CN106217393A - Portable far-end is come personally interaction platform - Google Patents
Portable far-end is come personally interaction platform Download PDFInfo
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- CN106217393A CN106217393A CN201610753058.2A CN201610753058A CN106217393A CN 106217393 A CN106217393 A CN 106217393A CN 201610753058 A CN201610753058 A CN 201610753058A CN 106217393 A CN106217393 A CN 106217393A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Multimedia (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of portable far-end to come personally interaction platform, mankind's artificial head, the mankind emulate body, mobile platform support bracket, mobile base robot the most from top to bottom connect and form.This movable type far-end interaction platform when participating in the cintest is a humanoid mobile robot, they can be by the image of local end user by two projectors, it is respectively displayed on trunk and the head of robot, show sight around the facial expression of user and health in real time, to reach to reduce the estrangement that people exchanges with the machine human world.Meanwhile, this movable type far-end interaction platform when participating in the cintest can collect environmental information about, including the image of the environment of surrounding, sound.By these being gathered the utilization of information, the telepresenc of user can be improved, make user on the spot in person.Additionally, this portable far-end interaction platform when participating in the cintest also has the charge function that automatically makes a return voyage in certain area.
Description
Technical field
The present invention relates to human-computer interaction technique field.It is specifically related to a kind of portable far-end come personally interaction platform.
Background technology
Along with the quickening of the rhythm of life of people, the situation that people is too busy to attend to anything else day by day increases, and has therefore promoted mobile remote
Mutual development.Just starting, due to the birth of the Internet, in order to catch up with the rhythm of life of people, people have invented Internet video,
So that people can in indoor simultaneously with many individual's contact acs.But people are still unsatisfactory for, through development for many years, remotely
The newest product has been had to be born alternately.The Anybots QB of such as Anybots company moves robot and the U.S.
The Double robot of Double Robotics company.The function of this two product is the most closely similar, the most mainly realizes user
" attending to anything else " ability, allow user remotely control in indoor mobile robot go to attend a meeting, the office and going on business of going to work.But at present
The interactive experience of these products on the market is the most poor, and basic only one of which screen shows and stiff skeleton support, far-end
Can only be mutual with ice-cold machine with the people of robot interactive.If tele-robotic to be designed to more the fit mankind, profile
More as the mankind, the real-time face expression that makes it have user, strengthen the people that interacts of far-end the most surely and produce cordial feeling,
Shorten " distance " between machine and people.It addition, for local end user, the experience of its telepresenc is particularly significant.If can be by
Virtual reality technology is applied on local end user, makes local end user pass through virtual reality technology so that it is the visual field and remote machine
Device people synchronizes, and so must strengthen the telepresenc of local end user.
In recent years, create many papers relevant to this patent and patent, as follows:
1, China publication number: CN104898652A, title: mutually exchange with a moveable tele-robotic.
This equipment, it is possible to use the various information of family remote collection to this equipment so that user exchanges with the external world, and its upper limb is also simultaneously
May be made that certain motion, but the profile of this equipment is more stiff, the most attractive in appearance, the feelings of user can not be shown remarkably simultaneously
Scape information, interactive experience is poor, and the telepresenc of local end user is poor.
2, China publication number: CN103802108A, title: remote assistance office machine people.What this patent described sets
Standby can meet mankind's general work in office, as audio-visual exchange, remotely make an inspection tour working site, remote file transferring and
Participate in Remote Video Conference etc..But same, the profile of this equipment is more stiff, do not fit mutual aesthetic between the mankind, to
The sight situation reducing degree ratio at family is relatively low.Do not account for the telepresenc of local end user simultaneously.
3, China publication number: CN102755194A, title: a kind of remote monitoring robot.This equipment can pass through
Above it various Vital status detectors monitoring patient life and health situation, it is possible to patient have a certain degree of alternately,
But its can be mutual function fewer, and the outward appearance of this equipment is the most stiff, does not meets the aesthetic of the mankind, not to
The sight situation at family is reduced, and causes interactive experience very poor.The telepresenc of its local end user of what is more important is very poor.
Summary of the invention
The invention aims to solve drawbacks described above of the prior art, as remote mobile robot cannot show use
Family sight situation, the problem such as interactive experience is poor, user's telepresenc difference, it is provided that a kind of portable far-end is come personally interaction platform.
The purpose of the present invention can reach by adopting the following technical scheme that:
A kind of portable far-end is come personally interaction platform, and described platform is emulated body 5, mobile by mankind's artificial head 1, the mankind
Flat top support 8, mobile base robot 9 the most from top to bottom connect composition,
Described mankind's artificial head 1 includes first translucent glass plate the 2, first projector 10 and head shell, described
The image information of local end user head is projected on described first translucent glass plate 2 by the first projector 10 so that described
Mankind's artificial head 1 has the facial expression of local end user；
Described remote subscriber refers to come personally with portable far-end the user that interaction platform exchange, meanwhile, correspondence, local side
User refers to manipulate portable far-end and comes personally the user of interaction platform.
The described mankind emulate body 5 and include the second translucent glass plate the 7, second projector 11 and body shell, described
The image information of remote subscriber body is projected on described second translucent glass plate 7 by the second projector 11 so that described people
Class emulation body 5 has the body sight of remote subscriber.
Further, described first projector 10 and described second projector 11 are each parallel to described first translucent glass
Glass plate 2 and described second translucent glass plate 7 are placed, and described first projector 10 and described second projector 11 are respectively
Including a projector image transfer, aobvious on the translucent glass plate that the most parallel image redirect to correspondence respectively
Show.
Further, described projector image transfer includes: fixed plate a1, two-way mirror a2 and fixed plate a3,
Described fixed plate a1, described two-way mirror a2 and described fixed plate a3 form a 45° angle and are turned by picture vertical for projector
To becoming level.
Further, the described mankind emulate and are provided with mini microphone 6,3D photographic head 3 and audio amplifier 4 on body 5, described micro-
The type mike 6 acoustical signal around acquisition platform, the described 3D photographic head 3 signal of video signal around acquisition platform,
Described audio amplifier 4 is for playing the sound of user.
Further, described mobile platform support bracket 8 plays load-bearing effect and supports that upper-lower height regulates, by described
The mankind described in mobile platform support bracket 8 scalable emulate body 5 and the position height of described mankind's artificial head 1.
Further, described mobile base robot 9 includes: sensor assembly, motor and driving module, power module
And embedded computer,
Wherein, described motor and drive module, for providing kinetic moment for portable far-end interaction platform of coming personally；
Described power module, in interaction platform of coming personally for portable far-end, all parts provides running voltage, it is possible to
Output 24V, 6V, 5V, 3.3V voltage；
Described embedded computer, for being responsible for the control of whole platform, it is equipped with wireless network module simultaneously, is used for connecing
Receive the control signal of user and image, acoustical signal, meanwhile, described embedded computer there is projector required for data connect
Mouth, power interface.
Further, described sensor assembly includes: Hall-type current sensor, gyro sensor and ultrasound wave pass
Sensor,
Wherein, described Hall-type current sensor is come personally the charge condition of interaction platform for detecting portable far-end；
Described gyro sensor is for measuring the steering angle of described mobile base robot 9；
Described ultrasonic sensor modules is come personally the distance of interaction platform peripheral obstacle for gathering portable far-end, and
Realize automatic obstacle avoiding.
Further, described portable far-end interaction platform when participating in the cintest also includes external charging pile 12, described charging pile 12
Described portable far-end of fitting is come personally the profile of interaction platform, when described portable far-end interaction platform when participating in the cintest moves to charging pile
During charging, the charging jacks of the most corresponding described mobile base robot of charging plug of described charging pile 12.
Further, described portable far-end interaction platform of coming personally can monitor dump energy, in real time when electricity is less than setting
During warning value, platform can alert user, reminds user to be charged.
Further, described portable far-end interaction platform of coming personally, in the certain limit of described charging pile 12, can start
Automatic Track Finding backhaul function, returns to described charging pile 12 according in it charge voluntarily at obstacle avoidance algorithm and the algorithm that tracks.
The present invention has such advantages as relative to prior art and effect:
The invention discloses a kind of portable far-end to come personally interaction platform, this platform can allow user realize the effect of " attending to anything else "
Really, come personally interaction platform at indoor remote control one even multiple stage movable type far-end, make user can simultaneously appear in the world
The various occasions of various places.This platform can go back countenance and the sound of original subscriber.Compared with other similar-type products, this is put down
Platform, by its environmental information is flowed to local end user, reduces its environment by computer equipment and virtual reality glasses, therefore
User feels truer when participating in the cintest.Meanwhile, this platform, in the range of certain position, supports automated backhaul charge function, it is possible to
The operation of easy user.
Accompanying drawing explanation
Fig. 1 is that the portable far-end disclosed in the present invention is come personally the structure chart of interaction platform；
Fig. 2 is that the portable far-end disclosed in the present invention is come personally the partial sectional view of interaction platform；
Fig. 3 is the structural representation of the first projector in the present invention；
Fig. 4 is the structural representation of the second projector in the present invention；
Fig. 5 is that portable far-end is come personally the structural representation of interaction platform charging pile；
Fig. 6 is that portable far-end is come personally the top view of interaction platform charging pile.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
Embodiment
The present embodiment provides a kind of portable far-end to come personally interaction platform, relates to the forward position application of human-computer interaction technology.This
Interaction platform can provide the user a mobile robot, and user just can be connect with extraneous people and material object before computer
Touch, exchange.Sight (including expression, the sound) perfection of the upper part of the body of local end user can be mapped to movement by this interaction platform
Robot, makes robot have the countenance of user in real time, and the people allowing far-end interact produces cordial feeling.Meanwhile, this machine
Device people can allow user exchange with other people by sound equipment and mike.Local end user can pass through virtual reality eye
Mirror " truly " is experienced portable far-end and is come personally the environment at interaction platform place, has the strongest telepresenc.This interaction platform props up
Hold automated backhaul charge function, it is possible to reduce user's left-hand seat operation easier.By using this interaction platform, user can accomplish " to divide
Body " effect, simultaneously appear in and attend various occasion all over the world.
Shown in Fig. 1 and Fig. 2, portable far-end comes personally interaction platform by mankind's artificial head the 1, first translucent glass plate
2,3D photographic head 3, audio amplifier 4, the mankind emulate body 5, mini microphone the 6, second translucent glass plate 7, mobile platform load-bearing are propped up
Frame 8, mobile base robot the 9, first projector the 10, second projector 11 form.
Described mankind's artificial head 1 and the mankind emulate body 5 as in figure 2 it is shown, mankind's artificial head 1 is translucent by first
Glass plate the 2, first projector 10 and head shell composition.Its inner hollow, the holding wire of projector and power line are along head
The internal back cover in portion, to cervical region, is then passed through torso interior back cover, is ultimately connected to mobile base robot 9.First projector 10
Then rear portion in head shell, the image information of user's head is projected on the first translucent glass plate 2 by the first projector 10,
Mankind's artificial head 1 is made to have the facial expression of user.
Equally, the mankind emulate body 5 and are made up of second translucent glass plate the 7, second projector 11 and body shell.Its
Inner hollow, holding wire and the power line of projector are connected to mobile base robot 9 along torso interior back cover.Second throws
Shadow instrument 11 then rear portion in body shell, the image information of user's body is projected to the second translucent glass by the second projector 11
On plate 7 so that the mankind emulate body 5 and have the body sight of user.The mankind emulate and are provided with mini microphone 6,3D on body
Photographic head 3 and audio amplifier 4, the environmental information (image, acoustical signal) around acquisition platform and the sound of broadcasting local end user
Sound.Its information conveyance collected processes in embedded computer.For the process of image, according to different demands,
Use different image processing algorithms.
Owing to the first projector and the second projector are all parallel to the first translucent glass plate and second translucent
Glass plate is placed, it is therefore desirable to build a projector image transfer, parallel image is redirect to translucent glass
Show on plate.Projector transfer is made up of fixed plate a1, two-way mirror a2 and fixed plate a3, and forming a 45° angle will
The vertical picture of projector turns to into level, projects on the first translucent glass plate 2 or the second translucent glass plate 7.This
Outward, need to regulate the size of projector image, it is possible to according to real needs, add convex lens at transfer, to reach
Image regulatory function.
For making portable far-end interaction platform of coming personally close to Human stature, need it close to the height of the mankind, take 1.75m.
Remove outside mobile base robot, mankind's artificial head, body level altitude, remaining highly desirable propped up by mobile platform load-bearing
Frame 8 provides.The position of body and head is increased to the position of normal adult by mobile platform support bracket 8, simultaneously works as holding
Recast is used.
Mobile base robot 9, it is mainly by sensor assembly, motor and driving module, power module and embedding
Formula computer forms.Its sensor assembly includes Hall-type current sensor, gyro sensor and ultrasonic sensor.Suddenly
Your formula current sensor is used for detecting the current conditions of circuit in whole mobile base robot, plays the effect of system protection.As
In motor work process, the operating current of system overruns, then it is assumed that system is in abnormal condition.Gyro sensors
Device is for measuring the steering angle of mobile base robot, and its information is mainly used in during it makes a return voyage automatically.Ultrasonic sensor mould
Block is for the distance of acquisition platform peripheral obstacle, and realizes automatic obstacle avoiding.Motor and driving module thereof, face for portable far-end
Field interaction platform provides kinetic moment.Motor volume to be met is little and feature that moment of torsion is big.It is less in view of motor mounting space,
And it is relatively big to bear a heavy burden, and need to choose the motor that volume is little and moment of torsion is big, such as 57BYG250C type motor.Meanwhile, in order to electricity
Machine is controlled, and needs to use motor driver, such as TB6600 motor driver.
Power module needs to meet the requirement that modules required voltage is different, it is possible to output 24V, 6V, 5V, 3.3V etc. are no
Same voltage.Choose the lithium battery of 24V 12AH, simultaneously need to be equipped with the constant voltage change-over circuit of the different voltage such as 6V, 5V, 3.3V.Embedding
Enter formula computer, be responsible for whole platform control, simultaneously its be equipped with wireless network module, for receive user control signal and
Image, acoustical signal.Meanwhile, this embedded computer has the data-interface required for projector, power interface.
Portable far-end is come personally the charging pile 12 of interaction platform, is fixed on smooth ground by two screws of d1 and d2
On.Its global shape is a triangular prism, intermediate hollow, its hollow be shaped as cylinder, have specific groove at its ground,
For the fixing and position of the mobile base robot 9 of restriction.Charging pile 12 is by d3 charging plug and mobile base robot 9
Charging jacks contacts, thus is charged.By in it sensor, the portable far-end of in real time monitoring is come personally interaction platform
Power conditions.
Embodiment here in conjunction with portable far-end interaction platform when participating in the cintest is described.When local end user is at computer
The portable far-end interaction platform when participating in the cintest of front manipulation goes to company to participate in meeting, the 3D shooting of interaction platform of being come personally by portable far-end
3 information gathered, local end user can be worn virtual reality glasses, in virtual reality " body faces scene ", move simultaneously
The countenance of local end user is projected on its mankind's artificial head 1 by formula far-end interaction platform when participating in the cintest.Work as local end user
Needing and remote subscriber is when carrying out interaction, local end user can directly and remote subscriber actual conversation, local end user simultaneously
The thing of notes etc can be placed on the place of its upper limb, shown by the first projector and the second projector.
Come personally in view of portable far-end the functional effect of interaction platform, it is desirable to the image collecting user is carried out necessarily
Image procossing.Owing to using two projectors, and the parameter of two projectors differs, and causes projected image size to have
Distinguished.And, it is desirable to the head of the first projector user, and the trunk of the second projector user, accordingly, it would be desirable to
Source images is carried out dividing processing.By the embedded computer of mobile base robot 9, can be to image information at
Reason, is divided into head and two parts of images of trunk.Then, image size is carried out according to the parameter of its corresponding projector respectively
The amendment of specification, is transported to the projector of correspondence the most respectively, is projected into translucent glass plate.
Portable far-end interaction platform of coming personally can monitor its dump energy in real time, when electricity is less than when setting warning value, flat
Platform can alert user, reminds user to be charged.When portable far-end interaction platform when participating in the cintest needs charging, local side have only to by
Its manipulation is arrived near charging pile 12, when portable far-end comes personally interaction platform in the certain limit of charging pile, it is possible to start
Automatic Track Finding backhaul function, returns to charging pile according in it charge voluntarily at obstacle avoidance algorithm, the algorithm that tracks.Work as charging complete, move
Dynamic formula far-end interaction platform of coming personally can send charging completion signal to user.
When portable far-end interaction platform when participating in the cintest needs charging, local side has only to be manipulated near charging pile,
Then portable far-end interaction platform when participating in the cintest just can return to charging pile according in it fill voluntarily at obstacle avoidance algorithm, the algorithm that tracks
Electricity.The portable far-end of this charging pile laminating is come personally the profile of interaction platform, when portable far-end interaction platform when participating in the cintest moves to fill
During electricity stake charging, the charging jacks of the charging plug of charging pile just corresponding mobile base robot, and mobile base robot
Wheel just move to the bottom of wheel pilot trench of charging pile, will the position limitation of mobile base robot in the region formulated
Charging.
In sum, this interaction platform can realize " attending to anything else " function of user, allows user before computer or before flat board
Remote control interaction platform, interacts with the external world.It addition, this platform perfect can present the real-time sight situation of user, complete
U.S. the performance expression of local end user, sound, reduce the distance estrangement between person to person and machine.The most prominent, logical
Cross the information that portable far-end interaction platform when participating in the cintest is collected environment about, build its reality environment, local side
User can pass through virtual reality glasses " on the spot in person ", makes more humane operation.Additionally, this invention has the laminating mankind
The outward appearance of aesthetic conceptions, the people allowing far-end interact produces cordial feeling, it is provided that good user-interaction experience.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-described embodiment
Limit, the change made under other any spirit without departing from the present invention and principle, modify, substitute, combine, simplify,
All should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (10)
1. a portable far-end is come personally interaction platform, it is characterised in that described platform is by mankind's artificial head (1), Ren Leifang
True body (5), mobile platform support bracket (8), mobile base robot (9) the most from top to bottom connect composition,
Described mankind's artificial head (1) includes the first translucent glass plate (2), the first projector (10) and head shell, institute
State the first projector (10) to be projected in by the image information of local end user head on described first translucent glass plate (2), make
Obtain described mankind's artificial head (1) and have the facial expression of local end user；
The described mankind emulate body (5) and include the second translucent glass plate (7), the second projector (11) and body shell, institute
State the second projector (11) to be projected in by the image information of local end user body on described second translucent glass plate (7), make
The described mankind emulate body (5) and have the body sight of local end user.
Portable far-end the most according to claim 1 is come personally interaction platform, it is characterised in that described first projector (10)
And described second projector (11) is each parallel to described first translucent glass plate (2) and described second translucent glass plate
(7) placing, described first projector (10) and described second projector (11) include that a projector image turns to respectively
Device, shows on the translucent glass plate that the most parallel image redirect to correspondence respectively.
Portable far-end the most according to claim 2 is come personally interaction platform, it is characterised in that described projector image turns to
Device includes: fixed plate (a1), two-way mirror (a2) and fixed plate (a3), described fixed plate (a1), described two-way mirror
And described fixed plate (a3) forms a 45° angle and picture vertical for projector is turned to into level (a2).
Portable far-end the most according to claim 1 is come personally interaction platform, it is characterised in that the described mankind emulate body
(5) being provided with mini microphone (6), 3D photographic head (3) and audio amplifier (4) on, described mini microphone (6) is for acquisition platform week
The acoustical signal enclosed, the described 3D photographic head (3) signal of video signal around acquisition platform, described audio amplifier (4) is used for playing use
The sound at family.
Portable far-end the most according to claim 1 is come personally interaction platform, it is characterised in that described mobile platform load-bearing is propped up
Frame (8) plays load-bearing effect and supports that upper-lower height regulates, by the mankind described in described mobile platform support bracket (8) scalable
Emulation body (5) and the position height of described mankind's artificial head (1).
Portable far-end the most according to claim 1 is come personally interaction platform, it is characterised in that described mobile base robot
(9) including: sensor assembly, motor and driving module, power module and embedded computer,
Wherein, described motor and drive module, for providing kinetic moment for portable far-end interaction platform of coming personally；
Described power module, in interaction platform of coming personally for portable far-end, all parts provides running voltage, it is possible to output
24V, 6V, 5V, 3.3V voltage；
Described embedded computer, for being responsible for the control of whole platform, it is equipped with wireless network module simultaneously, is used for receiving use
The control signal at family and image, acoustical signal, meanwhile, described embedded computer have the data-interface required for projector,
Power interface.
Portable far-end the most according to claim 6 is come personally interaction platform, it is characterised in that described sensor assembly bag
Include: Hall-type current sensor, gyro sensor and ultrasonic sensor,
Wherein, described Hall-type current sensor is come personally the charge condition of interaction platform for detecting portable far-end；
Described gyro sensor is used for measuring the steering angle of described mobile base robot (9)；
Described ultrasonic sensor modules is come personally the distance of interaction platform peripheral obstacle for gathering portable far-end, and realizes
Automatic obstacle avoiding.
Portable far-end the most according to claim 1 is come personally interaction platform, it is characterised in that described portable far-end is when participating in the cintest
Interaction platform also includes external charging pile (12), and described charging pile (12) described portable far-end of fitting is come personally interaction platform
Profile, when described portable far-end interaction platform when participating in the cintest moves to charging pile charging, the charging plug of described charging pile (12)
The charging jacks of the most corresponding described mobile base robot.
Portable far-end the most according to claim 8 is come personally interaction platform, it is characterised in that described portable far-end is when participating in the cintest
Interaction platform can monitor dump energy in real time, when electricity is less than when setting warning value, and platform can alert user, reminds user to carry out
Charging.
Portable far-end the most according to claim 9 is come personally interaction platform, it is characterised in that described portable far-end faces
Interaction platform, in the certain limit of described charging pile (12), can start Automatic Track Finding backhaul function, according in it in avoidance
Algorithm and the algorithm that tracks return to described charging pile (12) and charge voluntarily.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610753058.2A CN106217393B (en) | 2016-08-29 | 2016-08-29 | Mobile interaction platform of distally coming personally |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610753058.2A CN106217393B (en) | 2016-08-29 | 2016-08-29 | Mobile interaction platform of distally coming personally |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015665A (en) * | 2018-06-16 | 2018-12-18 | 佛山市豪洋电子有限公司 | Intelligence projection robot |
| CN112720519A (en) * | 2020-12-23 | 2021-04-30 | 长沙学院 | Art pattern display robot |
| US20210339380A1 (en) * | 2020-02-14 | 2021-11-04 | Beijing Baidu Netcom Science And Technology Co., Ltd. | Robot |
| WO2022195839A1 (en) * | 2021-03-19 | 2022-09-22 | 本田技研工業株式会社 | Robot |
| WO2022195840A1 (en) * | 2021-03-19 | 2022-09-22 | 本田技研工業株式会社 | Robot |
| WO2022195841A1 (en) * | 2021-03-19 | 2022-09-22 | 本田技研工業株式会社 | Robot |
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| JP2012138086A (en) * | 2005-09-30 | 2012-07-19 | Irobot Corp | Companion robot for personal interaction |
| CN104898652A (en) * | 2011-01-28 | 2015-09-09 | 英塔茨科技公司 | Interfacing with a mobile telepresence robot |
| CN102755194A (en) * | 2011-04-25 | 2012-10-31 | 山东省普来特能源与电器研究院 | Remote monitoring robot |
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| US20150190927A1 (en) * | 2012-12-21 | 2015-07-09 | Crosswing Inc. | Customizable robotic system |
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| CN206200977U (en) * | 2016-08-29 | 2017-05-31 | 华南理工大学 | Portable distal end is come personally interaction platform |
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| WO2022195839A1 (en) * | 2021-03-19 | 2022-09-22 | 本田技研工業株式会社 | Robot |
| WO2022195840A1 (en) * | 2021-03-19 | 2022-09-22 | 本田技研工業株式会社 | Robot |
| WO2022195841A1 (en) * | 2021-03-19 | 2022-09-22 | 本田技研工業株式会社 | Robot |
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