CN102610116A - High-simulation intelligent traffic police robot - Google Patents
High-simulation intelligent traffic police robot Download PDFInfo
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- CN102610116A CN102610116A CN2012100656064A CN201210065606A CN102610116A CN 102610116 A CN102610116 A CN 102610116A CN 2012100656064 A CN2012100656064 A CN 2012100656064A CN 201210065606 A CN201210065606 A CN 201210065606A CN 102610116 A CN102610116 A CN 102610116A
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Abstract
The invention discloses a high-simulation intelligent traffic police robot, comprising a head part, a body and a base. The head part is connected with the body by a head and body connection mechanism, the body is fixed on a body rotation mechanism, and the head part is connected with a head part rotation motor through the head and body connection mechanism; the body is of a hollow structure, and a left arm swinging motor, a right arm swinging motor, a left arm rotation motor, a right arm rotation motor, a left wrist drive motor, a right wrist drive motor, a left elbow drive motor and a right elbow drive motor are sequentially mounted in the body; the left arm swinging motor, the left arm rotation motor, the left wrist drive motor and the left elbow drive motor are respectively connected with a left arm through a left shoulder joint; and the right arm swinging motor, the right arm rotation motor, the right wrist drive motor and the right elbow drive motor are respectively connected with a right arm through a right shoulder joint. The high-simulation intelligent traffic police robot can simulate the command actions of a traffic police, is used for replacing the traffic police so as to realize on-site commanding and reduce working pressure of the traffic police, and has high simulation degree and better mobility.
Description
Technical field
The present invention relates to a kind of point duty utility appliance, particularly a kind of high artificial intelligence traffic-police robot that is used for point duty is used for the point duty and the management of intersection.
Background technology
At present, urban transportation commander main dependence traffic lights and traffic-police.In view of domestic actual conditions, for some critical junctions (for example school doorway) and the uncertain crossing of flow, it is not enough often to rely on traffic lights to command fully, must have traffic-police to come to commander personally; Can't normally use (for example reason such as fault or construction) or crossing of traffic lights etc. is not set for some traffic lights, all need traffic-police's floor manager.Along with China's rapid economy development, each department are the city especially, and car owning amount significantly increases, and traffic and government pressure are increasing.Rely on traffic-police's floor manager to have many shortcomings: cost of labor is higher; Work under bad environment, the tail gas that the high temperature in summer and the severe cold in winter, especially automobile are discharged, healthy unfavorable or the like to traffic-police.
Summary of the invention
In order to overcome the above-mentioned shortcoming in the point duty; The present invention provides a kind of high artificial intelligence traffic-police robot that is used for point duty; This intelligent transportation police robot combines traffic lights and traffic-police's command function; Be used for substituting traffic-police and realize floor manager, possess the fidelity height, able to programme, can write down situation violating the regulations, advantage such as movability is good.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of high artificial intelligence traffic-police robot; Comprise head, trunk and base; Said head is connected with trunk with trunk bindiny mechanism through head, and trunk is fixed on the trunk rotating mechanism, and said head is connected with the head electric rotating machine with trunk bindiny mechanism through head; Said trunk is a cavity structure, and the inside of said trunk is equipped with left arm swing motor, right arm swing motor, left arm electric rotating machine, right arm electric rotating machine, left wrist drive motor, right wrist drive motor, left elbow drive motor and right elbow drive motor successively; Said left arm swing motor, left arm electric rotating machine, left wrist drive motor are connected with left arm through left shoulder joint respectively with left elbow drive motor; Said right arm swing motor, right arm electric rotating machine, right wrist drive motor, right elbow drive motor are connected with right arm through right shoulder joint respectively, and said trunk rotating mechanism, head electric rotating machine, left arm swing motor, right arm swing motor, left arm electric rotating machine, right arm electric rotating machine, left wrist drive motor, right wrist drive motor, left elbow drive motor all with in order to the intelligent controller of realizing various traffic actions are connected with right elbow drive motor.
As preferred a kind of scheme: said left arm and right arm include and comprise forearm, postbrachium, wrist joint, elbow joint and shoulder joint; Said palm is connected with forearm through wrist joint; Said forearm is connected with postbrachium through elbow joint; Said postbrachium is connected with the robot trunk through shoulder joint; Said wrist joint is connected with left wrist drive motor or right wrist drive motor through wrist spring, wrist wire rope, wrist transition wheel; Said elbow joint is connected with left elbow drive motor or right elbow drive motor through elbow spring, elbow wire rope, elbow transition wheel; Said shoulder joint is connected with left arm swing motor, right arm electric rotating machine and right arm swing motor with the left arm electric rotating machine.
Further; Said wrist joint comprises wrist joint seat, palm web member, forearm link and palm switching mechanism; Said palm web member is connected with palm; And is connected with the wrist joint seat through removable pin, set screw, said forearm link links together forearm and wrist joint seat, and passes through to align the relative angle that screw and wrist joint seat are connected and adjust forearm and palm; Said palm switching mechanism comprises Connection Block, drive piston and brace, and said drive piston is used to connect wrist spring and Connection Block; Brace is connected with the wrist joint seat with Connection Block respectively through register pin.
Further again; Said elbow joint comprises elbow joint seat, forearm link movable part, postbrachium connecting rod and forearm switching mechanism; Said forearm link movable part is connected with forearm; And is connected with the elbow joint seat through removable pin, set screw, said postbrachium connecting rod links together postbrachium and elbow joint seat, and passes through to align the relative angle that screw and elbow joint seat are connected and adjust postbrachium and forearm; Said forearm switching mechanism comprises Connection Block, drive piston and brace, and said drive piston is used to connect elbow spring and Connection Block; Brace is connected with the elbow joint seat with Connection Block respectively through register pin.
Further; Said shoulder joint comprises shoulder joint rotating body, clutch coupling and postbrachium web member; Said clutch coupling is installed on the clutch base through coupling bolt; Clutch spring and steel ball are installed between clutch coupling and clutch base, and clutch base is placed in the shoulder joint rotating body and is interference fit, and cylindrical boss is arranged at the bottom; The outside at the shoulder joint rotating body is equipped with keeper through fastening bolt, and the centre of keeper has circular hole, and the cylindrical boss of clutch base bottom cooperates with the center hole of keeper to form locatees; Side at clutch coupling and clutch base has groove, and the postbrachium web member is fixed together through fastening bolt and clutch coupling and clutch base, and can be around the axial line rotation of shoulder joint rotating body; Opposite side at the shoulder joint rotating body has through hole; First turning axle is connected with the shoulder joint rotating body through pin with second turning axle; Not end at turning axle is installed follower gear; Said follower gear links together through hold-down bolt and pad and turning axle, and the swing arm motor that is installed on the swing arm motor cabinet drives first turning axle, the rotation of second turning axle through driving gear, follower gear; Said clutch coupling one side is provided with projection, has groove at coupling shaft one end, and the tumbler motor that is installed on the tumbler motor seat drives the arm rotation through coupling shaft, clutch coupling, and the output shaft of said coupling shaft and tumbler motor links together.
Said trunk rotating mechanism is connected with the trunk electric rotating machine through gear, and said trunk electric rotating machine is fixed on the base through web joint.
Beneficial effect of the present invention mainly shows: 1. can simulate commander's action of traffic-police, be used for substituting traffic-police and realize floor manager, alleviate traffic-police's working pressure; 2. fidelity is high, and the head of robot and trunk outside all are enclosed with the rubber sleeve of high emulation, and be similar with true traffic-police; 3. through at palmar hand traffic lights being set, this intelligent transportation police robot combines traffic lights and traffic-police's command function; 4. through built-in recording, whistle or people's sound but real-time play matches with action; 5. be equipped with intelligence control system (patent is arranged in addition), can realize that the parameter of working hour, different directions transit time is provided with function; 6. through disposing camera arrangement, cooperate with crossing car sensing system and can realize the automatic camera and the memory function of breaking rules and regulations further improving emulation police's deterrent effect at eyes; 7. intelligent transportation police robot can work independently (trunk+base), and the characteristics that possessing should be acute, movability is good also can cooperate with crow, realizes long-term work.
Description of drawings
Fig. 1 is an intelligent transportation police robot architecture synoptic diagram.
Fig. 2 is an intelligent transportation police robot arm stretching synoptic diagram.
Fig. 3 is 90 ° of synoptic diagram of intelligent transportation police robot palm upset.
Fig. 4 is an intelligent transportation police robot brachiocylloosis synoptic diagram.
Fig. 5 is an intelligent transportation police robot wrist articulation structure synoptic diagram.
Fig. 6 is an intelligent transportation police robot elbow joint structure synoptic diagram.
Fig. 7 is an intelligent transportation police robot shoulder joint structural representation.
Fig. 8 is that no through traffic gesture synoptic diagram.
Fig. 9 allows current gesture synoptic diagram.
Figure 10 is the supporting use synoptic diagram of intelligent transportation police robot and crow.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1～Figure 10, a kind of intelligent transportation police robot comprises head 9, trunk 10 and base 19; Said head 9 is connected with trunk 10 with trunk bindiny mechanism 26 through head; Trunk 10 is fixed on the trunk rotating mechanism 28, and trunk rotating mechanism 28 is connected with trunk electric rotating machine 18 through gear, under the driving of electric rotating machine 18; Can realize intelligent transportation police robot trunk along clockwise, each half-twist counterclockwise, thereby realize the rotation of robot; Said trunk electric rotating machine 18 is fixed on the base 19 through web joint 27; Said head 9 is connected with head electric rotating machine 5 with trunk bindiny mechanism 26 through head, under the driving of head electric rotating machine 5, can realize turning to of robot head; Said trunk 10 is a cavity structure, and inside is equipped with left arm swing motor 4, right arm swing motor 6, left arm electric rotating machine 3, right arm electric rotating machine 7, left wrist drive motor 1, right wrist drive motor 8, left elbow drive motor 2, right elbow drive motor (in Fig. 1, being positioned at left elbow drive motor 2 back) successively; Said left arm swing motor 4, left arm electric rotating machine 3, left wrist drive motor 1, left elbow drive motor 2 are connected with left arm through left shoulder joint 17 respectively; Under the synergy of left arm swing motor 4, left arm electric rotating machine 3, left wrist drive motor 1, left elbow drive motor 2, realize the various point duty actions of left arm; Said right arm swing motor 6, right arm electric rotating machine 7, right wrist drive motor 8, right elbow drive motor 30 are connected with right arm through right shoulder joint respectively; Under the synergy of right arm swing motor 6, right arm electric rotating machine 7, right wrist drive motor 8, right elbow drive motor 30, realize the various point duty actions of right arm.
With reference to Fig. 2～Fig. 4, intelligent transportation police robot arm stretching, bending, 90 ° of actions of palm upset synoptic diagram (be left arm shown in the figure, right arm is roughly the same).The robot left arm comprises forearm 13, postbrachium 14, wrist joint 15, elbow joint 16, shoulder joint 17; The said left hand palm 12 is connected with forearm 13 through wrist joint 15; Said forearm 13 is connected with postbrachium 14 through elbow joint 16; Said postbrachium 14 is connected with robot trunk 10 through shoulder joint 17; Said wrist joint 15 is connected with left wrist drive motor 1 through wrist spring 25, wrist wire rope 20, wrist transition wheel 21; Said elbow joint 16 is connected with left elbow drive motor 2 through elbow spring 22, elbow wire rope 24, elbow transition wheel 23; Said shoulder joint 17 is connected with left arm swing motor 4 with left arm electric rotating machine 3, under the synergy of left arm electric rotating machine 3 and left arm swing motor 4, can realize the rotation and the swing of left arm.Wrist joint and elbow joint drive through wire rope, can increase the flexibility of wrist joint and elbow joint.
Among Fig. 2, under the synergy of each driving element, robot left arm, left hand are slapped linearly state.
Among Fig. 3, under the synergy of each driving element, the robot left arm is straight configuration, and the left hand palm is rollover states, and angle is any (being vertical relation with left arm among Fig. 3) between 0-180 °.
Among Fig. 4, under the synergy of each driving element, the robot left arm is case of bending (elbow joint is crooked), and the left hand palm and forearm be state linearly.
With reference to Fig. 5; Intelligent transportation police robot wrist joint; Comprise wrist joint seat 34, palm web member 31, forearm link 35 and palm switching mechanism, said palm web member 31 is connected with palm 12, and is connected with wrist joint seat 34 through removable pin 33, set screw 32; Said forearm link 35 links together forearm 13 and wrist joint seat 34; And through aligning screw 37 is connected and adjusts forearm 13 and palm 12 with wrist joint seat 34 relative angle, said palm switching mechanism comprises Connection Block 40, drive piston 36 and brace 41, and said drive piston 36 is used to connect wrist spring 25 and Connection Block 40; Brace 41 is connected with wrist joint seat 34 with Connection Block 40 respectively with 38 through register pin 39, and wrist spring 25 drives palm web member 31 and rotates through drive piston 36, Connection Block 40 and brace 41, overturns thereby drive palm 12.
With reference to Fig. 6; Intelligent transportation police robot elbow joint; Comprise elbow joint seat 43, forearm link movable part 41, postbrachium connecting rod 44 and forearm switching mechanism, said forearm link movable part 41 is connected with forearm 13, and is connected with elbow joint seat 43 through removable pin 42, set screw 51; Said postbrachium connecting rod 44 links together postbrachium 14 and elbow joint seat 43; And through aligning screw 47 is connected and adjusts postbrachium 14 and forearm 13 with elbow joint seat 43 relative angle, said forearm switching mechanism comprises Connection Block 49, drive piston 45 and brace 50, and said drive piston 45 is used to connect elbow spring 22 and Connection Block 49; Brace 50 is connected with elbow joint seat 43 with Connection Block 49 respectively with 46 through register pin 48, and spring 22 drives forearm web member 41 and rotates through drive piston 45, Connection Block 49 and brace 50, overturns thereby drive forearm 13.
With reference to Fig. 7, intelligent transportation police robot shoulder joint comprises shoulder joint rotating body 59, clutch coupling 54 and postbrachium web member 62; Said clutch coupling is installed on the clutch base 55 through coupling bolt 53, between clutch coupling 54 and clutch base 55, spring 56 and steel ball 57 is installed; Clutch base 55 is placed in the shoulder joint rotating body 59, is interference fit, and cylindrical boss is arranged at the bottom; The outside at shoulder joint rotating body 59; Through fastening bolt 61 keeper 60 is installed, the centre of keeper 60 has circular hole, and the cylindrical boss of clutch base 55 bottoms cooperates with the center hole of keeper 60 to form locatees.Side at clutch coupling 54 and clutch base 55 has groove, and postbrachium web member 62 is fixed together through fastening bolt 68 and clutch coupling 54 and clutch base 55, and can be around the axial line rotation of shoulder joint rotating body 59.Opposite side at shoulder joint rotating body 59 has through hole; Turning axle 1 is connected with shoulder joint rotating body 59 through pin 67 with turning axle 2; Not end at turning axle 2 is installed follower gear 63, and said follower gear links together through hold-down bolt 64 and pad 65 and turning axle 2, and the swing arm motor 4 that is installed on the swing arm motor cabinet 71 rotates through driving gear 70, follower gear 63 driven rotary axles 1,2; Thereby can drive shoulder joint rotating body 59 rotation, impel arm to launch or fold.Said clutch coupling 54 1 sides are provided with projection; Have groove at coupling shaft 69 1 ends; When arm folds (arm and shoulder are 90 ° of angles) when putting in place, the projection on the said clutch coupling 54 goes in the groove of coupling shaft 69, and this moment, clutch coupling was in engagement state (otherwise being off-state); The tumbler motor 3 that is installed on the tumbler motor seat 72 drives the arm rotation through coupling shaft 69, clutch coupling 54, realizes rotatablely moving around shoulder of arm.Said coupling shaft 69 links together with the output shaft of tumbler motor 3.
With reference to Fig. 8～Fig. 9, the point duty action that intelligent transportation police robot can accomplish.Wherein Fig. 8 is the sequence action that no through traffic, is divided into for three steps.Wherein (1), (3) be the attitude of attentioning the step, and left and right sides arm all is state shown in Figure 2 (sagging), go on foot (2) attitude that is that no through traffic; Left arm and ground are 135 ° of angles; 135 ° of the relative forearm of palm upsets, with state class shown in Figure 3 like (angle is different), right arm all is state shown in Figure 2 (sagging); Fig. 9 was divided into for seven steps for allowing current sequence action.Wherein step (1), (7) are the attitude of attentioning, and left and right sides arm all is state shown in Figure 2 (sagging), and the step (2) is launched attitude for both arms, and left and right sides arm all is state shown in Figure 2 (stretching); Left arm is sagging in step (3), and right arm launches, in step (4) and step (6); Left arm is crooked attitude, with state consistency shown in Figure 4, in the step (5); Left arm is extended straight forward, and right arm launches, all can be by state exchange shown in Figure 2.
Various attitudes shown in Fig. 8, Fig. 9 all can pass through Fig. 2, Fig. 3 and three kinds of data shown in Figure 4 converted; And by action shown in Figure 8 between action shown in Figure 9 conversion; Robot need turn clockwise 90 °; Between action conversion shown in Figure 8, robot need be rotated counterclockwise 90 ° by action shown in Figure 9; In step shown in Figure 9 (2)-step (6), robot head needs half-twist to the right.
With reference to Figure 10, the supporting use synoptic diagram of intelligent transportation police robot and crow.Intelligent transportation police robot can use separately, also can use with crow supporting 29.
At the rubber sleeve (like Fig. 8, shown in Figure 9) that the head and the trunk outside of robot all are enclosed with high emulation, highly similar with true traffic-police.
Through at palmar hand traffic lights being set, this intelligent transportation police robot has traffic lights and traffic-police's command function concurrently.
Through built-in recording, whistle or voice but real-time play matches with action.
Be equipped with intelligence control system (patent is arranged in addition), can realize that the parameter of working hour, different directions transit time is provided with function.
Through disposing camera arrangement, cooperate with crossing car sensing system and can realize the automatic camera and the memory function of breaking rules and regulations further improving emulation police's deterrent effect at eyes.
Intelligent transportation police robot can pass through powered battery, and the characteristics that possessing should be acute, movability is good also can be passed through mains-supplied (increase power transfer module, convert civil power to direct current and supply robot to use), realize long-term work.
Claims (6)
1. one kind high artificial intelligence traffic-police robot; It is characterized in that: said robot comprises head, trunk and base; Said head is connected with trunk with trunk bindiny mechanism through head; Trunk is fixed on the trunk rotating mechanism, and said head is connected with the head electric rotating machine with trunk bindiny mechanism through head; Said trunk is a cavity structure, and the inside of said trunk is equipped with left arm swing motor, right arm swing motor, left arm electric rotating machine, right arm electric rotating machine, left wrist drive motor, right wrist drive motor, left elbow drive motor and right elbow drive motor successively; Said left arm swing motor, left arm electric rotating machine, left wrist drive motor are connected with left arm through left shoulder joint respectively with left elbow drive motor; Said right arm swing motor, right arm electric rotating machine, right wrist drive motor, right elbow drive motor are connected with right arm through right shoulder joint respectively, and said trunk rotating mechanism, head electric rotating machine, left arm swing motor, right arm swing motor, left arm electric rotating machine, right arm electric rotating machine, left wrist drive motor, right wrist drive motor, left elbow drive motor all with in order to the intelligent controller of realizing various traffic actions are connected with right elbow drive motor.
2. high artificial intelligence traffic-police as claimed in claim 1 robot, it is characterized in that: said left arm and right arm include and comprise forearm, postbrachium, wrist joint, elbow joint and shoulder joint; Said palm is connected with forearm through wrist joint; Said forearm is connected with postbrachium through elbow joint; Said postbrachium is connected with the robot trunk through shoulder joint; Said wrist joint is connected with left wrist drive motor or right wrist drive motor through wrist spring, wrist wire rope, wrist transition wheel; Said elbow joint is connected with left elbow drive motor or right elbow drive motor through elbow spring, elbow wire rope, elbow transition wheel; Said shoulder joint is connected with left arm swing motor, right arm electric rotating machine and right arm swing motor with the left arm electric rotating machine.
3. high artificial intelligence traffic-police as claimed in claim 2 robot; It is characterized in that: said wrist joint comprises wrist joint seat, palm web member, forearm link and palm switching mechanism; Said palm web member is connected with palm; And is connected with the wrist joint seat through removable pin, set screw, said forearm link links together forearm and wrist joint seat, and passes through to align the relative angle that screw and wrist joint seat are connected and adjust forearm and palm; Said palm switching mechanism comprises Connection Block, drive piston and brace, and said drive piston is used to connect wrist spring and Connection Block; Brace is connected with the wrist joint seat with Connection Block respectively through register pin.
4. high artificial intelligence traffic-police as claimed in claim 2 robot; It is characterized in that: said elbow joint comprises elbow joint seat, forearm link movable part, postbrachium connecting rod and forearm switching mechanism; Said forearm link movable part is connected with forearm; And is connected with the elbow joint seat through removable pin, set screw, said postbrachium connecting rod links together postbrachium and elbow joint seat, and passes through to align the relative angle that screw and elbow joint seat are connected and adjust postbrachium and forearm; Said forearm switching mechanism comprises Connection Block, drive piston and brace, and said drive piston is used to connect elbow spring and Connection Block; Brace is connected with the elbow joint seat with Connection Block respectively through register pin.
5. high artificial intelligence traffic-police as claimed in claim 2 robot; It is characterized in that: said shoulder joint comprises shoulder joint rotating body, clutch coupling and postbrachium web member; Said clutch coupling is installed on the clutch base through coupling bolt; Clutch spring and steel ball are installed between clutch coupling and clutch base, and clutch base is placed in the shoulder joint rotating body and is interference fit, and cylindrical boss is arranged at the bottom; The outside at the shoulder joint rotating body is equipped with keeper through fastening bolt, and the centre of keeper has circular hole, and the cylindrical boss of clutch base bottom cooperates with the center hole of keeper to form locatees; Side at clutch coupling and clutch base has groove, and the postbrachium web member is fixed together through fastening bolt and clutch coupling and clutch base, and can be around the axial line rotation of shoulder joint rotating body; Opposite side at the shoulder joint rotating body has through hole; First turning axle is connected with the shoulder joint rotating body through pin with second turning axle; Not end at turning axle is installed follower gear; Said follower gear links together through hold-down bolt and pad and turning axle, and the swing arm motor that is installed on the swing arm motor cabinet drives first turning axle, the rotation of second turning axle through driving gear, follower gear; Said clutch coupling one side is provided with projection, has groove at coupling shaft one end, and the tumbler motor that is installed on the tumbler motor seat drives the arm rotation through coupling shaft, clutch coupling, and the output shaft of said coupling shaft and tumbler motor links together.
6. like the described high artificial intelligence traffic-police of one of claim 1～5 robot, it is characterized in that: said trunk rotating mechanism is connected with the trunk electric rotating machine through gear, and said trunk electric rotating machine is fixed on the base through web joint.
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| CN2012100656064A CN102610116A (en) | 2012-03-13 | 2012-03-13 | High-simulation intelligent traffic police robot |
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| CN2012100656064A CN102610116A (en) | 2012-03-13 | 2012-03-13 | High-simulation intelligent traffic police robot |
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| CN103593992A (en) * | 2013-11-27 | 2014-02-19 | 时延昭 | Solar traffic police robot |
| CN104882015A (en) * | 2015-06-26 | 2015-09-02 | 宁波德坤工业设计有限公司 | High-simulation intelligent police robot |
| CN104959987A (en) * | 2015-07-14 | 2015-10-07 | 百度在线网络技术（北京）有限公司 | Partner robot based on artificial intelligence |
| CN105355064A (en) * | 2015-11-23 | 2016-02-24 | 严西元 | Global robot policeman |
| CN105390007A (en) * | 2015-11-17 | 2016-03-09 | 陕西科技大学 | Traffic control system based on pattern recognition |
| CN106297339A (en) * | 2016-10-11 | 2017-01-04 | 常州大学怀德学院 | A kind of robot for indicating vehicle to travel |
| CN106272459A (en) * | 2016-08-31 | 2017-01-04 | 佛山博文机器人自动化科技有限公司 | A kind of anthropomorphic robot |
| CN106564050A (en) * | 2016-10-19 | 2017-04-19 | 哈工大机器人集团上海有限公司 | Multi-joint model robot |
| CN106781566A (en) * | 2016-11-29 | 2017-05-31 | 银川捷迅达电子科技有限公司 | Traffic guidance system and robot of traffic police |
| CN107240270A (en) * | 2016-03-29 | 2017-10-10 | 上海中科深江电动车辆有限公司 | Silent cop |
| CN107351101A (en) * | 2017-09-14 | 2017-11-17 | 潍坊市工业学校 | Electronic police |
| CN108648485A (en) * | 2018-06-20 | 2018-10-12 | 羊远 | A kind of traffic light intersection order keeping equipment |
| CN109598954A (en) * | 2018-12-05 | 2019-04-09 | 河南师范大学新联学院 | A kind of traffic control robot |
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| CN106297339A (en) * | 2016-10-11 | 2017-01-04 | 常州大学怀德学院 | A kind of robot for indicating vehicle to travel |
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| CN106564050B (en) * | 2016-10-19 | 2019-07-02 | 哈工大机器人集团上海有限公司 | Multi-joint Robot model |
| CN106781566A (en) * | 2016-11-29 | 2017-05-31 | 银川捷迅达电子科技有限公司 | Traffic guidance system and robot of traffic police |
| CN106695828B (en) * | 2017-01-11 | 2023-03-14 | 安徽工程大学 | Household security service robot |
| CN107351101A (en) * | 2017-09-14 | 2017-11-17 | 潍坊市工业学校 | Electronic police |
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| CN109598954A (en) * | 2018-12-05 | 2019-04-09 | 河南师范大学新联学院 | A kind of traffic control robot |
| WO2020158964A1 (en) * | 2019-01-29 | 2020-08-06 | 엘지전자 주식회사 | Action robot |
| US11167409B2 (en) | 2019-01-29 | 2021-11-09 | Lg Electronics Inc. | Action robot |
| WO2020179948A1 (en) * | 2019-03-06 | 2020-09-10 | 엘지전자 주식회사 | Action robot |
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Application publication date: 20120725 |