CN208224842U - Intelligent mobile home shoe - Google Patents
Intelligent mobile home shoe Download PDFInfo
- Publication number
- CN208224842U CN208224842U CN201820342920.5U CN201820342920U CN208224842U CN 208224842 U CN208224842 U CN 208224842U CN 201820342920 U CN201820342920 U CN 201820342920U CN 208224842 U CN208224842 U CN 208224842U
- Authority
- CN
- China
- Prior art keywords
- wheel
- controller
- drive motor
- output end
- connecting rod
- 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.)
- Active
Links
- 230000004807 localization Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 9
- 230000008447 perception Effects 0.000 claims description 4
- 241000209140 Triticum Species 0.000 claims 1
- 235000021307 Triticum Nutrition 0.000 claims 1
- 238000000338 in vitro Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000010355 oscillation Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000010792 warming Methods 0.000 description 1
Landscapes
- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
Abstract
The utility model discloses an intelligent mobile home shoe, which comprises a shoe body, a front wheel, a rear wheel, a front wheel frame used for driving the front wheel to move, a rear wheel frame used for driving the rear wheel to move, a first driving motor used for driving the front wheel frame and the rear wheel frame, and a second driving motor used for driving the front wheel and the rear wheel to rotate; the device further comprises a main control board, a first controller, a second controller, a locking electric cylinder with an electric control device, a voice recognition device, a microphone array sound source locator, a laser radar, a distance sensor and a power supply for providing electric energy. The utility model discloses given the user very big convenience, when the user arrived home, the user only needed to send the pronunciation unanimous with the speech information of access in the speech recognition device, intelligent movement house shoes can come user's underfoot automatically. The user does not need to look for the shoes by shining feet, and meanwhile, the time for the user to look for the shoes is saved.
Description
Technical field
The utility model relates to household shoe technical field more particularly to intelligent mobile household shoes.
Background technique
Household shoe is the necessity in our daily lifes, and based on slippers, household shoe is functionally generally warming and occupies
Family is convenient.But be difficult to avoid that forgetful situation in family life, shoes just do not know after taking off be placed on where, or
Person is not desired to time-consuming and energy and looks for or take shoes.Sometimes shoes are placed on interior and are difficult to find that, need to go for barefoot, winter
Ground is ice-cold, increases people's sense of discomfort, and currently on the market for household shoe essentially consist in improve household shoe comfort level and
Portable degree can not solve problem above.
In consideration of it, the present inventor furthers investigate described problem, there is this case generation then.
Utility model content
In view of the deficiencies in the prior art, the purpose of this utility model is to provide it is a kind of can according to the sounding of user from
The intelligent mobile household shoe of the dynamic sounding position for being moved to user.
In order to realize the purpose, the utility model adopts the following technical solution:
A kind of intelligent mobile household shoe, including shoe body, front-wheel, rear-wheel, the front wheel carrier for installing the front-wheel, for pacifying
Fill the rear wheel frame of the rear-wheel, the front-end and back-end of the bottom of the shoe body are all provided with fluted, and the front-wheel is erected at front end
In the groove, the rear-wheel is erected in the groove of rear end；
It further include the first driving horse for driving the front wheel carrier and the rear wheel frame to stretch out the corresponding groove
It reaches, the second drive motor for driving the front-wheel and the rear-wheel to rotate, first drive motor and described second is driven
Dynamic motor is arranged in a one-to-one correspondence with the front wheel carrier and the rear wheel frame；It further include master control borad, the first controller, the second control
Device, the locking electric cylinder with electric controller, speech recognition equipment, microphone array auditory localization device, laser radar, away from
From inductor and for providing the power supply of electric energy；
The control terminal of each first drive motor is connect with the corresponding output end of first controller, and each described second
The control terminal of drive motor is connect with the corresponding output end of the second controller；
The input terminal communication connection of the output end of the speech recognition equipment and the microphone array auditory localization device；Institute
State the output end of the output end of microphone array auditory localization device, the output end of the laser radar and the distance-sensor
With the corresponding port communication connection of the master control borad, the electric controller of the locking electric cylinder, first controller
With the input terminal of the second controller respectively with the corresponding port communication connection of the master control borad；
The power supply, the master control borad, the speech recognition equipment and the distance-sensor are each provided in the shoe body,
The laser radar at least there are two, two laser radars are respectively provided at the front-end and back-end of the shoe body, the distance
Inductor at least there are four, four distance-sensors set up separately two-by-two in the two sides of each laser radar and exposed in institute
It states outside shoe body；
There are two the quantity settings of at least one of the front wheel carrier and the rear wheel frame, the front wheel carrier and it is described after
The first rotating shaft and the second shaft that wheel carrier includes connecting rod, is mounted on by revolute pair in the corresponding groove, it is described
One end of connecting rod is connected with the corresponding first rotating shaft by revolute pair, the other end of the connecting rod and second shaft
It is connected by revolute pair, and the connecting rod is most quarter butt, so that the connecting rod, the first rotating shaft and second shaft are being hung down
Facing directly to be collectively formed can drive the front-wheel or the rear-wheel to stretch out or withdraw the double rocking lever machine of the corresponding groove
Structure, and one end for connecting with the first rotating shaft of the connecting rod is extended a mounting rod, activity installation on the mounting rod
There is axletree, the front-wheel and the rear-wheel are separately mounted on the free end of the corresponding axletree, first driving
The output end of motor and the first rotating shaft are sequentially connected so that the first rotating shaft turns around the junction of itself and the groove
Dynamic, the fixing end of the locking electric cylinder is mounted in the corresponding groove using revolute pair, the locking electric cylinder
The free end of piston rod is fixedly connected using revolute pair with second shaft, the output end of second drive motor with it is described
Axletree transmission connection.
The intelligent mobile household shoe further includes the third drive motor and third control for converting the front-wheel direction
Device, the output end of the third controller connect the control terminal of the third drive motor, the fixed peace of the third drive motor
On the connecting rod, the output shaft and the mounting rod of the third drive motor are sequentially connected, so that the mounting rod can
Around the center axis rotation of the connecting rod.
The intelligent mobile household shoe further includes being located at the intracorporal charging interface of the shoes, and the input of the charging interface
Hold it is exposed outside, the power supply is rechargable power supplies, and the input terminal of the power supply is electrically connected with the output end of the charging interface.
The charging interface is equipped with waterproof cover.
After the technical solution of the utility model, user's great convenience is given, when user goes back home, is made
User need to only issue with the consistent voice of voice messaging that is accessed in speech recognition equipment, the intelligent mobile household shoe can from
The dynamic underfooting for coming user.User saves the time that user looks for shoes without going for shoes in bare feet.
Detailed description of the invention
Fig. 1 is the schematic diagram of the utility model intelligent mobile household shoe；
Fig. 2 is the schematic bottom view of the utility model intelligent mobile household shoe；
Fig. 3 is the schematic diagram when front wheel carrier of the utility model is packed up；
Schematic diagram when Fig. 4 is the front wheel carrier middle position of the utility model；
Fig. 5 is the schematic diagram when front wheel carrier of the utility model is put down.
In figure:
- 100 groove -101 of sole
- 110 speech recognition equipment -120 of master control borad
- 130 laser radar -140 of microphone array auditory localization device
- 150 front wheel carrier -160 of distance-sensor
Second shaft -162 of first rotating shaft -161
- 163 mounting rod -163 ' of connecting rod
- 164 front-wheel -165 of locking electric cylinder
- 170 rear-wheel -171 of rear wheel frame
- 180 waterproof cover -190 of charging interface
Vamp -200
Specific embodiment
The utility model is described further in the following with reference to the drawings and specific embodiments.
Such as Fig. 1 to a kind of intelligent mobile household shoe shown in fig. 5, including shoe body, front-wheel 165, rear-wheel 171, front wheel carrier
160, rear wheel frame 170, the first drive motor and the second drive motor；It further include master control borad 110, the first controller, the second control
Device processed, locking electric cylinder 164, speech recognition equipment 120, microphone array auditory localization device 130, laser radar 140, distance perception
Answer device 150 and for providing the power supply of electric energy.Electric oil cylinder or electric cylinder can be used in locking electric cylinder 164, described electronic
Oil cylinder and the electric cylinder all have electric controller, and the electric controller is known.
Shoe body includes sole 100 and vamp 200 in the utility model.
Microphone array auditory localization device 130, master control borad 110, speech recognition equipment 120, laser radar 140, distance perception
Device 150, the first controller, second controller, the first drive motor and the second drive motor is answered to be electrically connected with the output end of power supply
It connects.It is wherein the smooth decreasing for guaranteeing front wheel carrier 160 and rear wheel frame 170, the first controller controls the first drive motor with certain
Direction low speed rotation, and the liter of the first drive motor and locking electric cylinder 164 co- controlling front wheel carrier 160 and rear wheel frame 170
Drop；Second controller is well known speed setting controller, for adjusting steering and the revolving speed of the second drive motor.
The output end of speech recognition equipment 120 and the input terminal communication connection of microphone array auditory localization device 130；Mike
The output end of the output end of wind array sound source locator 130, the output end of laser radar 140 and distance-sensor 150 with
The corresponding port communication connection of master control borad 110, the electric controller of locking electric cylinder 164, the first controller and the second control
The corresponding port of device with the corresponding port communication connection of master control borad 110；
The front-end and back-end of the bottom of sole 100 are all provided with fluted 101, and front wheel carrier 160 is located in the groove 101 of front end,
Front-wheel 165 is mounted on front wheel carrier 160；Rear wheel frame 170 is located in the groove 101 of rear end, and rear-wheel 171 is mounted on rear wheel frame 170
On.First drive motor and front wheel carrier 160 and rear wheel frame 170 are mounted on correspondingly in sole 100, for driving front wheel carrier
160 and rear wheel frame 170 stretch out corresponding groove 101；Second drive motor and front-wheel 165 and rear-wheel 171 are pacified correspondingly
On front wheel carrier 160 and rear wheel frame 170, for driving front-wheel 165 and rear-wheel 171 to rotate.Power supply, master control borad 110, voice are known
Other device 120 and distance-sensor 150 are each provided in sole 100, laser radar 140 at least there are two, two laser radars 140
Be respectively provided at the front-end and back-end of sole 100, distance-sensor 150 at least there are four, four distance-sensors 150 set up separately two-by-two
Laser radar 140 two sides and expose sole 100.
Front wheel carrier 160 and at least one of quantity of rear wheel frame 170 are set as two, front wheel carrier 160 in the present embodiment
There are two being respectively provided with rear wheel frame 170；Front wheel carrier 160 is identical with the composition of rear wheel frame 170, by taking front wheel carrier 160 as an example, including even
Bar 163, first rotating shaft 161 and the second shaft 162, first rotating shaft 161 and the second shaft 162 are all made of revolute pair installation
In groove 101, connecting rod 163 is connect with first rotating shaft 161 by revolute pair, and connecting rod 163 and the second shaft 162 are also by rotation
Pair connection, and connecting rod 163 is most quarter butt, thus connecting rod 163, first rotating shaft 161 and the second shaft 162 common structure on the vertical plane
At double rocker mechanism, and one end that connecting rod 163 is connect with first rotating shaft 161 has extended to form a mounting rod 163 ', mounting rod
Axletree is movably installed on 163 ', so that axletree can rotate freely in mounting rod 163 ', front-wheel 165 and rear-wheel 171 divide
It is not mounted on the free end of corresponding axletree, and when front-wheel 165 and rear-wheel 171 are received with front wheel carrier 160 and rear wheel frame 170
It can be received in groove 101 when rising, when front-wheel 165 and rear-wheel 171 fall Shi Junke and ground with front wheel carrier 160 and rear wheel frame 170
Face contact, and sole 100 is ejected into ground.The output end and first rotating shaft 161 of first drive motor are sequentially connected so that first
Shaft 161 is rotated around the junction of itself and groove 101, and the fixing end of locking electric cylinder 164 is mounted on relatively using revolute pair
In the groove 101 answered, the free end of the piston rod of locking electric cylinder 164 is fixedly connected on the second shaft 162 using revolute pair
On, the output end and axletree of the second drive motor are sequentially connected.
In the utility model, the voice messaging for starting intelligent mobile household shoe is stored in speech recognition equipment 120.
The data and sound source localization data for the ambient enviroment that master control borad 110 is measured according to laser radar 140 pass through certain searching algorithm
Active path planning is carried out, a transitable path is found.Distance-sensor 150 is in the front side of intelligent mobile household shoe with after
There are two side is all provided with, the range information of its preceding object is sent to master control borad 110, master control borad by each distance-sensor 150
110 preferentially select distance of obstacle to be greater than the orientation of 10cm when mapping out a route, map out a route convenient for master control borad 110, reduce route
Change number.
As shown in Fig. 3 to Fig. 5, and using the orientation where Fig. 3 as reference azimuth, work step is as follows:
(1) user issues the consistent voice of voice messaging with access in speech recognition equipment 120, speech recognition equipment
120 obtain correct voice signal, and transmit a signal to microphone array auditory localization device 130 and carry out localization of sound source, to sound source
After positioning successfully, microphone array auditory localization device 130 transmits instructions to master control borad 110.
(2) laser radar 140 judges ambient enviroment, and ambient enviroment is converted to corresponding data and is transferred to master control borad
110.After 110 environment of accepting information of master control borad, best route is analyzed.
(3) as shown in figure 3, by taking front wheel carrier 160 as an example, master control borad 110 assigns instruction, the first controller to the first controller
The starting of the first drive motor is controlled, the first drive motor drives the downward clockwise oscillation of first rotating shaft 161, passes through 163 band of connecting rod
Dynamic second shaft clockwise oscillation, so that front wheel carrier 160 and front-wheel 165 thereon are detached from corresponding groove 101；Such as figure
Shown in 4, when connecting rod 163 and the second shaft 162 are in straight line, master control borad 110 assigns halt instruction to the first controller, the
One controller controls the first drive motor and stops working, while master control borad 110 is instructed to the electric controller, and locking is electronic
The piston rod of cylinder 164 ejects outward, and the second shaft 162 is rotated counterclockwise to 163 clockwise oscillation of connecting rod, connecting rod 163, and first turn
161 counter-clockwise swing of axis；As shown in figure 5, front-wheel 165 supports on the ground, and locking is electronic when connecting rod 163 is perpendicular to the ground
The piston rod stop motion of cylinder 164, master control borad 110 are instructed to the electric controller, the electric controller order lock
Only electric cylinder 164 is locked.
(4) master control borad 110 assigns instruction to the instruction of the second controller of the second drive motor, second controller control the
Two drive motors are started to work, and front-wheel 165 is driven to rotate, and intelligent mobile household shoe starts to advance.
(5) distance-sensor 150 is responsible for incuding its ambient enviroment, and its distance apart from preceding object is converted
There is obstacle to be judged as when 5cm, master control borad 110 assigns instruction, second controller life to the second controller of the second drive motor
The second drive motor is enabled to stop, master control borad 110 carries out information of the laser radar 140 received to new ambient enviroment scanning
Analysis, master control borad 110 make amendment route, then master control borad 110 is further according to amendment route to the second driving horse of two front-wheels
The speed command different up to upper second controller, carries out the adjustment in direction, when route deflects to the right, second controller control
The second drive motor on off-front wheel realizes intelligent mobile household with the speed rotation for the second drive motor being greater than on the near front wheel
The right-hand rotation of shoes, again execute step (4) order, master control borad 110 according to the information received from distance-sensor 150, if
Distance of obstacle then executes step (5) again again less than 5cm；When correct route deflect to the left when, working principle and it is described to the right
It deflects identical, does not just repeat one by one herein.
(6) after intelligent mobile household shoe reaches sound source position, master control borad 110 assigns instruction, the second control to second controller
The second drive motor of device order processed stops operating, and master control borad 110 assigns instruction, locking electric cylinder to the electric controller
164 release lockup state, while the piston rod of locking electric cylinder 164 back compresses, and locking electric cylinder 164 compresses, and piston rod is drawn
The second shaft 162 is moved to 163 counter-clockwise swing of connecting rod, so that connecting rod 163 is pulled to rotate, so that front wheel carrier is folded in groove,
To pack up front-wheel 165, master control borad 110 assigns locking instruction, 164 locking of locking electric cylinder to the electric controller.
Preferably, intelligent mobile household shoe further includes third drive motor and third controller, and wherein third controller is
Well known steering controller, the control terminal of the output end connection third drive motor of third controller, third drive motor are fixed
Be mounted on connecting rod 163, mounting rod 163 ' be can around the revolving part of the center axis rotation of connecting rod 163, third drive motor it is defeated
Outlet and mounting rod 163 ' are sequentially connected.When intelligent mobile household shoe encounters obstacle, master control borad 110 is assigned to third controller
Instruction, third controller control the starting of third drive motor, and third drive motor drives mounting rod 163 ' to rotate, front-wheel steer,
When intelligent mobile household shoe advances to amendment route, third controller controls the reversion of third drive motor, returns to original position, complete
At steering.The setting of third drive motor and its third controller is so that intelligent mobile household shoe is more convenient reliable when turning to.
Preferably, power supply is rechargable power supplies, and intelligent mobile household shoe further includes being located at sole 100 and input terminal is exposed
The input terminal of charging interface 180, power supply is electrically connected with the output end of charging interface 180, effectively extends intelligent mobile household
The service life of shoes.
Preferably, charging interface 180 is equipped with waterproof cover 190, is used for waterproof.
The product form and style of the embodiment and schema and non-limiting the utility model patent, any affiliated technology neck
The appropriate changes or modifications that the those of ordinary skill in domain does it all should be regarded as the patent model for not departing from the utility model patent
Farmland.
Claims (4)
1. a kind of intelligent mobile household shoe, it is characterised in that: including shoe body, front-wheel, rear-wheel, the front-wheel for installing the front-wheel
Frame, the rear wheel frame for installing the rear-wheel, the front-end and back-end of the bottom of the shoe body are all provided with fluted, the front-wheel erection
In the groove of front end, the rear-wheel is erected in the groove of rear end；
Further include the first drive motor for driving the front wheel carrier and the rear wheel frame to stretch out the corresponding groove, uses
In the second drive motor for driving the front-wheel and rear-wheel rotation, first drive motor and second drive motor
It is arranged in a one-to-one correspondence with the front wheel carrier and the rear wheel frame；It further include master control borad, the first controller, second controller, tool
There are the locking electric cylinder, speech recognition equipment, microphone array auditory localization device, laser radar, distance perception of electric controller
Answer device and for providing the power supply of electric energy；
The control terminal of each first drive motor is connect with the corresponding output end of first controller, each second driving
The control terminal of motor is connect with the corresponding output end of the second controller；
The input terminal communication connection of the output end of the speech recognition equipment and the microphone array auditory localization device；The wheat
The output end of gram output end of wind array sound source locator, the output end of the laser radar and the distance-sensor with
The corresponding port communication connection of the master control borad, the electric controller of the locking electric cylinder, first controller and institute
State the input terminal of second controller respectively with the corresponding port communication connection of the master control borad；
The power supply, the master control borad, the speech recognition equipment and the distance-sensor are each provided in the shoe body, described
Laser radar at least there are two, two laser radars are respectively provided at the front-end and back-end of the shoe body, and the distance perception is answered
Device at least there are four, four distance-sensors set up separately two-by-two in the two sides of each laser radar and exposed in the shoes
In vitro；
There are two the quantity settings of at least one of the front wheel carrier and the rear wheel frame, the front wheel carrier and the rear wheel frame
First rotating shaft and the second shaft in the corresponding groove, the connecting rod are mounted on including connecting rod, by revolute pair
One end and the corresponding first rotating shaft connected by revolute pair, the other end of the connecting rod and second shaft also by
Revolute pair connection, and the connecting rod is most quarter butt, so that the connecting rod, the first rotating shaft and second shaft are in vertical plane
On the double rocker mechanism that the front-wheel or the rear-wheel can be driven to stretch out or withdraw the corresponding groove is collectively formed, and
One end that the connecting rod is connect with the first rotating shaft, which is extended, a mounting rod, is movably installed with wheel on the mounting rod
Axis, the front-wheel and the rear-wheel are separately mounted on the free end of the corresponding axletree, first drive motor
Output end and the first rotating shaft are sequentially connected so that the first rotating shaft is rotated around the junction of itself and the groove, described
The fixing end of locking electric cylinder is mounted in the corresponding groove using revolute pair, the piston rod of the locking electric cylinder
Free end is fixedly connected using revolute pair with second shaft, and the output end and the axletree of second drive motor pass
Dynamic connection.
2. a kind of intelligent mobile household shoe as described in claim 1, it is characterised in that: the intelligent mobile household shoe further includes
For converting the third drive motor and third controller in the front-wheel direction, described in the output end connection of the third controller
The control terminal of third drive motor, the third drive motor are fixedly mounted on the connecting rod, the third drive motor
Output shaft and the mounting rod are sequentially connected, so that the mounting rod can be around the center axis rotation of the connecting rod.
3. a kind of intelligent mobile household shoe as described in claim 1, it is characterised in that: the intelligent mobile household shoe further includes
It being located at the intracorporal charging interface of the shoes, and the input terminal of the charging interface is exposed outside, the power supply is rechargable power supplies,
The input terminal of the power supply is electrically connected with the output end of the charging interface.
4. a kind of intelligent mobile household shoe as claimed in claim 3, it is characterised in that: the charging interface is equipped with waterproof
Lid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820342920.5U CN208224842U (en) | 2018-03-13 | 2018-03-13 | Intelligent mobile home shoe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820342920.5U CN208224842U (en) | 2018-03-13 | 2018-03-13 | Intelligent mobile home shoe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208224842U true CN208224842U (en) | 2018-12-11 |
Family
ID=64531247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820342920.5U Active CN208224842U (en) | 2018-03-13 | 2018-03-13 | Intelligent mobile home shoe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208224842U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762262A (en) * | 2018-05-22 | 2018-11-06 | 刘冬梅 | The method of intelligent hotel system and control slippers movement based on Internet of Things |
-
2018
- 2018-03-13 CN CN201820342920.5U patent/CN208224842U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762262A (en) * | 2018-05-22 | 2018-11-06 | 刘冬梅 | The method of intelligent hotel system and control slippers movement based on Internet of Things |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101776676B (en) | On-line integrated monitoring buoy for movable water body | |
| US10602659B2 (en) | Lawn mower with independent blade control during energy-saving control mode | |
| CN109964596B (en) | Rice direct seeding device and method based on intelligent robot | |
| CN110525535A (en) | A kind of two-wheel foot mixing self-balance robot | |
| CN105457258B (en) | A kind of remote electric shoes | |
| CN108128189B (en) | Tractor with fuel cell and working method thereof | |
| CN202069017U (en) | Guiding shoe system | |
| CN205942437U (en) | A unmanned aerial vehicle for fish finding and flight remote control system thereof | |
| CN208224842U (en) | Intelligent mobile home shoe | |
| EP1629786A3 (en) | Foot switch and output system having foot switch | |
| CN205507539U (en) | Domestic transport robot control system of intelligence | |
| CN2857917Y (en) | Intelligent wheelchair | |
| CN103914066B (en) | Agricultural machinery self-navigation controller and control method thereof | |
| CN112309369A (en) | Rice transplanter unmanned system and method based on voice recognition | |
| CN204173102U (en) | Pedal is with the self-balancing wheelbarrow of auxiliary wheel | |
| CN107159500A (en) | Method, device and equipment for controlling shower head | |
| CN208196807U (en) | A kind of Internet of Things Web robot | |
| CN205694314U (en) | A kind of speed control unit of wheel type combine harvester | |
| CN201147633Y (en) | Intelligent toy robot | |
| CN205995035U (en) | Rotation dancing doll | |
| CN211821915U (en) | LED lamp convenient to adjust irradiation angle | |
| CN210962708U (en) | Intelligent wheelchair based on unmanned technology | |
| CN106980119A (en) | Indoor self-positioning monitoring platform | |
| KR101557679B1 (en) | Rotating type flowerpot support | |
| CN104309743B (en) | A kind of pedal is with the self-balancing wheelbarrow of auxiliary wheel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210927 Address after: 362000 Yuyuan Road, Jinjiang Economic Development Zone, Quanzhou City, Fujian Province Patentee after: Xiangwei Zhilian (Fujian) Technology Co.,Ltd. Address before: No.10, Yuyuan Road, Jinjiang Economic Development Zone (wuliyuan), Quanzhou City, Fujian Province, 362200 Patentee before: BLACK SWAN INTELLIGENT TECHNOLOGY (FUJIAN) Co.,Ltd. |
|
| TR01 | Transfer of patent right |