground ability of grabbing of wheel, can stair climbing, cross step, climb 32 ° of slopes.The steering mode of described wheeled robot is for adopting the differential steering device.Adopt this kind wheel configuration structure, can make robot have the fast-moving characteristics of wheeled robot, have the cross-country ability of caterpillar type robot again, integral body has promoted carrying capacity, cross country power and the steering flexibility of robot.Under special circumstances, also can increase the extension crawler attachment at wheel, further promote cross country power.Robot adopts chain transmission mode, has set up and has compressed gear, compresses transmission direction and the relaxation degree of gear control chain, prevents robot in the process of moving owing to shaking or clashing, and the chain that causes breaks away from sprocket wheel or becomes lax.
Drive motor and electric machine controller
Drive motor and electric machine controller mainly comprise drive motor 10, retarder 8, Hall element 9, magnetic clutch 11 and electric machine controller 7.Described drive motor 10 adopts brshless DC motor, the supporting Hall element 9 that is equipped with, and retarder 8 and magnetic clutch 11, Hall element 9, drive motor 10, magnetic clutch 11 link to each other with electric machine controller 7 respectively.Described mobile robot adopts the two-side motor drive configuration, namely be provided with the Hall element 9 of two drive motor 10 and supporting installation in the bilateral symmetry of car body, retarder 8 and magnetic clutch 11, motor driver 7 is the speed closed loop controller, adopt the MOSFET power device, utilize the hall signal of brshless DC motor to carry out the laggard line speed closed loop control of frequency multiplication, controlling unit is provided with the PID speed regulator.Electric machine controller 7 has the electrical brake function, has fault alarm functions such as overvoltage, under-voltage, overcurrent, excess temperature, hall signal be illegal.Sudden stop when realizing the robot et out of order has been set up magnetic clutch 11 to each motor, by the control of electric machine controller, can the switch magnetic clutch, and realize braking during standstill and the sudden stop function of robot.
Sensing system
The robot sensor system comprises: forward sight camera 25, rearview camera 14, acoustic pickup 23, infrared pickoff 12, gps system 16.Camera adopts high definition, 180 ° of cameras of infrared night vision wide-angle, by the image transmission radio station, video signal transmission after will being compressed by Radio Link is to accusing terminal, through decompression processing, be presented at and accuse in the terminal display, carry out robotic vision navigation and location, target identification, finish the video investigation; Acoustic pickup adopts the audio connector of standard to be connected to the voice transfer radio station, and the environmental voice information around the acquisition platform sends audio-frequency information to accusing terminal by Radio Link, finishes the audio detection of robot; Infrared pickoff adopts infrared switch to come the obstacle in the sniffing robot working environment to bump avoiding; GPS realizes the navigator fix of robot, and when the radio communication et out of order or be interfered, in order to prevent losing in the platform lowered in field environment, the robot of employing GPS carries out navigator fix.
General controller
General controller is that the basis constitutes with the dsp board, and links to each other with robot institute loading device, as: electric machine controller, wireless telecommunication system, camera, image transmission radio station, infrared pickoff etc.General controller is provided with three road RS232 serial ports, and one road RS232 links to each other with the data transmission radio station, finishes the command information of receive accusing terminal, as the advancing of robot, retreat, turning, center turn to, video switch etc.; One road RS232 links to each other with the data channel of image transmission radio station, and distribution of machine people's status information is as battery electric quantity, electric machine controller failure message etc.; Remaining one road RS232 gives over to standby; The electric machine control I/O port output frequency that general controller arranges, the PWM ripple that pulsewidth is adjustable link to each other with the outside speed governing interface of electric machine controller, and the drive motor rotating speed is subjected to PWM ripple dutycycle linear regulation; Dispose the battery electric quantity acquisition module in the general controller, gather the lithium cell dump energy in real time, for the work-hours of robot provides reference frame; Two-way camera video signal is imported general controller simultaneously, finishes the switching of two-path video signal by the video switch unit of general controller, and the vision signal after will switching is sent to the image transmission radio station, finishes the collection of video.Infrared pickoff links to each other with the I/O mouth of general controller; For the ease of function expansion later on, general controller also is reserved with two-way CAN interface, 8 tunnel analog input channels, 8 road digital quantity passages, has improved the comfort level of robot use and the opening of system.
Description by above-mentioned specific embodiment to universal remote control wheeled mobile robot of the present utility model, mobile robot of the present utility model compares with existing mobile robot platform as can be seen, have following outstanding advantage: 1 adopts distinctive " dentation " drive wheel, strengthened the ground ability of grabbing of wheel, can stair climbing, cross step, climb 32 ° of slopes; 2, adopt the two-side motor drive configuration, and by three drive wheels of chain drive homonymy, radius turns to arbitrarily, the distinctive drive wheel layout structure of robot had both strengthened the stability of robot ride, promoted obstacle climbing ability again, make robot both have the fast-moving characteristics of wheeled mobile robot, have the ability of caterpillar mobile robot across obstacle again; Under special circumstances, can increase the extension crawler attachment, become the mobile robot that wheel is carried out unification, widen in building or the adaptive capacity on open-air road surface; 3, be equipped with high-resolution, infrared night vision camera and acoustic pickup, can carry out round-the-clock audio frequency and video investigation; 4, the voice transfer radio station of Pei Beiing has the bidirectional transmission function, can be up finish the audio detection function, but downlink transfer audio-frequency information again; 5, robot underwater acoustic remote control distance can reach 1 kilometer, is suitable for the radio communication under the rural atmosphere, and promptness is strong, and the data that collect can be passed back to the charge terminal.
Though the utility model is described with reference to a plurality of embodiment; but the utility model is not limited to above-described embodiment; be to be understood that those skilled in the art can carry out the suitable new embodiment that is combined to form to the parts that relate in above-described embodiment, the various tangible modifications and variations of carrying out on the basis that does not break away from the utility model principle all should fall within the protection domain of the present utility model.
Claims (10)
1. universal remote control wheeled mobile robot, it is mainly by robot car body, traveling gear, drive motor and motor control mechanism, sensing system, complex control system constitutes, described traveling gear comprises sprocket wheel (2), driving chain (6), compress gear (3), drive wheel (1), described drive motor and motor control mechanism comprise drive motor (10), it is characterized in that, described mobile robot's drive motor and motor control mechanism are the two-side motor drive configuration, the both sides of described mobile robot's car body are symmetrically arranged with drive motor (10) respectively, described mobile robot's traveling gear adopts wheel type traveling mechanism and chain transmission mode, every side of described mobile robot's car body has a sprocket wheel (2) to be connected to receive power with described motor and motor control mechanism, and described sprocket wheel drives driving chain (6) and gives drive wheel (1) with transmission of power.
2. universal remote control wheeled mobile robot as claimed in claim 1, it is characterized in that, every side at described mobile robot's car body is separately installed with a plurality of drive wheels (1) and sprocket wheel (2), described sprocket wheel (2) drives driving chain (6) drive motor (10) moment of torsion is passed to same side drive wheel (1), and a plurality of gears (3) that compress are installed on the described driving chain (6).
3. universal remote control wheeled mobile robot as claimed in claim 2, it is characterized in that, each side is equipped with three drive wheels in the described traveling gear, the wheelbase between the homonymy adjacent drive wheel less than (3) of drive wheel radius doubly, the wheelbase of homonymy adjacent drive wheel (1) equates.
4. universal remote control wheeled mobile robot as claimed in claim 3, it is characterized in that, described drive motor and motor control mechanism also include retarder (8), Hall element (9), magnetic clutch (11) and the electric machine controller (7) with the supporting setting of described drive motor (10), and every side of described mobile robot's car body has a sprocket wheel (2) to be connected with transfer motion power with the retarder (8) of described drive motor and motor control mechanism.
5. as the described universal remote control wheeled mobile robot of one of claim 1-4, it is characterized in that the drive wheel of described traveling gear (1) is " dentation " wheel.
6. universal remote control wheeled mobile robot as claimed in claim 5, it is characterized in that, described mobile robot's sensing system comprises: forward sight camera (25), rearview camera (14), acoustic pickup (23), infrared pickoff (12), gps system (16), described camera adopts high definition, 180 ° of cameras of infrared night vision wide-angle, and described acoustic pickup (23) adopts the audio connector of standard.
7. universal remote control wheeled mobile robot as claimed in claim 6, it is characterized in that, described complex control system is that the basis constitutes with the dsp board, and is connected with device electric machine controller, wireless telecommunication system, camera, image transmission radio station, infrared pickoff that described robot carries.
8. universal remote control wheeled mobile robot as claimed in claim 7, it is characterized in that described complex control system is provided with three road RS232 serial ports, one road RS232 links to each other with the data transmission radio station, one road RS232 links to each other with the data channel of image transmission radio station, and one the tunnel is alternate serial port.
9. universal remote control wheeled mobile robot as claimed in claim 8 is characterized in that, described mobile robot's steering mode adopts the differential steering device.
10. universal remote control wheeled mobile robot as claimed in claim 9 is characterized in that, the drive wheel of described mobile robot's traveling gear can increase the extension crawler attachment on (1).
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| CN2013201310063U CN203157679U (en) | 2013-03-22 | 2013-03-22 | Universal remote control wheel-type moving robot |
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| CN2013201310063U CN203157679U (en) | 2013-03-22 | 2013-03-22 | Universal remote control wheel-type moving robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103926924A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Method for controlling ice and snow robot |
| CN104035442A (en) * | 2014-05-26 | 2014-09-10 | 苏州工业园区职业技术学院 | Remote control system for wall-climbing robot |
| CN104057835A (en) * | 2013-03-22 | 2014-09-24 | 中国人民解放军装甲兵工程学院 | General remote control wheeled mobile robot |
| CN105107124A (en) * | 2015-05-19 | 2015-12-02 | 上海大学 | Intelligent obstacle-avoiding fire-fighting robot control system |
| CN105468000A (en) * | 2015-12-29 | 2016-04-06 | 伍小铭 | Night patrol robot |
| CN107139709A (en) * | 2017-05-31 | 2017-09-08 | 福州大学 | A kind of universal wheel robot |
| CN107381104A (en) * | 2017-08-18 | 2017-11-24 | 苏州双祺自动化设备有限公司 | Telescopic machine traverse displacement unit |
| CN108146264A (en) * | 2016-12-05 | 2018-06-12 | 库卡罗伯特有限公司 | Supplying a motor vehicle by means of a robot system |
-
2013
- 2013-03-22 CN CN2013201310063U patent/CN203157679U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057835A (en) * | 2013-03-22 | 2014-09-24 | 中国人民解放军装甲兵工程学院 | General remote control wheeled mobile robot |
| CN104057835B (en) * | 2013-03-22 | 2017-08-29 | 中国人民解放军装甲兵工程学院 | A kind of universal remote control wheeled mobile robot |
| CN103926924A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Method for controlling ice and snow robot |
| CN104035442A (en) * | 2014-05-26 | 2014-09-10 | 苏州工业园区职业技术学院 | Remote control system for wall-climbing robot |
| CN105107124A (en) * | 2015-05-19 | 2015-12-02 | 上海大学 | Intelligent obstacle-avoiding fire-fighting robot control system |
| CN105468000A (en) * | 2015-12-29 | 2016-04-06 | 伍小铭 | Night patrol robot |
| CN108146264A (en) * | 2016-12-05 | 2018-06-12 | 库卡罗伯特有限公司 | Supplying a motor vehicle by means of a robot system |
| CN107139709A (en) * | 2017-05-31 | 2017-09-08 | 福州大学 | A kind of universal wheel robot |
| CN107381104A (en) * | 2017-08-18 | 2017-11-24 | 苏州双祺自动化设备有限公司 | Telescopic machine traverse displacement unit |
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