CN203259876U - Intelligent household control system for mobile robot - Google Patents
Intelligent household control system for mobile robot Download PDFInfo
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- CN203259876U CN203259876U CN 201320092842 CN201320092842U CN203259876U CN 203259876 U CN203259876 U CN 203259876U CN 201320092842 CN201320092842 CN 201320092842 CN 201320092842 U CN201320092842 U CN 201320092842U CN 203259876 U CN203259876 U CN 203259876U
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Abstract
The utility model discloses an intelligent household control system for a mobile robot. The system comprises the mobile robot. The intelligent household control system is integrated in the mobile robot and comprises a motion module, a positioning navigation module, a processor module, a Wi-fi wireless receiving-transmitting module and a mobile-robot control terminal, wherein the processor module and the mobile-robot control terminal carry out bidirectional communication by a wireless router through the Wi-fi wireless receiving-transmitting module. The motion module, the positioning navigation module, a shooting module and a barrier evading module are bidirectionally communicated with the processor module respectively, and are matched with the processor module to carry out positioning navigation and indoor perambulation to the mobile robot. An infrared learning module and an infrared emission module are bidirectionally communicated with the processor module respectively, and are matched with the processor module to remotely monitor intelligent household. The mobile robot and the intelligent household control system are integrated. The structure of the conventional intelligent household cannot be changed and the system can control the conventional intelligent household.
Description
Technical field
The utility model relates to a kind of mobile robot's intelligent home control system.
Background technology
Nineteen fifty, the Yi Sake Asimov has write that " I am machine (I, Robot) " this this science fiction classic novel, nowadays, development through more than 60 years, robot is the very general commercial production that is applied to, and now our daily life of forward " invasion " is namely in the positive high speed development of household service robot.
Robotics is the direction that the major companies such as Microsoft put forth effort to develop.Industry generally believes that the housekeeping robot also can spread to huge numbers of families as automobile, computing machine, mobile phone.And Robotics is the final home to return to of electronic information technology development.In the service aspect, the industry that English house keeper, Philippine woman servant start can be remained youthful forever.But in the product aspect, the competition meeting of housekeeping industry is constantly upgraded, and the competition of its highest level probably is exactly the competition of domestic robot.
Through development for many years, robot no longer is manufacturing special noun.Along with the development of technology and the demand of society, the service robot of present various functions occurs in succession, and the housekeeping robot that can take care of the old man, the boy attendant at school robot of accompanying children learn, the cook robot that can cook etc. are arranged.
Household service robot is an a many-side people seemingly, the deviser has given its decathlon, comprising: anti-theft monitoring, safety inspection, patient monitoring, children education, family electric control, home entertaining, article carrying, give the correct time waken, telephone receiving, sanitation and hygiene etc.More mysteriously be, different according to working environment, household service robot can utilize all multisensors to obtain, identify and understand sight, the navigation of self-discipline ground (as the people, think deeply and judge what is done first, after what is done).It is introduced that household service robot has good study and adaptive faculty, the grade precision that has makes it not only swift, and can make accurate judgement and reaction to the environment sight in changing in real time.
Yet, because intelligent robot often needs to drop into huge research funding in development, add the various novel devices of robot itself, cause holding at high price of final products, ordinary people is difficult to accept, thereby is difficult to successfully squeeze into general marketplace.Intellect service robot is not all also realized industrialization in " kingdoms of robot " such as Japan at present, and is just less in the range of application of China, only uses in some science and technology centers, exhibition room and part exclusive restaurant.
On the contrary, on the other hand, function is too single but abroad business-like household service robot has seemed, such as clean robot, grass-removing robot etc.Therefore, develop the relatively simple and practical service robot of closeness to life of a kind of function, it is necessary just to seem.
Smart Home claims again intelligent dwelling, and Smart Home commonly used represents abroad.Smart Home is as platform take dwelling house, utilize comprehensive wiring technology, the network communications technology, security precautions technology, automatic control technology, the audio frequency and video technology facility that life staying idle at home is relevant integrated, make up the management system of efficient dwelling house facility and family's schedule affairs, promote house security, convenience, comfortableness, artistry, and realize the living environment of environmental protection and energy saving.
Compare with common household, Smart Home not only has traditional inhabitation function, can also provide comfortable safe, energy-efficient, have the height hommization the living space; Change a collection of original passive static home equipment into " wisdom " instrument, omnibearing information exchange functions is provided, help family to keep information interchange unimpeded with outside, optimize people's life style, help people effectively to arrange the time, strengthen the security of family life, and for family's saving energy expenditure etc.
Therefore, Smart Home is not only a product, and also non-several products slap together, and it is a whole set of system, can be understood as in other words as resident family a kind of service is provided; This service is to make resident family can pass through house control system, easily realizes all electric utilities in the family are carried out the function of control and management; Real cross-platform the interconnecting of the various information terminals such as computer, digital equipment, household electrical appliances that can allow each family, make ordinary consumer from enjoying brand-new digital living or experience once entering the door, realize the functions such as security service, communication service, energy management, automatic control.
Yet, with regard to the present national conditions of China, allow so a cover system enter into huge numbers of families and have got long long way to go.So, how to realize that on existing life staying idle at home basis intelligentized home control just seems particularly important.
The technology that is applied at present Smart Home mainly is divided into three large technology:
1. concentric wiring technology: need again additionally to lay the light current control line and realize control to household electrical appliances or light, be mainly used in the past intelligent building control, because rewiring, so signal is the most stable, relatively be suitable for the control of the large regional extent such as building and To Intelligent Home, existing beginning is applied to villa (villa finishing design sketch) intellectuality, but operated by rotary motion is installed more complicated, cost is higher, and the duration is longer, only applicable new finishing user.For example: ABBI-BUS technology, typical producer: ABB AB, German Morton etc.
2. less radio-frequency (HomeRF) technology: need not rewiring, utilize point-to-point radio-frequency technique, realization is to the control of household electrical appliances and light, it is all more convenient that setting is installed, be mainly used in the control that realizes some specific electrical equipment or light, but systemic-function is more weak, and control mode is more single, and is subject on every side wireless device environment and hamper interference; Be applicable to newly fit up the family and fitted up the family, typical producer---ripple wound etc.
3.X10 power carrier: need not rewiring, thereby mainly utilize the existing line of electric force of household internal to transfer the control signal realization to the control and management of household electrical appliances and light, installation arranges fairly simple, a lot of equipment all are plug and play, can arbitrarily match as required product, and continuous intelligentized updating, function is relatively powerful and practical, moderate cost relatively is fit to popular consumption, and technology is very ripe, the history in existing about 25 years, existing 1,300 ten thousand domestic consumers nearly of the U.S. are applicable to newly fit up the family and have fitted up the family now, are healthier, safety, the Smart Home technology of environmental protection.
At present, the home appliance of China overwhelming majority family, the receiving function that does not possess wireless signal such as refrigerator, DVD player, televisor, projector, basically all control by infrared signal, therefore on the basis that does not change existing domestic environment, above technology also is not suitable for common Chinese family.
Now, the common problem that the user runs into is that the Infrared remote controller kind of home appliance is too much, can not centralized control, and command range is too short, has reduced the comfortableness of household.Therefore, develop and a kind ofly can learn infrared signal, can realize central controlled intelligent home control system, will bring very large facility for the user.
Nowadays, similar product has been arranged on the market, can realize using the infrared control house system, somewhere indoor but this series products can only fixedly be put in, still can not change the short problem of command range, and very dumb, have significant limitation.
The utility model content
The utility model purpose is to provide the mobile robot intelligent home control system for the defective that prior art exists, and provides the movably services such as one-stop intelligent home control, safety monitoring, home entertaining to the user.
The utility model for achieving the above object, adopt following technical scheme: a kind of mobile robot's intelligent home control system, comprise the mobile robot, be integrated with intelligent home control system in the described mobile robot, described intelligent home control system comprises motion module, positioning navigation module, photographing module, keeps away barrier module, processor module, infrared learning module, infrared transmission module, Wi-fi radio receiving transmitting module and mobile robot control terminal; Described processor module carries out two-way communication by the Wi-fi radio receiving transmitting module via wireless router and described mobile robot control terminal; Described motion module and described processor module two-way communication, it is used for control mobile robot free movement; Described positioning navigation module, photographing module and keep away the barrier module respectively with described processor module two-way communication and by each other cooperatively interact to robot position the navigation with indoor cruising; Described infrared learning module and infrared transmission module and described processor module two-way communication are also carried out remote monitor by cooperatively interacting each other to Smart Home.
Further, comprise also and the amusement module of described processor module two-way communication that it is used for music playing and video.
Further, described photographing module is with the high-resolution camera of night vision function, and it sends to described mobile robot control terminal by network after the video that collects or picture signal are compressed storage.
Further, the described barrier module of keeping away adopts infrared detection sensor.
Further, the rotation of the pulse signal control motor that described motion-control module sends by described processor module, and the universal wheel free movement that is provided with mobile robot.
Further, described positioning navigation module adopts the super wideband wireless location technology.
Further, described infrared learning module receives and stores the infrared remote-controlled signal of all household electrical appliances and control the work that described infrared transmission module is controlled all household electrical appliances by the control software of described mobile robot control terminal.
Further, described amusement module adopts the LCD screen, and carries out the long-distance video conversation by described LCD screen.
The beneficial effects of the utility model: the utility model is integrated with mobile robot and intelligent home control system, only need a wireless router, can not change the structure of original Smart Home, can control to original Smart Home (household electrical appliance) again its simplicity of design, with low cost, reliable and stable.And all right integrated amusement function of native system makes people's life staying idle at home become more rich and varied.The mobile robot is combined with house control system, made house control system " work ", neither need to change former household structure, overcome again the limitation of existing house control system, allow Smart Home control become " following one's bent ".Mobile robot and intelligent domestic system are gathered together and control, control method is simple, reliable and stability is high.
Ultra broadband (UWB) wireless location technology is applied to robot autonomous navigation.The super wideband wireless location technology because low in energy consumption, anti-multipath is effective, safe, system complexity is low, and the advantages such as point-device bearing accuracy especially can be provided, and becomes focus and the first-selection of following wireless location technology.Platform adopts " the ULoc positioning system " of our company's independent research, and it is to combine gordian technique in the pulse ultra-broadband communication system and wireless location technology and the wireless high precision real-time positioning system developed.This system directly carries out data communication with nanosecond to magnitude of subnanosecond burst pulse as information carrier, and adopts the enhancement mode location algorithm, has the characteristics such as high position precision, low-power consumption, low cost and large power system capacity.The super wideband wireless location technology has overcome the defective that is not suitable for indoor positioning as wireless location technologies such as infrared ray, ultrasound wave, radiofrequency signals, so that robot can shuttle in each room, and must worry it never " getting lost " or " missing ".
Description of drawings
Fig. 1 schematic diagram of the function of the present utility model.
Embodiment
Figure 1 shows that a kind of mobile robot's intelligent home control system, comprise the mobile robot, be integrated with intelligent home control system in the described mobile robot, described intelligent home control system comprises motion module 10, positioning navigation module 9, photographing module 4, keeps away barrier module 5, processor module 3, Wi-fi radio receiving transmitting module 2 and mobile robot control terminal 11; Described motion module 10 and described processor module 3 two-way communications, it is used for the control free movement; Described positioning navigation module 9, photographing module 4 and keep away the barrier module 5 respectively with described processor module 3 two-way communications and by each other cooperatively interact to robot position the navigation with indoor cruising; Photographing module 4 can also carry out indoor Real Time Monitoring, grasps in real time the situation of family for owner.Described processor module 3 communicates via wireless router 1 and mobile robot control terminal 11 by Wi-fi radio receiving transmitting module 2, finishes mutual.
In order to control household electrical appliances work, native system also comprises respectively infrared learning module 6 and the infrared transmission module 7 with described processor module 3 two-way communications; Described infrared learning module 6, infrared transmission module 7 carry out remote monitor by cooperatively interacting each other to Smart Home.Can provide the amusement functions such as music, video with the amusement module 8 of described processor module 3 two-way communications, make family life more rich and varied.Wherein, infrared learning module 6 is the Infrared remote controller signals that receive various household electrical appliance by study, finishes the effect of universal remote control.Infrared transmission module 7 performance telepilot effects under the mobile robot helps, can arrive any household electrical appliances next door and control, and have just avoided the short problem of remote control distance.
During implementation, wi-fi radio receiving transmitting module 2 can communicate with wireless router 1, according to the IEEE802.11 standard, general 1 ultimate range that can cover of wireless router is generally 300 meters, in semi-open property space, or the zone of spacer is arranged, transmission is greatly about about 35～50 meters, for most users, this distance is robot each part in room of cruising enough, and needn't worry robot " missing ".
Wherein, photographing module 4 compresses storage with the video or the picture signal that collect, and can send to by network user's mobile robot control terminal 11, to satisfy the needs of Real Time Monitoring, the high-resolution camera that this photographing module 4 adopts with night vision function can the work of doing as usual under the dim condition of indoor light.
Keep away barrier module 5 and adopt infrared detection sensor, the feedback information that provides according to sensor during the robot motion can be adjusted direction in real time, in order to avoid bump with barrier.
Positioning navigation module 9 adopts the super wideband wireless location technology, realizes the real-time independent navigation of robot, robot " is understood " where laid oneself open to, and where will go, and " gets lost " never;
The infrared remote-controlled signal of infrared learning module 6 all household electrical appliances of study, and store, then control infrared transmission module 7 by the control software of mobile control terminal 11, control all household electrical appliances.
Above-mentioned amusement module 8 is main to adopt a LCD screen, can music playing, video etc., can also be at a distance and the household carry out video calling etc.
The processor module 3 of native system adopts arm processor, carries linux(or android) system, can satisfy the demand of above-mentioned all functions, and the performance of surplus be arranged to satisfy in the future upgrading.
A kind of control method based on above-mentioned mobile robot's Smart Home, the method comprises the steps: at first, and described processor module 3 is by motion module 10, positioning navigation module 9, photographing module 4 and keep away barrier module 5 control mobile robots and position navigation and indoor cruising.(mobile robot generally can both arrive in the Smart Home infrared remote-controlled signal range of receiving.) described infrared learning module 6 and infrared transmission module 7 cooperate and be used for the Infrared remote controller signal that reception and transmission and Smart Home adapt, described Infrared remote controller signal is processed by being sent to network by Wi-fi radio receiving transmitting module 2 and wireless router 1 by processor module 3, and send to mobile robot control terminal 11 and carry out information interaction, and Smart Home is carried out remote monitor.
The above only is preferred embodiment of the present utility model, and is in order to limit the utility model, not all within spirit of the present utility model and principle, any modification of doing, is equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (8)
1. mobile robot's intelligent home control system, it is characterized in that, comprise the mobile robot, be integrated with intelligent home control system in the described mobile robot, described intelligent home control system comprises motion module, positioning navigation module, photographing module, keeps away barrier module, processor module, infrared learning module, infrared transmission module, Wi-fi radio receiving transmitting module and mobile robot control terminal; Described processor module carries out two-way communication by the Wi-fi radio receiving transmitting module via wireless router and described mobile robot control terminal; Described motion module, positioning navigation module, photographing module and keep away the barrier module respectively with described processor module two-way communication and by each other cooperatively interact to the mobile robot position the navigation with indoor cruising; Described infrared learning module and infrared transmission module and described processor module two-way communication are also carried out remote monitor by cooperatively interacting each other to Smart Home.
2. a kind of mobile robot's intelligent home control system as claimed in claim 1 is characterized in that, comprises also and the amusement module of described processor module two-way communication that it is used for music playing and video.
3. a kind of mobile robot's intelligent home control system as claimed in claim 1, it is characterized in that, described photographing module is with the high-resolution camera of night vision function, and it sends to described mobile robot control terminal by network after the video that collects or picture signal are compressed storage.
4. a kind of mobile robot's intelligent home control system as claimed in claim 1 is characterized in that, the described barrier module of keeping away adopts infrared detection sensor.
5. a kind of mobile robot's intelligent home control system as claimed in claim 1, it is characterized in that, the rotation of the pulse signal control motor that described motion-control module sends by described processor module, and the universal wheel free movement that is provided with mobile robot.
6. a kind of mobile robot's intelligent home control system as claimed in claim 1 is characterized in that, described positioning navigation module adopts the super wideband wireless location technology.
7. a kind of mobile robot's intelligent home control system as claimed in claim 1, it is characterized in that described infrared learning module receives and stores the infrared remote-controlled signal of all household electrical appliances and control the work that described infrared transmission module is controlled all household electrical appliances by described mobile robot control terminal.
8. a kind of mobile robot's intelligent home control system as claimed in claim 2 is characterized in that, described amusement module adopts the LCD screen, and carries out the long-distance video conversation by described LCD screen.
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| CN 201320092842 CN203259876U (en) | 2013-03-01 | 2013-03-01 | Intelligent household control system for mobile robot |
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| CN 201320092842 CN203259876U (en) | 2013-03-01 | 2013-03-01 | Intelligent household control system for mobile robot |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103692429A (en) * | 2013-12-31 | 2014-04-02 | 武汉工程大学 | Household robot capable of helping aged people |
| CN103984315A (en) * | 2014-05-15 | 2014-08-13 | 成都百威讯科技有限责任公司 | Domestic multifunctional intelligent robot |
| CN104199390A (en) * | 2014-04-28 | 2014-12-10 | 东莞市万锦电子科技有限公司 | Internet of things system for robot |
| CN104375450A (en) * | 2014-12-02 | 2015-02-25 | 北京金自天正智能控制股份有限公司 | Automated control device for controlling remote equipment and application method of automated control device |
| CN104407610A (en) * | 2014-07-21 | 2015-03-11 | 东莞市万锦电子科技有限公司 | Ground cleaning robot system and control method thereof |
| CN104503378A (en) * | 2014-11-05 | 2015-04-08 | 广州艾若博机器人科技有限公司 | Robot and household electrical appliance control method based on robot |
| CN104571114A (en) * | 2015-01-28 | 2015-04-29 | 深圳市赛梅斯凯科技有限公司 | Intelligent home robot |
| CN104571115A (en) * | 2015-01-28 | 2015-04-29 | 深圳市赛梅斯凯科技有限公司 | Intelligent home robot |
| CN104615028A (en) * | 2014-09-22 | 2015-05-13 | 东莞市万锦电子科技有限公司 | Internet of Things system for ground cleaning robot |
| CN104605794A (en) * | 2014-09-23 | 2015-05-13 | 东莞市万锦电子科技有限公司 | Floor cleaning robot system |
| CN104714411A (en) * | 2013-12-13 | 2015-06-17 | 青岛海尔机器人有限公司 | Intelligent household robot |
| CN104793583A (en) * | 2014-01-21 | 2015-07-22 | 上海聚然智能科技有限公司 | Interaction system based on intelligent robot and software system thereof |
| CN105005305A (en) * | 2015-07-22 | 2015-10-28 | 上海思依暄机器人科技有限公司 | Controlled robot, remote control device, robot system and applicable method |
| CN105446162A (en) * | 2016-01-26 | 2016-03-30 | 北京进化者机器人科技有限公司 | Intelligent home system and intelligent home control method of robot |
| CN105511487A (en) * | 2015-12-02 | 2016-04-20 | 北京科罗菲特科技有限公司 | Mobile sensor control system |
| CN105739579A (en) * | 2016-03-16 | 2016-07-06 | 河南工业大学 | Grain bin grain condition intelligent detection and monitoring system based on mobile robot technology |
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| CN106485897A (en) * | 2015-08-31 | 2017-03-08 | 无锡小天鹅股份有限公司 | Intelligent robot system |
| CN107179772A (en) * | 2017-07-06 | 2017-09-19 | 重庆瑞景信息科技有限公司 | Mainboard control device and its method |
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| CN105807693B (en) * | 2016-03-10 | 2018-12-04 | 魏凯 | A kind of intelligent video robot control system and control method |
| CN110164439A (en) * | 2019-05-29 | 2019-08-23 | 姚英泽 | Intellect service robot |
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- 2013-03-01 CN CN 201320092842 patent/CN203259876U/en not_active Expired - Lifetime
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| CN104714411A (en) * | 2013-12-13 | 2015-06-17 | 青岛海尔机器人有限公司 | Intelligent household robot |
| CN103692429A (en) * | 2013-12-31 | 2014-04-02 | 武汉工程大学 | Household robot capable of helping aged people |
| CN104793585A (en) * | 2014-01-21 | 2015-07-22 | 上海科斗电子科技有限公司 | Electronic interactive system and software system thereof |
| CN104793503A (en) * | 2014-01-21 | 2015-07-22 | 上海科斗电子科技有限公司 | Intelligent interaction system containing relative position control parameters |
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| CN104793583A (en) * | 2014-01-21 | 2015-07-22 | 上海聚然智能科技有限公司 | Interaction system based on intelligent robot and software system thereof |
| CN104199390A (en) * | 2014-04-28 | 2014-12-10 | 东莞市万锦电子科技有限公司 | Internet of things system for robot |
| CN104199390B (en) * | 2014-04-28 | 2017-09-01 | 缔奇智能（河南）股份有限公司 | Robot Internet of things system |
| CN103984315A (en) * | 2014-05-15 | 2014-08-13 | 成都百威讯科技有限责任公司 | Domestic multifunctional intelligent robot |
| CN104407610A (en) * | 2014-07-21 | 2015-03-11 | 东莞市万锦电子科技有限公司 | Ground cleaning robot system and control method thereof |
| CN104615028B (en) * | 2014-09-22 | 2017-09-01 | 缔奇智能（河南）股份有限公司 | Robot for cleaning floor Internet of things system |
| CN104615028A (en) * | 2014-09-22 | 2015-05-13 | 东莞市万锦电子科技有限公司 | Internet of Things system for ground cleaning robot |
| CN104605794A (en) * | 2014-09-23 | 2015-05-13 | 东莞市万锦电子科技有限公司 | Floor cleaning robot system |
| CN104503378A (en) * | 2014-11-05 | 2015-04-08 | 广州艾若博机器人科技有限公司 | Robot and household electrical appliance control method based on robot |
| CN104503378B (en) * | 2014-11-05 | 2018-01-30 | 广州艾若博机器人科技有限公司 | A kind of robot and the method for controlling household electrical appliances based on the robot |
| CN104375450A (en) * | 2014-12-02 | 2015-02-25 | 北京金自天正智能控制股份有限公司 | Automated control device for controlling remote equipment and application method of automated control device |
| CN104571115A (en) * | 2015-01-28 | 2015-04-29 | 深圳市赛梅斯凯科技有限公司 | Intelligent home robot |
| CN104571114A (en) * | 2015-01-28 | 2015-04-29 | 深圳市赛梅斯凯科技有限公司 | Intelligent home robot |
| CN105005305A (en) * | 2015-07-22 | 2015-10-28 | 上海思依暄机器人科技有限公司 | Controlled robot, remote control device, robot system and applicable method |
| CN106485897B (en) * | 2015-08-31 | 2019-09-17 | 无锡小天鹅电器有限公司 | Intelligent robot system |
| CN106485897A (en) * | 2015-08-31 | 2017-03-08 | 无锡小天鹅股份有限公司 | Intelligent robot system |
| CN105511487A (en) * | 2015-12-02 | 2016-04-20 | 北京科罗菲特科技有限公司 | Mobile sensor control system |
| CN105446162A (en) * | 2016-01-26 | 2016-03-30 | 北京进化者机器人科技有限公司 | Intelligent home system and intelligent home control method of robot |
| CN105446162B (en) * | 2016-01-26 | 2018-11-20 | 北京进化者机器人科技有限公司 | A kind of intelligent home furnishing control method of smart home system and robot |
| CN105794389A (en) * | 2016-02-26 | 2016-07-27 | 许小敏 | Lawn mower remotely controlled through network |
| CN105807693B (en) * | 2016-03-10 | 2018-12-04 | 魏凯 | A kind of intelligent video robot control system and control method |
| CN105739579B (en) * | 2016-03-16 | 2017-11-10 | 河南工业大学 | A kind of grain conditions in grain depot Intelligent Measurement monitoring system based on mobile robot technology |
| CN105739579A (en) * | 2016-03-16 | 2016-07-06 | 河南工业大学 | Grain bin grain condition intelligent detection and monitoring system based on mobile robot technology |
| WO2018103212A1 (en) * | 2016-12-08 | 2018-06-14 | 广景视睿科技（深圳）有限公司 | Floor cleaning robot having projector and interaction system thereof |
| CN107179772A (en) * | 2017-07-06 | 2017-09-19 | 重庆瑞景信息科技有限公司 | Mainboard control device and its method |
| CN108062853A (en) * | 2017-11-08 | 2018-05-22 | 郑州谦贤科技有限公司 | A kind of family expenses multi signal control tele-robotic and system |
| CN110164439A (en) * | 2019-05-29 | 2019-08-23 | 姚英泽 | Intellect service robot |
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Granted publication date: 20131030 |