CN207432214U - Robot controller and intelligent robot - Google Patents
Robot controller and intelligent robot Download PDFInfo
- Publication number
- CN207432214U CN207432214U CN201721170222.3U CN201721170222U CN207432214U CN 207432214 U CN207432214 U CN 207432214U CN 201721170222 U CN201721170222 U CN 201721170222U CN 207432214 U CN207432214 U CN 207432214U
- Authority
- CN
- China
- Prior art keywords
- robot
- signal
- controller
- acquisition sensor
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides robot controller and intelligent robot, which includes：Controller, the first acquisition sensor, the second acquisition sensor, the 3rd acquisition sensor, locator, wireless communicator and actuator, the first acquisition sensor, the second acquisition sensor, locator and actuator are connected respectively with controller；First acquisition sensor is used to gather environmental signal；Second acquisition sensor is used to gather obstacle signal；3rd acquisition sensor is used to gather visual signal；Locator is used to obtain positioning signal；Controller is used to environmental signal, obstacle signal, visual signal and positioning signal carrying out fusion treatment, obtains mobile control signal, and mobile control signal is sent to actuator；Actuator is used to perform shift action according to mobile control signal.It can be moved according to the multiple signal controlling machine device people gathered according to accurate path, the dexterously avoiding barrier so as to accurate.
Description
Technical field
The utility model is related to robotic technology fields, especially robot controller and intelligent robot.
Background technology
With the increasingly promotion of robot building technology, the application of robot also receives favor.The application field of robot
Not exclusively in the industrial production, also rising year by year using proportion in the family.However, the location navigation control energy of robot
Power is one of standard judged robot performance.It, then can not be good if robot can not accurately identify road barrier
It works.It can be seen that how to work out a kind of Position Fixing Navigation System of domestic robot, robot can be made accurately to plan
Track route, and then ingenious avoiding barrier, are a problem to be solved by those skilled in the art.
Utility model content
In view of this, the purpose of this utility model is to provide robot controller and intelligent robot, acquisition is passed through
Indoor multiple signals, and carry out comprehensive analysis, draw accurate travelling route, so as to control robot according to programme path into
Row movement, the dexterously avoiding barrier so as to accurate.
In a first aspect, the utility model embodiment provides robot controller, including：Controller, the first acquisition pass
Sensor, the second acquisition sensor, the 3rd acquisition sensor, locator, wireless communicator and actuator, first acquisition pass
Sensor, the second acquisition sensor, the 3rd acquisition sensor, the locator and the actuator respectively with it is described
Controller is connected；
The first acquisition sensor, for gathering environmental signal；
The second acquisition sensor, for gathering obstacle signal；
The 3rd acquisition sensor, for acquisition visual signal；
The locator, for obtaining positioning signal；
The controller, for by the environmental signal, the obstacle signal, the visual signal and the positioning
Signal carries out fusion treatment, obtains mobile control signal, and the mobile control signal is sent to the actuator；
The actuator, for performing shift action according to the mobile control signal.
With reference to first aspect, the utility model embodiment provides the first possible embodiment of first aspect,
In, the first acquisition sensor includes environmental sensor, and the second acquisition sensor includes ultrasonic sensor and red
Outer sensor, the 3rd acquisition sensor include visual sensor.
With reference to first aspect, the utility model embodiment provides second of possible embodiment of first aspect,
In, the wireless communicator being connected with the controller is further included, the controller is set by the wireless communicator with outside
It is standby to communicate.
With reference to first aspect, the utility model embodiment provides the third possible embodiment of first aspect,
In, the actuator includes being sequentially connected the driver connect, movable motor and photoelectric encoder；
The driver, for according to the control signal motor being driven to rotate；
The movable motor is moved for rotating with band mobile robot；
The photoelectric encoder, for detecting the rotating speed of the movable motor.
The third possible embodiment with reference to first aspect, the utility model embodiment provide the of first aspect
Four kinds of possible embodiments, wherein, the photoelectric encoder includes grating encoder and grating detection device.
Second aspect, the utility model embodiment also provide intelligent robot, including the robot control described in first aspect
Device processed, further includes the robot body for being provided with the robot controller, and the upper end of the robot body is provided with
Touch-screen, the touch-screen are connected with telescoping shoring column, and the telescope support is arranged on pedestal, and the pedestal is provided below
Traveling wheel.
With reference to second aspect, the utility model embodiment provides the first possible embodiment of second aspect,
In, the touch-screen is built-in with infrared wide-angle camera and for controlling the motor of the touch-screen pitch angle and deceleration
Device.
With reference to the first possible embodiment of second aspect, the utility model embodiment provides the of second aspect
A kind of possible embodiment, wherein, the touch-screen is provided with to limit the pitching with the telescope support junction
The limit switch of angle.
With reference to second aspect, the utility model embodiment provides the first possible embodiment of second aspect,
In, infrared distance sensor and infrared receiving tube are placed with respectively in the front-end and back-end of the robot body.
With reference to second aspect, the utility model embodiment provides the first possible embodiment of second aspect,
In, the robot body is internally provided with air cleaning system, and the air cleaning system is filled including plasma isolation of purified
It puts, autonomous air circulating system, nano level active charcoal and air filter screen.
Compared with prior art, security radar equipment provided by the utility model and safety-protection system can reach following beneficial to effect
Fruit：
The utility model embodiment provides robot controller and intelligent robot, which includes：Controller,
One acquisition sensor, the second acquisition sensor, the 3rd acquisition sensor, locator, wireless communicator and actuator, first adopts
Collection sensor, the second acquisition sensor, locator and actuator are connected respectively with controller；First acquisition sensor is used for
Gather environmental signal；Second acquisition sensor is used to gather obstacle signal；3rd acquisition sensor is used to gather visual signal；
Locator is used to obtain positioning signal；Controller be used for by environmental signal, obstacle signal, visual signal and positioning signal into
Row fusion treatment obtains mobile control signal, and mobile control signal is sent to actuator；Actuator, for according to movement
Control signal performs shift action.By gathering indoor multiple signals, and comprehensive analysis is carried out, draw accurate traveling road
Line, so as to which robot be controlled to be moved according to programme path, the dexterously avoiding barrier so as to accurate.
Other feature and advantage of the utility model will illustrate in the following description, also, partly from specification
In become apparent or understood by implementing the utility model.The purpose of this utility model and other advantages are illustrating
Specifically noted structure is realized and obtained in book, claims and attached drawing.
For the above-mentioned purpose of the utility model, feature and advantage is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and
Attached drawing appended by cooperation, is described in detail below.
Description of the drawings
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution of the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it describes below
In attached drawing be the utility model some embodiments, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 is the robot controller schematic diagram that the utility model embodiment one provides；
Fig. 2 is another schematic diagram for the robot controller that the utility model embodiment one provides；
Fig. 3 is the structure diagram for the intelligent robot that the utility model embodiment two provides；
Fig. 4 is another structure diagram for the intelligent robot that the utility model embodiment two provides.
Icon：
10- controllers；20- first gathers sensor；30- second gathers sensor；40- the 3rd gathers sensor；50- determines
Position device；60- actuators；70- wireless communicators；80- power supplys；21- environmental sensors；31- ultrasonic sensors；The infrared biographies of 32-
Sensor；41- visual sensors；1- touch-screens；2- telescoping shoring columns；3- pedestals；4- movable motors；5- traveling wheels；6- /Vs are opened
It closes；7- infrared distance sensors；8- infrared receiving tubes.
Specific embodiment
To make the purpose, technical scheme and advantage of the utility model embodiment clearer, below in conjunction with attached drawing to this
The technical solution of utility model is clearly and completely described, it is clear that described embodiment is that the utility model part is real
Example is applied, instead of all the embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making
All other embodiments obtained under the premise of creative work, shall fall within the protection scope of the present invention.
Now with the increasingly promotion of robot building technology, the application of robot also receives favor.The application of robot
Field is not only in the industrial production, also to rise year by year using proportion in the family.However, the location navigation control of robot
Ability processed is one of standard judged robot performance.If robot can not accurately identify road barrier, then can not be very
Good work.It can be seen that how to work out a kind of Position Fixing Navigation System of domestic robot, domestic robot can be made
Accurate planning track route, and then ingenious avoiding barrier, are a problem to be solved by those skilled in the art, are based on
This, the offer robot controller and intelligent robot that the utility model embodiment provides can be multiple according to what is gathered
Signal controlling machine device people is moved, the dexterously avoiding barrier so as to accurate.
For ease of understanding the present embodiment, a kind of robot disclosed in the utility model embodiment is controlled first
Device describes in detail.
Embodiment one
Fig. 1 is the robot controller schematic diagram that the utility model embodiment one provides.
The utility model embodiment one provides robot controller, as shown in Figure 1, including：Controller 10, first are adopted
Collect sensor 20, second and gather the acquisition of sensor the 30, the 3rd sensor 40, locator 50, wireless communicator 70 and actuator
60, the first acquisition sensor 20, second gathers the acquisition of sensor the 30, the 3rd sensor 40, locator 50 and actuator 60 and divides
It is not connected with controller 10；
First acquisition sensor 20, for gathering environmental signal；
Second acquisition sensor 30, for gathering obstacle signal；
3rd acquisition sensor 40, for gathering visual signal；
Locator 50, for obtaining positioning signal；
Controller 10, for environmental signal, obstacle signal, visual signal and positioning signal to be carried out fusion treatment,
Mobile control signal is obtained, and mobile control signal is sent to actuator 60；
Actuator 60, for performing shift action according to mobile control signal.
Further, the first acquisition sensor 20 includes environmental sensor 21, and the second acquisition sensor 30 includes ultrasonic wave
Sensor 31 and infrared sensor 32, the 3rd acquisition sensor 40 includes visual sensor 41, specific as shown in Figure 2.
Specifically, environmental sensor 21 includes temperature sensor, humidity sensor, gas sensor and smoke sensor device
Deng can accurately gather indoor environmental information, ultrasonic sensor 31 can accurately detect front obstacle signal, infrared sensing
Device 32 further includes infrared distance sensor, and when running into the barrier of different distance, infrared signal reflected intensity is also different, is based on
This principle carries out the detection of obstacle distance, the advantage is that good directionality, detection angle be small, high certainty of measurement.Vision passes
Sensor 41 can gather the image information in range of visibility；Consider the much information of above-mentioned acquisition, and pass through location information,
Robot path planning is carried out, control robot is accurately moved according to the path planned, avoids colliding with barrier.
Further, the wireless communicator 70 being connected with controller 10 is further included, controller 10 passes through wireless communicator
70 communicate with external equipment.External equipment can be by transmitting wirelessly instruction to controller 10, so that controller 10 performs
Corresponding control action.The power supply 80 being connected with controller 10 is further included, power supply 80 is powered for device.
Further, actuator 60 includes being sequentially connected the driver connect, movable motor and photoelectric encoder；
Driver, for being rotated according to control signal driving motor；
Movable motor is moved for rotating with band mobile robot.
Photoelectric encoder, for detecting the rotating speed of movable motor.
Further, photoelectric encoder includes grating encoder and grating detection device.The main function of photoelectric encoder is
The speed of the mobile humanoid robot of detection and position, on the axis of movable motor, the signal returned using photoelectric encoder is surveyed
Obtain motor speed.
The utility model embodiment provides robot controller, which includes：Controller, the first acquisition sensing
Device, the second acquisition sensor, the 3rd acquisition sensor, locator, wireless communicator and actuator, the first acquisition sensor,
Second acquisition sensor, locator and actuator are connected respectively with controller；First acquisition sensor is used to gather environment
Signal；Second acquisition sensor is used to gather obstacle signal；3rd acquisition sensor is used to gather visual signal；Locator is used
In acquisition positioning signal；Controller is used to carry out environmental signal, obstacle signal, visual signal and positioning signal at fusion
Reason obtains mobile control signal, and mobile control signal is sent to actuator；Actuator, for according to mobile control signal
Perform shift action.By gathering indoor multiple signals, and comprehensive analysis is carried out, draw accurate travelling route, so as to control
Robot processed is moved according to programme path, the dexterously avoiding barrier so as to accurate.
Embodiment two：
Fig. 3 is the structure diagram for the intelligent robot that the utility model embodiment two provides.
The utility model embodiment additionally provides intelligent robot, the robot controller including above-described embodiment, such as
Shown in Fig. 3, the robot body for being provided with robot controller is further included, the upper end of robot body is provided with touch-screen 1,
Touch-screen 1 is connected with telescoping shoring column 2, and telescope support is set on the base 3, and traveling wheel 5 is provided below in pedestal 3,
Here the telescoping shoring column 2 set can adjust the height of touch-screen 1, so as to facilitate different user to touch-screen 1
It is operated.
Further, touch-screen 1 is built-in with infrared wide-angle camera and the motor for controlling 1 pitch angle of touch-screen
And retarder.By adjusting the pitch angle of touch-screen 1, touch-screen 1 is operated in different angle convenient for user.
Further, 1 pitch angle of touch-screen is excessive and be not convenient to use in order to prevent, here touch-screen 1 with it is flexible
Stent junction is provided with to limit the limit switch 6 of pitch angle, as shown in Figure 4.
Further, infrared distance sensor 7 and infrared receiver are placed with respectively in the front-end and back-end of robot body
Pipe 8.
Specifically, in the front end of robot, three groups of infrared distance sensors 7 is distributed with and two infrared receiving tubes 8 form
The eyes of robot front end.It equally placed one group of infrared distance sensor 7 and two infrared receivers in the rear end of robot
Pipe 8.One group of infrared distance sensor 7 of two groups of front end infrared receiving tube 8, one group of infrared receiving tube 8 of rear end and rear end.This four
Group photoelectric sensor realizes the automatic of robot with controller 10 and recharges function jointly.
Further, robot body is internally provided with air cleaning system, and air cleaning system is separated including plasma
Purifier, autonomous air circulating system, nano level active charcoal and air filter screen.
Specifically, air cleaning system is connected with controller 10, is gathered when controller 10 receives environmental sensor 21
Environmental signal when, environmental signal is analyzed, if abnormal, such as gas anomaly occurs in environment, can control air purification
System carries out air purification, so as to improve room air in time.
The utility model embodiment provides intelligent robot, and the robot controller including above-described embodiment also wraps
The robot body for being provided with robot controller is included, the upper end of robot body is provided with touch-screen, and touch-screen is connected with
Telescoping shoring column, telescope support are arranged on pedestal, and traveling wheel is provided below in pedestal.By gathering indoor multiple signals,
And comprehensive analysis is carried out, accurate travelling route is drawn, so as to which robot be controlled to be moved according to programme path, so as to accurate
And dexterously avoiding barrier.
The intelligent robot that the utility model embodiment provides, the robot controller provided with above-described embodiment have
Identical technical characteristic so can also solve the technical issues of identical, reaches identical technique effect.
The computer program product that the utility model embodiment is provided, including storing the computer-readable of program code
Storage medium, the instruction that said program code includes can be used for performing the method described in previous methods embodiment, specific implementation
Reference can be made to embodiment of the method, details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
With the specific work process of device, the corresponding process in preceding method embodiment is may be referred to, details are not described herein.
In addition, in the description of the utility model embodiment, unless otherwise clearly defined and limited, term " installation ",
" connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally connect
It connects；Can be mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected by intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, can above-mentioned term be understood with concrete condition
Concrete meaning in the utility model.
If the function is realized in the form of SFU software functional unit and is independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, the technical solution of the utility model substantially or
Person says that the part of the part contribute to the prior art or the technical solution can be embodied in the form of software product,
The computer software product is stored in a storage medium, and being used including some instructions (can be with so that computer equipment
Be personal computer, server or the network equipment etc.) perform the whole or portion of each embodiment the method for the utility model
Step by step.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), with
Various Jie that can store program code such as machine access memory (RAM, Random Access Memory), magnetic disc or CD
Matter.
, it is necessary to explanation in the description of the utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instructions such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
The utility model must have specific with the device or element for simplifying description rather than instruction or hint meaning for ease of description
Orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for description purpose, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above is only specific embodiment of the present utility model, to illustrate this
The technical solution of utility model, rather than its limitations, the scope of protection of the utility model is not limited thereto, although with reference to foregoing
The utility model is described in detail in embodiment, it will be understood by those of ordinary skill in the art that：It is any to be familiar with this skill
It, still can be to the skill recorded in previous embodiment in the technical scope that the technical staff in art field discloses in the utility model
Art scheme, which is modified or can be readily occurred in, to be changed or carries out equivalent substitution to which part technical characteristic；And these modifications,
Variation is replaced, and the essence of appropriate technical solution is not made to depart from the spirit and model of the utility model embodiment technical solution
It encloses, should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model should be wanted with the right
Subject to the protection domain asked.
Claims (9)
1. a kind of robot controller, which is characterized in that including：Controller, the first acquisition sensor, the second acquisition sensing
Device, the 3rd acquisition sensor, locator, wireless communicator and actuator, the first acquisition sensor, second acquisition
Sensor, the 3rd acquisition sensor, the locator and the actuator are connected respectively with the controller；
The first acquisition sensor includes environmental sensor, and the second acquisition sensor includes ultrasonic sensor and red
Outer sensor, the 3rd acquisition sensor include visual sensor；
The first acquisition sensor, for gathering environmental signal；
The second acquisition sensor, for gathering obstacle signal；
The 3rd acquisition sensor, for gathering visual signal；
The locator, for obtaining positioning signal；
The controller, for by the environmental signal, the obstacle signal, the visual signal and the positioning signal
Fusion treatment is carried out, mobile control signal is obtained, and the mobile control signal is sent to the actuator；
The actuator, for performing shift action according to the mobile control signal.
2. robot controller according to claim 1, which is characterized in that further include what is be connected with the controller
Wireless communicator, the controller are communicated by the wireless communicator with external equipment.
3. robot controller according to claim 1, which is characterized in that the actuator includes being sequentially connected what is connect
Driver, movable motor and photoelectric encoder；
The driver, for according to the control signal motor being driven to rotate；
The movable motor is moved for rotating with band mobile robot；
The photoelectric encoder, for detecting the rotating speed of the movable motor.
4. robot controller according to claim 3, which is characterized in that the photoelectric encoder includes grating encoder
With grating detection device.
5. a kind of intelligent robot, which is characterized in that including Claims 1-4 any one of them robot controller, go back
Robot body including being provided with the robot controller, the upper end of the robot body are provided with touch-screen, institute
It states touch-screen and is connected with telescoping shoring column, the telescope support is arranged on pedestal, and traveling wheel is provided below in the pedestal.
6. intelligent robot according to claim 5, which is characterized in that the touch-screen is built-in with infrared wide-angle camera
And motor and retarder for controlling the touch-screen pitch angle.
7. intelligent robot according to claim 6, which is characterized in that the touch-screen and the telescope support junction
It is provided with to limit the limit switch of the pitch angle.
8. intelligent robot according to claim 5, which is characterized in that in the front-end and back-end of the robot body point
Infrared distance sensor and infrared receiving tube are not placed with it.
9. intelligent robot according to claim 5, which is characterized in that it is net that the robot body is internally provided with air
Change system, the air cleaning system include plasma separating purifying device, autonomous air circulating system, nano level active charcoal and
Air filter screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721170222.3U CN207432214U (en) | 2017-09-13 | 2017-09-13 | Robot controller and intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721170222.3U CN207432214U (en) | 2017-09-13 | 2017-09-13 | Robot controller and intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207432214U true CN207432214U (en) | 2018-06-01 |
Family
ID=62302393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721170222.3U Expired - Fee Related CN207432214U (en) | 2017-09-13 | 2017-09-13 | Robot controller and intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207432214U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748165A (en) * | 2018-08-13 | 2018-11-06 | 安徽爱依特科技有限公司 | A kind of artificial intelligence robot of autonomous classification anticollision |
| CN109571502A (en) * | 2018-12-30 | 2019-04-05 | 深圳市普渡科技有限公司 | Robot allocator |
| CN109893035A (en) * | 2019-03-21 | 2019-06-18 | 深圳市银星智能科技股份有限公司 | Signal transmitting apparatus and mobile robot |
| CN112296981A (en) * | 2019-07-26 | 2021-02-02 | 湖南早晨纳米机器人有限公司 | Driving system and driving method of micro-nano robot |
-
2017
- 2017-09-13 CN CN201721170222.3U patent/CN207432214U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748165A (en) * | 2018-08-13 | 2018-11-06 | 安徽爱依特科技有限公司 | A kind of artificial intelligence robot of autonomous classification anticollision |
| CN109571502A (en) * | 2018-12-30 | 2019-04-05 | 深圳市普渡科技有限公司 | Robot allocator |
| CN109893035A (en) * | 2019-03-21 | 2019-06-18 | 深圳市银星智能科技股份有限公司 | Signal transmitting apparatus and mobile robot |
| CN109893035B (en) * | 2019-03-21 | 2024-04-12 | 深圳银星智能集团股份有限公司 | Signal transmission device and mobile robot |
| CN112296981A (en) * | 2019-07-26 | 2021-02-02 | 湖南早晨纳米机器人有限公司 | Driving system and driving method of micro-nano robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207432214U (en) | Robot controller and intelligent robot | |
| CN110653831B (en) | Hazardous gas leakage source positioning system and method for multi-flavor-searching robot of underground comprehensive pipe gallery | |
| CN109725233B (en) | Intelligent substation inspection system and inspection method thereof | |
| CN109571403B (en) | Intelligent inspection robot for magnetic track trace navigation and navigation method thereof | |
| CN105119338A (en) | Mobile robot charging control system and method | |
| CN114468898B (en) | Robot voice control method, device, robot and medium | |
| CN108196555A (en) | The control method that autonomous mobile robot is walked along side | |
| CN105320137A (en) | A home service-oriented indoor wheeled robot | |
| CN109571404B (en) | Obstacle crossing mechanism, obstacle crossing intelligent inspection robot and obstacle crossing method of transformer substation | |
| CN206200973U (en) | A kind of intelligent barrier avoiding detects robot | |
| CN109572842B (en) | Pole-climbing mechanism, pole-climbing intelligent inspection robot and pole-climbing method of transformer substation | |
| CN205081492U (en) | Mobile robot control system that charges | |
| CN104765369A (en) | Sweeping device and sweeping method using sweeping device | |
| CN104216410B (en) | Blind person navigation walking-aiding trolley used in large indoor public place and positioning method thereof | |
| CN107618506A (en) | A kind of servomechanism obstacle avoidance system and its barrier-avoiding method | |
| CN102716562A (en) | Autonomous land vehicle based on active fire-fighting early warning | |
| CN104890761A (en) | Intelligent security patrol robot and control system thereof | |
| CN105005249A (en) | Fully automatic four-wheel two-core high speed fire extinguishing robot servo controller | |
| CN204925797U (en) | Obstacle detection system of robot | |
| CN105486355A (en) | Three-dimensional detection apparatus for heat distribution of indoor environment | |
| CN210721108U (en) | Agricultural machinery autopilot control system based on singlechip | |
| CN202825840U (en) | Visual robot under the condition of wireless network | |
| CN209346905U (en) | Autonomous mobile apparatus | |
| CN210732465U (en) | Inspection robot for power distribution room | |
| CN109465675B (en) | Mobile machine tool fault diagnosis robot oriented to intelligent manufacturing field |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180601 Termination date: 20210913 |