CN101954191A - Intelligent entertainment mobile robot - Google Patents

Intelligent entertainment mobile robot Download PDF

Info

Publication number
CN101954191A
CN101954191A CN 201010262195 CN201010262195A CN101954191A CN 101954191 A CN101954191 A CN 101954191A CN 201010262195 CN201010262195 CN 201010262195 CN 201010262195 A CN201010262195 A CN 201010262195A CN 101954191 A CN101954191 A CN 101954191A
Authority
CN
China
Prior art keywords
robot
control module
main control
module
mobile robot
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.)
Granted
Application number
CN 201010262195
Other languages
Chinese (zh)
Other versions
CN101954191B (en
Inventor
颜小洋
蒲志强
余意
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangyin Zhongke KingScore Tech Co., Ltd.
Original Assignee
颜小洋
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 颜小洋 filed Critical 颜小洋
Priority to CN 201010262195 priority Critical patent/CN101954191B/en
Publication of CN101954191A publication Critical patent/CN101954191A/en
Application granted granted Critical
Publication of CN101954191B publication Critical patent/CN101954191B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an intelligent entertainment mobile robot. Two guide wheels are arranged on two sides of the front part of a frame; two driving wheels are arranged on two sides of the rear part of the frame; and the wheels are driven by a driving motor with a speed reducer. The intelligent entertainment mobile robot also comprises a power module for providing electric power for the whole machine, a monitoring module, a man-machine interaction module, a communication module, a master control module and a motion control module. The intelligent entertainment mobile robot is positioned and controlled by a method of combining a photopotential pose sensor and an infrared label-based mobile vision positioning mode, solves the problems that the conventional recreation facility has low intelligent level, single equipment function and low security coefficient, and also solves the problems of low robot loading capacity, high manufacturing cost and difficult commercial popularization in the conventional mobile robot research technology.

Description

A kind of intelligent entertainment mobile robot
Technical field
The present invention relates to the service robot field, relate in particular to a kind of intelligent entertainment mobile robot.
Background technology
World wide, manufacturing the developing rapidly of recreation facility starts from the 1950's, and a significant product is the Disneyland of the U.S.; Yet before the eighties in 20th century, the modern recreation facility of China still almost is blank.Along with further going deep into of reform and opening-up and improving constantly of living standards of the people, people are also increasing to the demand of the activity of travelling, and under these circumstances, the design of homemade recreation facility, production are arisen at the historic moment; According to incompletely statistics, the kind of the big-and-middle-sized recreation facility that puts into production now has more than 100, comprises rotation, slides, ground, various ways such as aerial, indoor, outdoor, fixing, mobile.
Yet, but there is the problem that much has generality in current recreation facility: at first, the intelligent level of equipment is low, and its research is only limited to plant machinery structure and appearance design aspect, does not consider to improve by automatic control technology and mobile robot technology the level of intelligence of equipment; Secondly, moving recreation facility with ground is example, and major part all needs visitor's manual operation, and automatization level is low, and safety coefficient is not high.
Publication number is the patent " machine animal recreation facility " of CN2348888, designs the equipment that a cover profile is similar to the machine tiger, and the visitor controls its motion by manual station.The shortcoming of this technical scheme is: this equipment only can be finished simple manually control, has the problem that causes potential safety hazard because of maloperation, especially for children visitor; Functions of the equipments are single, and extensibility is not strong; Equipment room does not have contact, is difficult to be integrated into a big system with convenient management; Interactivity is not enough between equipment and the visitor.
The intelligent entertainment mobile robot has also solved some the intrinsic problems in present mobile robot's research field well as the application of Robotics on recreation facility.Publication number be CN1586826's " intelligent mobile robot ", represented present quite a few mobile robot's achievement in research.
This technical scheme shortcoming is: the technology that adopts the photopic vision sensor to add encoder realizes the robot location, encoder is difficult to overcome the problems such as wearing and tearing of mechanical installation errors, wheel slip and long-time running, and visible images exists also that the data computation amount is big, camera produces angular deflection in long-time running and causes problem such as error; The robot driving force is limited, and bearing capacity is not strong, is difficult to manned; In order to improve the environmental monitoring precision, common way is to pile up sensor, and a large amount of heat transfer agents is merged, and this has greatly improved the robot cost, is difficult to business promotion.
Summary of the invention
The purpose of this invention is to provide a kind of intelligent entertainment mobile robot, solve problems such as existing recreation facility intelligent level is low, functions of the equipments are single, safety coefficient is low on the one hand; Thereby solve poor, the high problems such as business promotion that are difficult to of cost of robot load capacity in present mobile robot's investigative technique on the other hand.
The objective of the invention is to be achieved through the following technical solutions:
A kind of intelligent entertainment mobile robot, comprise: vehicle frame, be installed on two directive wheels of vehicle frame front part sides respectively, be installed on two driving wheels of both sides, vehicle frame rear portion respectively, the drive motors that has decelerator that is connected respectively with two driving wheels, for complete machine provides the power module of electric power, also comprise:
Monitoring modular is connected with the main control module, is used for monitoring of environmental information, and described environmental information is sent to the main control module;
Human-computer interaction module links to each other with the main control module, is used for carrying out between user and robot mutual;
Communication module links to each other with the main control module, is used between robot and the robot, establish a communications link between robot and the host computer;
The main control module is connected with monitoring modular, human-computer interaction module, communication module, motion-control module, is used for receiving also analysis environments information, management human-machine interactive information, management of wireless communications, calculating motion control information;
Motion-control module is connected with main control module and drive motors, is used to receive the motion control signal of main control module and independently moving of drive motors rotation realization robot.
Monitoring modular comprises:
With photoelectricity pose sensor is the relative positioning device of core, and photoelectricity pose sensor is installed on the described vehicle frame left and right sides, links to each other with described main control module, adopts the dead reckoning method to determine the robot pose in real time;
With moving-vision platform and infrared tags is the absolute fix device of core, vision sensor vertically is installed on the described vehicle frame, link to each other with described main control module, infrared tags is affixed on the ceiling of place, determines the absolute pose of robot by the infrared tags image that photographs;
Optoelectronic switch is installed on before and after the described vehicle frame, links to each other with described main control module, is used for the detection of described vehicle frame periphery barrier, realizes that robot promptly keeps in obscurity.
Human-computer interaction module comprises: attitude and face identification system, speech recognition system, microphone, loudspeaker, manual station, touch-screen and signal lamp.
In attitude and the face identification system, system captures video data by the camera of special outfit, adopts that motion tracking, people's face detect, AAM scheduling algorithm analysis and understand user's action, transfers to the main control module at last and makes corresponding identification and control.
In the speech recognition system, the pre-defined some voice command words of system are as " advance, retreat, turn left, turn right " etc., after the user sends voice command, Mike catches user's voice information, by filtering, frequency-domain analysis, adopts HMM to realize the identification of voice.This function is non-limiting, can expand order speech and command statement.
In the application of touch-screen, the user can mark the route map of given shape on screen, and the control robot moves by the route that marks.The main control module reads the trace information on the screen, in conjunction with the kinematic constraint condition, track is carried out level and smooth and rational optimization process, simulates the travel track of an optimum, drives the chassis then and moves by given trace.
Communication module comprises: wireless serial R-T unit and control circuit thereof, according to wireless serial communication protocol robotary information, PC control instruction are encoded, realize between robot and the robot, communicating by letter between robot and the host computer, in addition, communication module also comprises some common interfaces, as I/O expansion interface, USB interface, RJ45 interface etc., realize the expansion of systemic-function.
The motion control arithmetic that the main control module adopts traditional PID control to combine with Based Intelligent Control calculates and to motion-control module output control signal, moves so that the drive motors realization is robot autonomous.
The method that this intelligent entertainment mobile robot adopts photoelectricity pose sensor to combine with moving-vision locate mode based on infrared tags has following outstanding advantage:
On the one hand, the more traditional photoelectric encoder of photoelectricity pose sensor detects pose and compares, can overcome the different and influence that brings of mechanical alignment error, the wearing and tearing of code-disc driven pulley, wheel-slip, wheel aeration quantity, the photoelectricity pose sensor that the present invention simultaneously adopts carries out appropriate reconstruction according to optical mouse and can realize the cost performance height;
On the other hand, the static vision mode that adopts moving-vision but not hang camera on ceiling considers that mainly the recreation ground place is bigger, if adopt static vision, need arrange that then more camera and image pick-up card could cover whole place, and moving-vision cost in this respect is less;
At last, by putting up that infrared tags is taken infrared image but not visible images to position, because the latter is subjected to interference that surround lighting changes greatly, adopt special infrared tags simultaneously, making the image that photographs is some discrete bright spots with certain feature, and the data volume that image is handled significantly reduces.
Description of drawings
With embodiment the present invention is described in further detail with reference to the accompanying drawings below.
Fig. 1 is the described a kind of intelligent entertainment mobile robot's of the embodiment of the invention a schematic appearance;
Among the figure: 1, directive wheel; 2, driving wheel; 3, touch-screen; 4, signal lamp; 5, loudspeaker; 6, manual station zone; 7, microphone and communication interface zone; 81, wireless serial module; 131, photoelectricity pose sensor; 132, vision sensor; 133, optoelectronic switch; 9, power supply; 10, vehicle frame; 11, control box;
Fig. 2 is the described a kind of intelligent entertainment mobile robot's of the embodiment of the invention a structure principle chart.
Among the figure: 2, driving wheel; 3, touch-screen; 4, signal lamp; 5, loudspeaker; 6, manual station; 7, microphone; 8, communication module; 81, wireless serial module; 82, I common interfaces such as O, USB, RJ45; 13, monitoring modular; 131, photoelectricity pose sensor; 132, vision sensor; 133, optoelectronic switch; 14, human-computer interaction module; 15, main control module; 16, motion-control module; 17, attitude and face detection system; 18, speech recognition system; 19, host computer.
The specific embodiment
A kind of intelligent entertainment mobile robot, comprise: vehicle frame 10, be installed on two directive wheels 1 of vehicle frame 10 front part sides respectively, be installed on two driving wheels 2 of both sides, vehicle frame 10 rear portion respectively, for complete machine provides the power supply 9 of electric power, power supply 9 is preferably battery pack, is installed in the cavity at vehicle frame 10 rear portions, provide 24V dc source to system, can guarantee robot continuous operation for a long time.Design has power line, brake cable fault monitoring circuit and battery flowmeter charge circle in the power circuit, by the signal lamp on the panel of control box 11 4, can find power line and brake cable fault easily, and the monitoring battery electric quantity.
Robot also comprises:
Monitoring modular 13, be connected with main control module 15, be used for monitoring of environmental information, and environmental information sent to main control module 15, monitoring modular comprise with photoelectricity pose sensor 131 be core the relative positioning device, be the absolute fix device of core, be the obstacle detecting device of core with vision sensor 132 and infrared tags with optoelectronic switch 133.
Photoelectricity pose sensor 131 is installed on vehicle frame 10 chassis, and each side one, and maintenance and ground certain height.Photoelectricity pose sensor 131 is transformed on the optical mouse basis and is obtained, illuminate ground by luminescent device, camera photographs ground image in the sensor, and pass to the internal proprietary picture processing chip, image processor is determined pose change amount by the frame-to-frame differences that calculates adjacent two width of cloth images, and data are passed to main control module 15, main control module 15 adopts the method for dead reckonings to calculate the robot real-time pose.
Vision sensor 132 vertically is installed on the vehicle frame, links to each other with main control module 15, forms absolute positioning system together with the infrared tags that is posted on the ceiling.The information that posture information that vision sensor 132 gets access to and photoelectricity pose sensor 131 get access to is carried out multi-sensor information fusion, to obtain accurate robot real-time pose.Some infrared tags on the ceiling adopt the form of sorting code number, so that the reference position coordinate to be provided, vision sensor 132 photographs label image, carrying out image by the DSP process chip of special configuration handles, view data calculating is converted to simple several pose data, and passes to main control module 15.
The method that adopts photoelectricity pose sensor 131 to combine with moving-vision locate mode based on infrared tags has following outstanding advantage:
On the one hand, photoelectricity pose sensor 131 more traditional photoelectric encoders detect pose and compare, can overcome the different and influence that brings of mechanical alignment error, the wearing and tearing of code-disc driven pulley, wheel-slip, wheel aeration quantity, the photoelectricity pose sensor that the present invention simultaneously adopts carries out appropriate reconstruction according to optical mouse and can realize the cost performance height;
On the other hand, the static vision mode that adopts moving-vision but not hang camera on ceiling considers that mainly the recreation ground place is excessive, if adopt static vision, need arrange that then more camera and image pick-up card could cover whole place, and moving-vision cost in this respect is less;
At last, by putting up that infrared tags is taken infrared image but not visible images to position, because the latter is subjected to interference that surround lighting changes greatly, adopt special infrared tags simultaneously, making the image that photographs is some discrete bright spots with certain feature, and the data volume that image is handled significantly reduces.
Some optoelectronic switches 133 are installed on the vehicle frame rear and front end, link to each other with main control module 15, are used for the detection of vehicle frame periphery barrier, and it detects distance is 50-100cm.Robot is in operation when detecting barrier, will be according to the predefined regular independent searching optimum that the keeps in obscurity path that keeps in obscurity, and advance to get around barrier smoothly by this optimal path.
In addition,, also can some mechanical limit switches be installed in the car body appropriate location, realize by functions such as wall correction poses according to different application.All the sensors all is provided with corresponding mechanical protection mechanism, and its signal is received on the control box interface board by lead-in wire.
Human-computer interaction module 14 links to each other with main control module 15, is used for carrying out between user and robot mutual.Human-computer interaction module comprises: attitude and face identification system 17, speech recognition system 18, microphone 7, loudspeaker 5, manual station 6, touch-screen 3 and signal lamp 4.
Human-computer interaction module 14 is equipped with camera, to finish attitude and face identification functions.System captures video data by camera, adopts that motion tracking, people's face detect, AAM scheduling algorithm analysis and understand user's action, transfers to main control module 15 at last and makes corresponding identification and control.
For the processing of voice messaging, the pre-defined some voice command words of system are as " advance, retreat, turn left, turn right " etc., after the user sends voice command, microphone 7 is caught user's voice information, by filtering, frequency-domain analysis, adopts HMM to realize the identification of voice.This function is non-limiting, can expand order speech and command statement.
The status information that loudspeaker 5 and signal lamp 4 are informed robot at any time is as status informations such as electric quantity of power supply, circuit connection faults.When the user switches to manual operation mode, can control robot by manual station 6, realize robot start and stop, the control of advancing, retreat, turn left, turn right, shifting gears.Touch-screen 3 also allows the user to mark the route map of given shape on screen except offering user-friendly interactive interface, and the control robot moves by the route that marks.Main control module 15 reads the trace information on the screen, in conjunction with the kinematic constraint condition, track is carried out level and smooth and rational optimization process, simulates an optimum travel track, and drive motors moves by given trace then.
Communication module 8 links to each other with main control module 15, comprise wireless serial R-T unit and control circuit thereof, according to wireless serial communication protocol the instruction of robotary information, PC control is encoded, realize between robot and the robot, communicating by letter between robot and the host computer.In addition, communication module also comprises some common interfaces, as I/O expansion interface, USB interface, RJ45 interface etc., realizes the expansion of systemic-function.
Main control module 15 is connected with monitoring modular 13, human-computer interaction module 14, communication module 8, motion-control module 16, is used for receiving also analysis environments information, management human-machine interactive information, management of wireless communications, calculating motion control information.Main control module 15 is based on arm processor, and core circuit comprises sensor signal interface plate and central control board, is loaded in the control box 4 together with the motor-driven plate.Main control module 15 is responsible for communicating with host computer 19 on the one hand, receive the information that monitoring modular 13 and human-computer interaction module 14 collect on the other hand, the motion control arithmetic that combines with Based Intelligent Control according to traditional PI D comes controlled motion control module 16, makes driving wheel 2 rotations to realize autonomous moving; In addition, main control module 15 also outputs to human-computer interaction module 14 with various status informations.
Motion-control module 16 is connected with main control module 15 and driving wheel 2, is used to receive the motion control signal of main control module 15 and carries out power amplification, rotates with drive motors.Because robot has manned heavy load requirement, the employing of this module is that the discrete device of core is built H bridge motor-drive circuit with IRF3205, and maximum current can reach 30A.
Host computer 19 is an ordinary PC, by wireless serial module and one or more robot communication, obtain the scene information of the overall situation, make decision of the senior level with this, and decision information assigned to child robot with the form of control instruction, host computer 19 also is equipped with the system management software, makes things convenient for the recreation ground staff to carry out administering and maintaining of system and equipment.
If intelligent entertainment mobile robot of the present invention is used for recreation ground, the visitor can exchange with robot by multiple man-machine interactive means, as attitude, voice, touch-screen, manual station etc., experiences to obtain sufficient participation.Robot is autokinetic movement entirely both, also can be subjected to visitor's manual operation; But both line walking motions, also not line walking freely-movable; Both can advance by default track, also can be mutual with the visitor, by visitor's interactive voice, arbitrarily travel track is determined in line on touch-screen; Both can finish the performance task separately, but also complex task is finished in multimachine cooperation, kept rank as the operation of simulation crossroad access, multirobot and advance etc.The robot functions such as warning of can finishing promptly and keep in obscurity, topple are to improve device '.The recreation ground staff manages, safeguards equipment and system by upper management software, can make things convenient for, effectively whole system be managed.

Claims (5)

1. intelligent entertainment mobile robot, comprise: vehicle frame, be installed on two directive wheels of described vehicle frame front part sides respectively, be installed on two driving wheels of both sides, described vehicle frame rear portion respectively, the drive motors that has decelerator that is connected respectively with two described driving wheels, for complete machine provides the power module of electric power, it is characterized in that, also comprise:
Monitoring modular is connected with the main control module, is used for monitoring of environmental information, and described environmental information is sent to described main control module;
Human-computer interaction module links to each other with described main control module, is used for carrying out between user and robot mutual;
Communication module links to each other with described main control module, is used between robot and the robot, establish a communications link between robot and the host computer;
The main control module is connected with described monitoring modular, described human-computer interaction module, described communication module, described motion-control module, is used for receiving also analysis environments information, management human-machine interactive information, management of wireless communications, calculating motion control information;
Motion-control module is connected with described main control module and drive motors, is used to receive the motion control signal of main control module and independently moving of drive motors rotation realization robot.
2. intelligent entertainment mobile robot according to claim 1 is characterized in that, described monitoring modular comprises:
With photoelectricity pose sensor is the relative positioning device of core, and photoelectricity pose sensor is installed on the described vehicle frame left and right sides, links to each other with described main control module, adopts the dead reckoning method to determine the robot pose in real time;
With moving-vision platform and infrared tags is the absolute fix device of core, vision sensor vertically is installed on the described vehicle frame, link to each other with described main control module, infrared tags is affixed on the ceiling of place, determines the absolute pose of robot by the infrared tags image that photographs;
Optoelectronic switch is installed on before and after the described vehicle frame, links to each other with described main control module, is used for the detection of described vehicle frame periphery barrier, realizes that robot promptly keeps in obscurity.
3. intelligent entertainment mobile robot according to claim 1 is characterized in that, described human-computer interaction module comprises: attitude and face identification system, speech recognition system, microphone, loudspeaker, manual station, touch-screen and signal lamp.
4. intelligent entertainment mobile robot according to claim 1, it is characterized in that, described communication module comprises: wireless serial R-T unit and control circuit thereof, according to wireless serial communication protocol robotary information, PC control instruction are encoded, realize between robot and the robot, communicating by letter between robot and the host computer, in addition, communication module also comprises some common interfaces, as I/O expansion interface, USB interface, RJ45 interface etc., realize the expansion of systemic-function.
5. intelligent entertainment mobile robot according to claim 1, it is characterized in that, the motion control arithmetic that the main control module adopts traditional PID control to combine with Based Intelligent Control calculates and to motion-control module output control signal, moves so that the drive motors realization is robot autonomous.
CN 201010262195 2010-08-25 2010-08-25 Intelligent entertainment mobile robot Expired - Fee Related CN101954191B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201010262195 CN101954191B (en) 2010-08-25 2010-08-25 Intelligent entertainment mobile robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201010262195 CN101954191B (en) 2010-08-25 2010-08-25 Intelligent entertainment mobile robot

Publications (2)

Publication Number Publication Date
CN101954191A true CN101954191A (en) 2011-01-26
CN101954191B CN101954191B (en) 2013-05-01

Family

ID=43481935

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201010262195 Expired - Fee Related CN101954191B (en) 2010-08-25 2010-08-25 Intelligent entertainment mobile robot

Country Status (1)

Country Link
CN (1) CN101954191B (en)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102103663A (en) * 2011-02-26 2011-06-22 山东大学 Ward visit service robot system and target searching method thereof
CN102176222A (en) * 2011-03-18 2011-09-07 北京科技大学 Multi-sensor information collection analyzing system and autism children monitoring auxiliary system
CN102431023A (en) * 2011-08-12 2012-05-02 深圳市中科睿成智能科技有限公司 Open type robot system
CN103197589A (en) * 2013-02-18 2013-07-10 刘瑞 Robot controller
CN103471589A (en) * 2013-09-25 2013-12-25 武汉大学 Method for identifying walking mode and tracing track of pedestrian in room
CN104198297A (en) * 2014-08-11 2014-12-10 北京农业信息技术研究中心 Kinematic analytic system for lodging of crops and method utilizing kinematic analytic system
CN104400785A (en) * 2014-12-02 2015-03-11 湖南城市学院 Interactive intelligent home service robot
CN104589345A (en) * 2014-12-01 2015-05-06 嘉兴市德宝威微电子有限公司 Robot capable of acting freely in public place and system
CN104918756A (en) * 2012-12-28 2015-09-16 （株）未来机器人 Personal robot
WO2015195558A3 (en) * 2014-06-16 2016-02-25 Universal City Studios Llc Interactive game floor system and method
CN106162997A (en) * 2016-07-20 2016-11-23 深圳市寒武纪智能科技有限公司 A kind of robot using lamp effect to realize man-machine interaction
CN106926250A (en) * 2017-04-07 2017-07-07 温州职业技术学院 A kind of intelligent entertainment robot based on optical code disk sensing
CN107649804A (en) * 2017-10-17 2018-02-02 华中科技大学鄂州工业技术研究院 A kind of increasing material manufacturing fusion penetration on-line checking and control system
CN108789427A (en) * 2018-05-08 2018-11-13 上海电力学院 A kind of multi-functional hotel's service robot
CN109085779A (en) * 2018-08-02 2018-12-25 海宁哈工联新投资合伙企业(有限合伙) A kind of control system, method and totem for contactless mutual joy experience
CN110348197A (en) * 2019-07-12 2019-10-18 陈虎 A kind of intelligent service system
CN111356903A (en) * 2019-01-25 2020-06-30 深圳市大疆创新科技有限公司 Visual positioning method, device and system

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1799786A (en) * 2006-01-06 2006-07-12 华南理工大学 Housekeeping service robot
CN1971468A (en) * 2006-11-30 2007-05-30 武汉电信器件有限公司 Control device of temperature of tube core of laser based on SCM and its control flow
CN101049697A (en) * 2006-04-05 2007-10-10 中国科学院自动化研究所 Pose sensing system and method for mobile robot
CN101271318A (en) * 2007-03-21 2008-09-24 明基电通股份有限公司 Interactive family entertainment robot and relevant control method
CN201127841Y (en) * 2007-11-16 2008-10-08 东莞市智乐堡儿童玩具有限公司 Children's vehicle equipped with double-motor drive device
CN101430767A (en) * 2007-11-09 2009-05-13 北京华旗资讯数码科技有限公司 Tour guiding system for implementing small-area tour guide by reading video codec
CN101436037A (en) * 2008-11-28 2009-05-20 深圳先进技术研究院 Dining room service robot system
CN101661098A (en) * 2009-09-10 2010-03-03 上海交通大学 Multi-robot automatic locating system for robot restaurant

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1799786A (en) * 2006-01-06 2006-07-12 华南理工大学 Housekeeping service robot
CN101049697A (en) * 2006-04-05 2007-10-10 中国科学院自动化研究所 Pose sensing system and method for mobile robot
CN1971468A (en) * 2006-11-30 2007-05-30 武汉电信器件有限公司 Control device of temperature of tube core of laser based on SCM and its control flow
CN101271318A (en) * 2007-03-21 2008-09-24 明基电通股份有限公司 Interactive family entertainment robot and relevant control method
CN101430767A (en) * 2007-11-09 2009-05-13 北京华旗资讯数码科技有限公司 Tour guiding system for implementing small-area tour guide by reading video codec
CN201127841Y (en) * 2007-11-16 2008-10-08 东莞市智乐堡儿童玩具有限公司 Children's vehicle equipped with double-motor drive device
CN101436037A (en) * 2008-11-28 2009-05-20 深圳先进技术研究院 Dining room service robot system
CN101661098A (en) * 2009-09-10 2010-03-03 上海交通大学 Multi-robot automatic locating system for robot restaurant

Cited By (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102103663A (en) * 2011-02-26 2011-06-22 山东大学 Ward visit service robot system and target searching method thereof
CN102176222A (en) * 2011-03-18 2011-09-07 北京科技大学 Multi-sensor information collection analyzing system and autism children monitoring auxiliary system
CN102176222B (en) * 2011-03-18 2013-05-01 北京科技大学 Multi-sensor information collection analyzing system and autism children monitoring auxiliary system
CN102431023A (en) * 2011-08-12 2012-05-02 深圳市中科睿成智能科技有限公司 Open type robot system
CN102431023B (en) * 2011-08-12 2014-09-03 深圳市中科睿成智能科技有限公司 Open type robot system
CN104918756A (en) * 2012-12-28 2015-09-16 （株）未来机器人 Personal robot
CN104918756B (en) * 2012-12-28 2016-12-07 （株）未来机器人 Proprietary machine people
CN103197589B (en) * 2013-02-18 2016-01-20 刘瑞 Robot controller
CN103197589A (en) * 2013-02-18 2013-07-10 刘瑞 Robot controller
CN103471589B (en) * 2013-09-25 2015-10-21 武汉大学 The method of the identification of a kind of indoor pedestrian's walking mode and trajectory track
CN103471589A (en) * 2013-09-25 2013-12-25 武汉大学 Method for identifying walking mode and tracing track of pedestrian in room
WO2015195558A3 (en) * 2014-06-16 2016-02-25 Universal City Studios Llc Interactive game floor system and method
RU2766655C2 (en) * 2014-06-16 2022-03-15 ЮНИВЕРСАЛ СИТИ СТЬЮДИОС ЭлЭлСи Interactive play floor system and method
US10881958B2 (en) 2014-06-16 2021-01-05 Universal Studios LLC Interactive game floor system and method
US9943759B2 (en) 2014-06-16 2018-04-17 Universal City Studios Llc Interactive game floor system and method
CN104198297A (en) * 2014-08-11 2014-12-10 北京农业信息技术研究中心 Kinematic analytic system for lodging of crops and method utilizing kinematic analytic system
CN104589345A (en) * 2014-12-01 2015-05-06 嘉兴市德宝威微电子有限公司 Robot capable of acting freely in public place and system
CN104400785A (en) * 2014-12-02 2015-03-11 湖南城市学院 Interactive intelligent home service robot
CN104400785B (en) * 2014-12-02 2018-10-02 湖南城市学院 Interactive intelligent household service robot
CN106162997A (en) * 2016-07-20 2016-11-23 深圳市寒武纪智能科技有限公司 A kind of robot using lamp effect to realize man-machine interaction
CN106926250B (en) * 2017-04-07 2019-09-20 温州职业技术学院 A kind of intelligent entertainment robot based on optical code disk induction
CN106926250A (en) * 2017-04-07 2017-07-07 温州职业技术学院 A kind of intelligent entertainment robot based on optical code disk sensing
CN107649804A (en) * 2017-10-17 2018-02-02 华中科技大学鄂州工业技术研究院 A kind of increasing material manufacturing fusion penetration on-line checking and control system
CN107649804B (en) * 2017-10-17 2023-06-23 华中科技大学鄂州工业技术研究院 Online detection and control system for penetration of additive manufacturing
CN108789427A (en) * 2018-05-08 2018-11-13 上海电力学院 A kind of multi-functional hotel's service robot
CN109085779A (en) * 2018-08-02 2018-12-25 海宁哈工联新投资合伙企业(有限合伙) A kind of control system, method and totem for contactless mutual joy experience
CN109085779B (en) * 2018-08-02 2021-05-25 海宁哈工联新投资合伙企业(有限合伙) Control system and method for non-contact type mutual entertainment experience and totem pole
CN111356903A (en) * 2019-01-25 2020-06-30 深圳市大疆创新科技有限公司 Visual positioning method, device and system
WO2020150996A1 (en) * 2019-01-25 2020-07-30 深圳市大疆创新科技有限公司 Visual positioning method, device and system
CN110348197A (en) * 2019-07-12 2019-10-18 陈虎 A kind of intelligent service system

Also Published As

Publication number Publication date
CN101954191B (en) 2013-05-01

Similar Documents

Publication Publication Date Title
CN101954191B (en) Intelligent entertainment mobile robot
CN108177147B (en) All directionally movable robot applied to intelligent repository
CN100360204C (en) Control system of intelligent perform robot based on multi-processor cooperation
CN101625573B (en) Digital signal processor based inspection robot monocular vision navigation system
CN112414457B (en) Automatic intelligent inspection method based on transformer substation work
CN109571403B (en) Intelligent inspection robot for magnetic track trace navigation and navigation method thereof
CN109571404B (en) Obstacle crossing mechanism, obstacle crossing intelligent inspection robot and obstacle crossing method of transformer substation
CN101916112B (en) Positioning and controlling system and method of intelligent vehicle model in indoor scene
CN104772748B (en) A kind of social robot
CN109571402B (en) Climbing mechanism, intelligent climbing inspection robot and transformer substation climbing method thereof
CN107045353A (en) All-around mobile AGV master control systems and its control method
CN202404446U (en) Automated guided vehicles
CN202404447U (en) Automatic guided vehicle based on RFID technology
CN101373380A (en) Humanoid robot control system and robot controlling method
CN108544912A (en) Four-wheel differentia all-terrain mobile robot control system and its control method
CN112455563B (en) Intelligent inspection robot with pole-climbing mechanism
CN113404356B (en) Automatic parking system and method based on AGV
CN108459600A (en) A kind of vision navigation system of AGV trolleies
CN105619410A (en) Transferring robot and automatic transferring system
CN209737595U (en) Mobile mechanical arm trolley capable of being charged wirelessly
CN107253203A (en) Multimode Intelligent toy collects robot
CN208614791U (en) All directionally movable robot applied to intelligent repository
CN207946702U (en) A kind of intelligence follows luggage case
CN110262499A (en) A kind of two-track mobile robot synchronous control system and method
CN109799833A (en) A kind of unmanned cruiser system of two-wheel drive low speed and working method

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
ASS Succession or assignment of patent right

Owner name: JIANGYIN ZHONGKE JINZHAO TECHNOLOGY CO., LTD.

Free format text: FORMER OWNER: YAN XIAOYANG

Effective date: 20130416

C41 Transfer of patent application or patent right or utility model
COR Change of bibliographic data

Free format text: CORRECT: ADDRESS; FROM: 214174 WUXI, JIANGSU PROVINCE TO: 214400 WUXI, JIANGSU PROVINCE

TR01 Transfer of patent right

Effective date of registration: 20130416

Address after: 214400, A301, 159 middle Chengjiang Road, Jiangyin, Jiangsu, Wuxi

Patentee after: Jiangyin Zhongke KingScore Tech Co., Ltd.

Address before: 214174 Jiangsu province Wuxi city Huishan District Yanqiao Street West of Zhang Tianyi Street No. 56

Patentee before: Yan Xiaoyang

CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130501

Termination date: 20170825

CF01 Termination of patent right due to non-payment of annual fee