CN205290972U - Machine people goes on patrol - Google Patents
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- CN205290972U CN205290972U CN201520965038.2U CN201520965038U CN205290972U CN 205290972 U CN205290972 U CN 205290972U CN 201520965038 U CN201520965038 U CN 201520965038U CN 205290972 U CN205290972 U CN 205290972U
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Abstract
The utility model discloses a machine people goes on patrol, include and patrol drawing die piece (2), main control unit (1), moving mechanism (3) are swept mechanism (4), watering mechanism (5), dust absorption mechanism (6), camera (7), wireless transmission module (8), are kept away barrier module (9). According to the utility model discloses embodiment's the machine people goes on patrol that sweeps the floor can accomplish autonomous operation through patrolling the line to obtain through the camera and monitor regional realtime graphic, through reaching remote monitering system on the wireless transmission module, realize going on patrol the function. Meanwhile, the cleaning work on ground is accomplished through sweeping mechanism, dust absorption mechanism, watering mechanism jointly to the in -process that is going on patrol the control.
Description
Technical field
The utility model relates to intelligent robot technology field, is specifically related to a kind of patrol robot.
Background technology
Along with the progress of science and technology and the development of society, intelligent robot enters into huge numbers of families gradually, replaces people to handle daily household affairs. The application of mobile patrol robot, compensate for the deficiency of fixing camera monitoring, also improves the security protection dynamics of patrol regional extent simultaneously. But, current patrol robot can complete the function of autonomous patrol and video monitoring, and function is relatively single. Sweeping robot, as the one of intelligent robot, is widely used especially. But, complicated and changeable due to outdoor environment, the application of sweeping robot is confined to indoor always. Causing conventional outdoor road cleaning to be all complete by the outdoor road sweeper of special driver driving, this needs to drop into a large amount of human costs undoubtedly.
Practical novel content
In view of this, the utility model embodiment provides a kind of patrol robot, solves the outdoor cleaning two fold problem with patrol.
A kind of patrol robot that the utility model one embodiment provides, comprising: patrol wire module, the inducedmagnetic field that the insulated wire for responding on ground produces, and the inducedmagnetic field data responded to are sent to principal controller; Principal controller, for patrolling the inducedmagnetic field data responded to that wire module sends described in receiving, and determines the working direction of described patrol robot according to described inducedmagnetic field data; Mobile mechanism, for, under the control of principal controller, driving described patrol robot to move along the described determined working direction of wire module of patrolling; Sweep mechanism, for, under the control of principal controller, being swept on the ground in the working direction of described patrol robot; And watering mechanism, for, under the control of principal controller, being sprayed water in ground.
Comprise suction mechanism further, for collecting rubbish and dust under the control of principal controller.
Further, described suction mechanism comprises: rubbish container, dust sucting motor, dust suction are taken off, dust filtering net, the side that be arranged at described rubbish container concordant with described rubbish container, described dust sucting motor bottom surface, described dust suction is taken off and is arranged at below described rubbish container near described dust sucting motor, described rubbish container, described dust sucting motor, described dust suction are taken off and are communicated with each other, and are provided with dust filtering net between taking off at described dust sucting motor and described rubbish container, described dust suction.
Further, described mechanism of sweeping comprises: at least two hairbrush, hair brush motor, crossbeam, lifting motor, elevating screws, wherein, described hair brush motor is fixed on the mid-way, top of described crossbeam and carries out transmission by two belts, described at least two hairbrush are arranged on the two ends of described crossbeam respectively down by turning axle, and described crossbeam is hinged by elevating screw and lifting motor.
Further, described watering mechanism comprises water tank, water spray controller, sprinkler head, wherein, the position that the side of described water tank is top is provided with filler, described water spray controller is arranged on the lower section of described water tank, the lower section of described water spray controller is provided with described sprinkler head, and described sprinkler head is connected with described water tank by two, left and right water flowing pipe.
Comprise camera further, for gathering real-time image, and by described real-time image uploading to principal controller.
Comprise transmission over radio module further, it is sent to long distance control system for the described real-time image processed by principal controller, and receive the control command that long distance control system sends.
Comprise avoidance module further, for detecting preceding object thing distance in real time, and described distance is uploaded to principal controller.
Further, described patrol robot can depart from the operation of described insulated wire under the remote control of described long distance control system.
Further, described long distance control system, comprising: wireless module, for receiving the real-time image information that patrol robot of sweeping the floor sends, and is uploaded to control computer; Control computer, is received real-time image information from wireless module and decodes, control it and show over the display, the operational order from mouse and/or keyboard is converted into control command, be sent to patrol robot end of sweeping the floor by wireless module; Indicating meter, shows real-time image under the control of control computer; Mouse and/or keyboard, send the instruction of long-range teleoperator for operator.
A kind of patrol robot that the utility model embodiment provides can complete autonomous operation by patrolling line, and obtained the real-time image in monitoring region by camera, it is achieved patrol function. Meanwhile, in the process of patrol monitoring, the cleaning works on ground is completed by Floor-sweeping device. And when teleworker finds have needs cleaning outside pre-fixed line or accident occurs, it is also possible to by the control computer of remote monitoring end, patrol robot is carried out remote control so that it is depart from insulated wire according to the control of people and run.
Accompanying drawing explanation
Fig. 1 show the logical organization figure of the patrol robot of the utility model embodiment;
Fig. 2 show the logical organization figure of the patrol robot of the utility model embodiment;
Fig. 3 a show the structure iron of the patrol robot that the utility model one embodiment provides;
Fig. 3 b show the structure iron of the patrol robot that another embodiment of the utility model provides;
Fig. 4 show the utility model one embodiment provide patrol line mechanism structure iron;
Fig. 5 a show the utility model one embodiment provide sweep mechanism structure schematic diagram;
Fig. 5 b show the side-view sweeping mechanism shown in Fig. 5 a;
Fig. 6 show the suction mechanism structural representation that the utility model one embodiment provides;
Fig. 7 show the watering mechanism schematic diagram that the utility model one embodiment provides; And
Fig. 8 show the structure composition of patrol robot as shown in Figure 1 and long distance control system that the utility model one embodiment provides and data stream to.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described embodiment is only the utility model part embodiment, instead of whole embodiments. Based on the embodiment in the utility model, those of ordinary skill in the art are not making other embodiments all obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Fig. 1 show the logical organization figure of the patrol robot that the utility model one embodiment provides. As can be seen from the figure, patrol robot comprise principal controller 1, patrol wire module 2, mobile mechanism 3, sweep mechanism 4, watering mechanism 5.
Principal controller 1, for patrolling the inducedmagnetic field data responded to that wire module 2 sends described in receiving, and determines the working direction of described patrol robot according to described inducedmagnetic field data. Patrol wire module 2, the inducedmagnetic field that the insulated wire for responding on ground produces, and the inducedmagnetic field data responded to are sent to principal controller 1. Mobile mechanism 3, for, under the control of principal controller, driving described patrol robot to move along the described determined working direction of wire module 2 of patrolling. Sweep mechanism 4, for, under the control of principal controller 1, being swept on the ground in the working direction of described patrol robot. Watering mechanism 5, for, under the control of principal controller 1, spraying water to ground.
Patrol robot utilization according to the present embodiment is patrolled wire module 2 and is responded to ground insulated wire, and electromagnetism intensity information is uploaded to principal controller 1, through the analyzing and processing of principal controller 1, and the mobile mechanism 3 of control, it is ensured that patrol robot runs according to insulated wire direction. In advance process, sweep mechanism 4 and with watering mechanism 5, operation road surface, direction is cleaned.
Fig. 2 show the logical organization figure of the patrol robot that the utility model one embodiment provides. As can be seen from the figure, patrol robot according to the present embodiment comprises further on the basis of logical organization shown in Fig. 1: suction mechanism 6, camera 7, transmission over radio module 8, avoidance module 9, moves mechanism 3 simultaneously and comprises drive unit 31, steering gear 32 further.
Principal controller 1 is the core of whole patrol robot, is responsible for data processing and the control of patrol robot. Specifically comprising: for the control command of long distance control system is carried out analyzing and processing, control patrol robot goes to perform; Deviation angle is calculated, to steering gear 32 transmission control order according to from patrolling the voltage signal that wire module 2 receives; Receive the real-time image information that camera 7 transmits, after its compression coding, it is sent to long distance control system by transmission over radio module 8; According to the range information received from avoidance module 9, control drive unit 31, sweep mechanism 4, the start and stop of watering mechanism 5 and suction mechanism 6.
It is equipped with insulated wire along patrol robot direction of motion of sweeping the floor on road surface, insulated wire produces fixing alternating magnetic field by high frequency alternating-current, by patrolling the alternating magnetic field intensity that wire module 2 is measured the electromagnetic wire being laid on ground and produced, and magneticstrength is converted into voltage signal, the voltage signal obtained is uploaded to principal controller. The autonomous operation of sweeping robot can be realized by patrolling the mode of line.
Principal controller 1 receiver voltage signal, through data processing, transmission control order is to drive unit 31 and steering gear 32. Drive unit 31, for steering gear 32 provides the power advanced under the control of principal controller 1. Steering gear 32, advances in the insulated wire direction laid along ground under the control of principal controller 1.
Camera 7, for gathering the real-time image information in its front, and is uploaded to principal controller.
Transmission over radio module 8, for being sent to long distance control system by real-time image information. Transmission over radio module 8 is the important module swept the floor and carry out between patrol robot and long distance control system communicating, it is responsible for data image signal, the status information of patrol robot of sweeping the floor are sent to long distance control system, the control information of long distance control system is sent to patrol robot simultaneously.
Avoidance module 9, utilizes ultrasonic wave to measure preceding object thing distance, and by this data upload to principal controller. Avoidance module adopts 4 ultrasonic distance measuring radar modules, is evenly arranged on patrol robot front, finds range by launching and receive ultrasonic wave, thus obtains robot preceding object thing range information. Implementing mode according to one of the present utility model, at patrol robot along in insulated wire autonomous operation process, during preceding object distance 1 meter, robot, patrol robot halts automatically, and when blockage dissipates or when removing, robot proceeds patrol.
Sweep mechanism 4, watering mechanism 5, suction mechanism 6 be that patrol robot of sweeping the floor carries out the main device of ground cleaning, in the process that patrol robot of sweeping the floor advances, three's cooperating, carries out garbage-cleaning to the road surface under patrol path.
In addition, patrol robot also comprises power supply device, for the operation of whole system provides power. The power supply device implementing mode according to the utility model can adopt battery power, it is also possible to adopts solar cell for supplying power.
Patrol robot according to the present embodiment can complete autonomous operation by patrolling line, and obtained the real-time image in monitoring region by camera, it is achieved patrol function. Meanwhile, in the process of patrol monitoring, the cleaning works on ground is completed by Floor-sweeping device. And when teleworker finds have needs cleaning outside pre-fixed line or accident occurs, it is also possible to by the control computer of remote monitoring end, to sweeping the floor, patrol robot carries out remote control so that it is departs from insulated wire according to the consciousness of people and runs.
Fig. 3 a show the structure iron of the patrol robot that the utility model one embodiment provides, and Fig. 3 b show the structure iron of the patrol robot that another embodiment of the utility model provides. From Fig. 3 a, Fig. 3 b it may be seen that patrol robot is implemented as car shape, being provided with robot body above car, accordingly, steering gear 32 is implemented as the front-wheel of car; Drive unit 31 is implemented as the trailing wheel of car; Sweep mechanism 4, suction mechanism 6 be successively set between car front and back wheel, watering mechanism 5 is arranged on the position of car boot; Avoidance module 9 is arranged at above the headstock of car; Patrolling wire module 2 is arranged at below the headstock of car; Camera 7 comprises 3, is arranged at robot body head, the right on of car and right astern respectively; Battery, principal controller 1, transmission over radio module 8 are set in parallel in the lower section of robot body successively along headstock to the direction of the tailstock. Although it is to be understood that patrol robot is described as the shape of a kind of car herein, but patrol robot can also be other the suitable shapes being convenient to realize making an inspection tour function and being convenient to install floor sweeping mechanism.
Fig. 4 show according to of the present utility model one implement mode patrol wire module structure iron. Patrolling, according to the present embodiment, the electromagnetic induction sensor that wire module 2 comprises 16 fonts arrangements, the alternating magnetic field that the electromagnetic wire that 16 electromagnetic induction sensors are laid on ground by measuring produces determines the position relation of robot and predetermined paths. During work, the electromagnetic intensity that each electromagnetic induction sensor collection receives, amplifies through signal, and this strength of signal converts to corresponding magnitude of voltage. Owing to the distance of each electromagnetic induction sensor distance insulated wire is different, the magnitude of voltage of the strength of signal that they detect and correspondence is directly proportional to insulated wire distance, and namely the more near output voltage of sensor distance insulated wire distance is more big. Magnitude of voltage is uploaded to principal controller by sensor, by comparative sorting, namely principal controller can learn that insulated wire is nearest apart from which sensor, angle is turned to needed for robot such that it is able to calculate according to the installation position of this sensor, then this angle is exported to steering module, thus realize the correction to robot motion direction. It is to be understood that the number of electromagnetic induction sensor is only exemplary, other enforcement modes of the present utility model can also adopt the electromagnetic induction sensor of other numbers, and the number of electromagnetic induction sensor is not limited by the utility model.
Fig. 5 a, Fig. 5 b show the utility model one embodiment provide sweep mechanism structure schematic diagram. From Fig. 5 a, Fig. 5 b it may be seen that mechanism of sweeping according to the present embodiment comprises: 2 hairbrush 41, hair brush motor 42, crossbeam 43, lifting motor 44, elevating screws 45. Wherein, hair brush motor 42 is fixed on the mid-way, top of crossbeam 43 and carries out transmission by two belts, and 2 hairbrush 41 are implemented as circle, are arranged on the two ends of crossbeam 43 respectively down by turning axle, and crossbeam 43 is hinged by elevating screw 45 and lifting motor 44. It is to be understood that the number of hairbrush is only exemplary, other enforcement modes of the present utility model can also adopt the hairbrush of other numbers, and the number of hairbrush is not limited by the utility model.
Hairbrush 41 mainly ecto-entad external dust is swept into dust suction takes off near mouth 63 and suck rubbish container 61 by suction mechanism 6. Hairbrush 41 of sweeping the floor is driven by hair brush motor 42 and carries out transmission by two belts, and two hairbrush 41 sense of rotation of sweeping the floor on the contrary and all turn to dust suction to take off 44. Elevating screw 45 is driven by lifting motor 44 and the lifting of hairbrush of being swept the floor by the up-and-down movement control of elevating screw 45, is risen by hairbrush when not sweeping the floor.
Fig. 6 show the watering mechanism mechanism show intention that the utility model one embodiment provides. As can be seen from Figure 6, watering mechanism according to the present embodiment comprises: water tank 51, water spray controller 52, sprinkler head 53, wherein, water tank 51 is implemented as general square shape box structure, the position top in the side of water tank 51 is provided with filler 54, water spray controller 52 is arranged on the lower section of water tank 51, and the lower section of water spray controller 52 is provided with sprinkler head 53, and sprinkler head 53 is connected with described water tank 51 by two, left and right water flowing pipe.
Water tank 51, for storing a large amount of water in order to spraying purposes, adopts containment housing to prevent from leaking. Filler 54 is the outside interface of filled with water, and water spray controller 52 inside is provided with magnetic valve, it is possible to control water tank is to the logical conduit switch of sprinkler head 53, it is achieved spray control. Sprinkler head comprises 9 water outlets being evenly arranged, for evenly spilling water to ground.
Fig. 7 show the suction mechanism structural representation that the utility model one embodiment provides. As can be seen from Figure 7, suction mechanism 6 comprises rubbish container 61, dust sucting motor 62, dust suction take off 63, dust filtering net 64, wherein rubbish container 61 is implemented as rectangular box structure, the side that be arranged at rubbish container concordant with rubbish container, dust sucting motor 62 bottom surface, dust suction is taken off 63 and is arranged at below rubbish container 61 near dust sucting motor 62, and is provided with dust filtering net 64 between dust sucting motor 62 and rubbish container 61, dust suction take off 63.
Suction mechanism 6 produces powerful vacuum suction by the centrifugal vacuum fan that dust sucting motor 62 drives, thus dust suction is taken off the rubbish near mouth and dust and sucks in rubbish container. Dust suction takes off 63 dusts gathering hairbrush 41 cleaning of sweeping the floor for collecting and the diffusion of dust-proof dust. Rubbish, dust that suction device is sucked by dust filtering net 64 filter, and prevent dust or rubbish from entering vacuum fan along with air-flow.
Fig. 8 show the structure composition of patrol robot and the long distance control system of logical organization shown in Fig. 2 that the utility model one embodiment provides and data stream to. As can be seen from the figure, long distance control system comprises control computer 12, transmission over radio module 11, indicating meter 13, mouse and/or keyboard 14; Patrol robot is communicated with 8 long distance control system respectively by the transmission over radio module 11 held separately with sweeping the floor.
Long distance control system comprises: wireless module 11, for receiving the real-time image information that patrol robot sends, and is uploaded to control computer; Control computer 12, is received real-time image information from wireless module 11 and decodes, control it and show over the display, the operational order from mouse and/or keyboard is converted into control command, be sent to patrol robot end of sweeping the floor by wireless module; Indicating meter 13, shows real-time image under the control of control computer 12; Mouse and/or keyboard 14, send the instruction of long-range teleoperator for operator, and wherein mouse is used for the switch of floor sweeping mechanism, watering mechanism, suction mechanism, and the adjustment of robot rate of advance; Direction key on keyboard can be used for the working direction of long-range teleoperator.
The workflow of a cycle of operation of patrol robot according to the present embodiment is specially: operator send action command by remotely controlling computer 11, by wireless module 11, beginning action command are sent to patrol robot; Wireless module 8 receives and starts action command, and is uploaded to principal controller 1; Under the control of principal controller 1, start drive unit 31, sweep mechanism 4, suction mechanism 6 and watering mechanism 5; The alternating magnetic field intensity that patrol robot is measured the electromagnetic wire being laid on ground produce by being patrolled wire module 2, and magneticstrength is converted into voltage signal, the voltage signal obtained is uploaded to principal controller 1; Voltage signal is carried out analyzing and processing by principal controller 1, and control steering gear 32 advances along insulated wire direction under the dynamic action of drive unit 31; In advance process, camera 7 gathers the real-time image information in its front, and real-time image information is uploaded to principal controller 1; Principal controller 1 sends real-time image information the control computer 12 of long distance control system to by transmission over radio module 8 and shows on the monitor 13.
When patrol robot goes on patrol insulated wire terminal along pre-fixed line, detect that electromagnetism intensity disappears by patrolling wire module, this information is uploaded to principal controller, under the control of principal controller, drive module, module of sweeping the floor, dust extractor, watering module out of service, a patrol cycle of sweeping the floor completes.
Mode is implemented according to one of the present utility model, in the process advanced, avoidance module 9 can obtain the obstacle information in robot front at any time, and sent to principal controller 1, data processing through principal controller 1 changes into control command, when running into obstacle principal controller 1 send order out of service to drive unit 31, sweep mechanism 4, watering mechanism 5, suction mechanism 6, the patrol robot that makes to sweep the floor halts, and prevents from colliding and damages.
Implementing mode according to one of the present utility model, operator can also directly control the operation circuit of patrol robot by the keyboard in long distance control system, it is achieved patrol robot departs from insulated wire under the remote control of long distance control system and runs. It is specially: operator utilize the working direction of the direction key control robot on keyboard, this information is sent by control computer 12 by wireless module 11, destination information is forwarded to principal controller 1 after receiving by the wireless module 11 of patrol robot, principal controller 1, through data processing and inversion, controls the instruction operation of patrol robot according to operator to point of destination under the cooperation of avoidance module 9.
The foregoing is only better embodiment of the present utility model, not in order to limit the utility model, all within spirit of the present utility model and principle, any amendment done, equivalent replacement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. a patrol robot, it is characterised in that, comprising:
Patrol wire module (2), the inducedmagnetic field that the insulated wire for responding on ground produces, and the inducedmagnetic field data responded to are sent to principal controller (1);
Principal controller (1), for patrolling the inducedmagnetic field data responded to that wire module (2) sends described in receiving, and determines the working direction of described patrol robot according to described inducedmagnetic field data;
Mobile mechanism (3), for, under the control of principal controller (1), driving described patrol robot to move along described wire module (2) determined working direction of patrolling;
Sweep mechanism (4), for, under the control of principal controller (1), being swept on the ground in the working direction of described patrol robot; And
Watering mechanism (5), for, under the control of principal controller (1), spraying water to ground.
2. patrol robot according to claim 1, it is characterised in that, comprise suction mechanism (6) further, for collecting rubbish and dust under the control of principal controller (1).
3. patrol robot according to claim 2, it is characterized in that, described suction mechanism (6) comprising: rubbish container (61), dust sucting motor (62), dust suction is taken off (63), dust filtering net (64), described dust sucting motor (62) bottom surface and described rubbish container (61) are evenly arranged at the side of described rubbish container, described dust suction is taken off (63) and is arranged at described rubbish container (61) lower section near described dust sucting motor (62), and at described dust sucting motor (62) and described rubbish container (61), described dust suction is taken off and is provided with dust filtering net (64) between (63).
4. patrol robot according to claim 1, it is characterized in that, described mechanism (4) of sweeping comprising: at least two hairbrush (41), hair brush motor (42), crossbeam (43), lifting motor (44), elevating screw (45), wherein, described hair brush motor (42) is fixed on the mid-way, top of described crossbeam (43) and carries out transmission by two belts, described at least two hairbrush (41) are arranged on the two ends of described crossbeam (43) respectively down by turning axle, described crossbeam (43) is hinged by elevating screw (45) and lifting motor (44).
5. patrol robot according to claim 1, it is characterized in that, described watering mechanism (5) comprises water tank (51), water spray controller (52), sprinkler head (53), wherein, top position, the side of described water tank (51) is provided with filler (54), described water spray controller (52) is arranged on the lower section of described water tank (51), the lower section of described water spray controller (52) is provided with described sprinkler head (53), described sprinkler head (53) is connected with described water tank (51) by two, left and right water flowing pipe.
6. patrol robot according to any one of claim 1-5, it is characterised in that, comprise camera (7) further, for gathering real-time image, and by described real-time image uploading to principal controller (1).
7. patrol robot according to any one of claim 6, it is characterized in that, comprise transmission over radio module (8) further, for the described real-time image that principal controller (1) processed is sent to long distance control system, and receive the control command that long distance control system sends.
8. patrol robot according to claim 7, it is characterised in that, described patrol robot can depart from described insulated wire under the remote control of described long distance control system and run.
9. patrol robot according to claim 8, it is characterised in that, described long distance control system comprises:
Wireless module (11), for receiving the real-time image information that patrol robot of sweeping the floor sends, and is uploaded to control computer;
Control computer (12), receive real-time image information from wireless module (11) and decode, control it to show over the display, the operational order from mouse and/or keyboard is converted into control command, be sent to patrol robot end of sweeping the floor by wireless module;
Indicating meter (13), shows real-time image under the control of control computer (12);
Mouse and/or keyboard (14), send the instruction of long-range teleoperator for operator.
10. patrol robot according to any one of claim 1-5, it is characterised in that, comprise avoidance module (9) further, for detecting preceding object thing distance in real time, and described distance is uploaded to principal controller (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520965038.2U CN205290972U (en) | 2015-11-27 | 2015-11-27 | Machine people goes on patrol |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520965038.2U CN205290972U (en) | 2015-11-27 | 2015-11-27 | Machine people goes on patrol |
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| CN205290972U true CN205290972U (en) | 2016-06-08 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105291112A (en) * | 2015-11-27 | 2016-02-03 | 深圳市神州云海智能科技有限公司 | Patrol robot |
| CN106544972A (en) * | 2016-11-08 | 2017-03-29 | 界首市绍恩精机机械有限公司 | A kind of electricity sweeper of the photovoltaic extended-range lithium containing obstacle identification system and its using method |
| CN107263511A (en) * | 2017-05-26 | 2017-10-20 | 哈尔滨工程大学 | A kind of omnidirectional's airfield runway detection robot system and its control method |
-
2015
- 2015-11-27 CN CN201520965038.2U patent/CN205290972U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105291112A (en) * | 2015-11-27 | 2016-02-03 | 深圳市神州云海智能科技有限公司 | Patrol robot |
| CN106544972A (en) * | 2016-11-08 | 2017-03-29 | 界首市绍恩精机机械有限公司 | A kind of electricity sweeper of the photovoltaic extended-range lithium containing obstacle identification system and its using method |
| CN106544972B (en) * | 2016-11-08 | 2018-07-27 | 界首市绍恩精机机械有限公司 | A kind of photovoltaic extended-range lithium electricity sweeper and its application method containing obstacle identification system |
| CN107263511A (en) * | 2017-05-26 | 2017-10-20 | 哈尔滨工程大学 | A kind of omnidirectional's airfield runway detection robot system and its control method |
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