CN109613875A - A kind of robot chassis control system - Google Patents
A kind of robot chassis control system Download PDFInfo
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- CN109613875A CN109613875A CN201910069814.3A CN201910069814A CN109613875A CN 109613875 A CN109613875 A CN 109613875A CN 201910069814 A CN201910069814 A CN 201910069814A CN 109613875 A CN109613875 A CN 109613875A
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- 238000007600 charging Methods 0.000 claims abstract description 27
- 230000004927 fusion Effects 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000005611 electricity Effects 0.000 claims abstract description 8
- 238000007599 discharging Methods 0.000 claims abstract description 7
- 230000003993 interaction Effects 0.000 claims abstract description 7
- 241001269238 Data Species 0.000 claims abstract description 5
- 238000012545 processing Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 14
- 238000004364 calculation method Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 206010033799 Paralysis Diseases 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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- Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The purpose of the application is to provide a kind of robot chassis control system, and the signal of power supply power supply management module is controlled by main control module, and the data reported to sensor acquisition module carry out operation fusion, and under send instructions and control motion-control module；Data operation module is handled through the fused data of operation in main control module, and with main control module interaction data；Sensor acquisition module detects multiple external sensors to merge to the multiple detection datas got, and fused data are reported to main control module；The instruction that motion-control module sends the main control module parses, and controls motor and execute operation；Battery supply is distributed to each electricity consumption module by power supply power supply management module, and carries out management of charging and discharging and detection.To improve the reliability, stability and extension suitability of chassis control system, and chassis is small in size adaptable, and easy to operate and maintenance cost is low.
Description
Technical field
This application involves robot field more particularly to a kind of robot chassis control systems.
Background technique
Robot chassis is widely used to life and industrial circle, as in market for guiding advertisement interaction robot
Intelligent walking control, such as the operation of intelligent storage mobile chassis in logistics transportation.Currently, the robot chassis control system used
Centerized fusion is mostly used, the processing of master control system concentrated collection executes and sensor interactive unit data, and is fed back and executed instruction.
But have the disadvantage in that centerized fusion robot chassis control system is more demanding to primary processor and connects without expansible
Mouthful, when processing data volume increase, it can not temporarily increase external processor.And master control system certain go wrong will lead to it is whole
A control system paralysis, the reliability and stability of robot chassis control system are lower.The control of centerized fusion robot chassis
The scalability and interchangeability of system processed are insufficient, and there are no chassis universal design marks, and different user is inconsistent for functional requirement,
It is a whole set of when user proposes new functional requirement to make the design efforts would of robot chassis control system become huge
Control system constructing plan needs to redesign, and generates a large amount of repetitive operations.Current calculation process and Multi-sensor Fusion
Technical stability is lower, and control system failure risk is higher, does not fully consider later maintenance manpower and time cost, when chassis is controlled
It needs a whole set of control system to carry out whole replacements when system certain processed is broken down, causes extreme loss.
In addition, the chassis control system provided in patent document (CN207488758U) is the angle designed from motor driven
Compatible adaptation variety classes motor and closed-loop sensors are carried out, are only from robot chassis control system in motor driven angle
Do design optimization, and there is no built modular robot chassis control system, the freedom degree of robot chassis application still by
Limitation.
Summary of the invention
The purpose of the application is to provide a kind of robot chassis control system, solves chassis control system in the prior art
System is limited to single use scene, and function expansibility is insufficient, not convenient for safeguarding and do not have the problem of built modular.
According to the one aspect of the application, a kind of robot chassis control system is provided, which includes:
Main control module, data operation module, sensor acquisition module, motion-control module and power supply power supply management module,
Wherein,
The main control module is used to control the signal of the power supply power supply management module, on the sensor acquisition module
The data of report carry out operation fusion, and under send instructions and control the motion-control module；
The data operation module for being handled through the fused data of operation in the main control module, and with institute
State main control module interaction data；
The sensor acquisition module is used to detect multiple external sensors to carry out to the multiple detection datas got
Fused data are reported to the main control module by fusion；
The instruction that the motion-control module is used to send the main control module parses, and controls motor and execute work
Industry；
The power supply power supply management module is used to battery supply distributing to each electricity consumption module, and carry out management of charging and discharging with
Detection.
Further, the external sensor includes ultrasonic sensor, infrared distance sensor, magnetometric sensor, laser
Radar sensor, high frequency RFID sensor, low frequency RFID sensor and crash sensor.
Further, the main control module includes Power Management Unit, processing unit and control unit；
The processing unit is communicated with the power supply power supply management module, and the processing unit is used for the sensing
The data that device acquisition module reports carry out fusion treatment, and the data after fusion treatment are reported to described control unit；
The Power Management Unit is that the processing unit is powered and is powered point to each unit in the main control module
Match；
Described control unit is used to carry out calculation process to the data received, and reports to institute by USB and Ethernet
State data operation module.
Further, described control unit includes removable flash memory, and the log for recording bottom data is believed
Breath.
Further, the data operation module is powered by the main control module, and on the main control module
The data of report carry out calculation process, are executed instruction according to the data determination after calculation process, described execute instruction is issued to institute
Main control module is stated for controlling the robot.
Further, the chassis control system includes three road motor drive modules, each road motor drive module control bit
In the execution of the motor of same circuit, each road motor drive module is connect with the motion-control module.
Further, the motion-control module is connect with the power supply power supply management module.
Further, the motion-control module is used to be communicated by signal port interface with the main control module, with
Obtain the motion control instruction that the main control module issues.
Further, the motion-control module is for parsing the motion control instruction, after parsing
Data are distributed into corresponding each road motor drive module.
Further, the power supply power supply management module includes three road power supply units, two road charhing units and infrared communication
Unit, three road power supply unit are used to power for the main control module.
Further, two road charhing unit includes power supply emergent charging unit and automatic charging unit.
Further, the infrared communication unit is for the communication of the chassis control system and external equipment so that described
Automatic charging unit executes automatic charging.
Compared with prior art, chassis control system described herein includes: main control module, data operation module, passes
Sensor acquisition module, motion-control module and power supply power supply management module, wherein the main control module is for controlling the power supply
The signal of power supply management module, the data reported to the sensor acquisition module carry out operation fusion, and under send instructions control
The motion-control module；The data operation module be used for in the main control module through the fused data of operation at
Reason, and with the main control module interaction data；The sensor acquisition module is for detecting multiple external sensors to acquisition
To multiple detection datas merged, fused data are reported into the main control module；The motion-control module is used
It is parsed in the instruction sent to the main control module, and controls motor and execute operation；The power supply power supply management module is used
In battery supply is distributed to each electricity consumption module, and carry out management of charging and discharging and detection.Divided the work by each module, avoid because
Any place goes wrong and entire control system is caused to be paralysed, and improves the reliability and stability of chassis control system；Have
Very strong extension suitability, and chassis is small in size adaptable, easy to operate and maintenance cost is low.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 shows a kind of structural schematic diagram of the robot chassis control system provided according to the one aspect of the application；
Fig. 2 shows the structural schematic diagrams of main control module in one embodiment of the application；
Fig. 3 shows the schematic diagram that data operation module is interacted with main control module in one embodiment of the application；
Fig. 4 shows the operation schematic diagram of motion-control module in one embodiment of the application；
Fig. 5 shows the structural schematic diagram of power supply power supply management module in one embodiment of the application；
Fig. 6 shows the structural schematic diagram of robot chassis control system in one preferred embodiment of the application.
The same or similar appended drawing reference represents the same or similar component in attached drawing.
Specific embodiment
The application is described in further detail with reference to the accompanying drawing.
Fig. 1 shows a kind of structural schematic diagram of the robot chassis control system provided according to the one aspect of the application,
The chassis control system includes: main control module 1, data operation module 2, sensor acquisition module 3, motion-control module 4 and electricity
Source power supply management module 5, wherein the main control module 1 is used to control the signal of the power supply power supply management module 5, to described
Data that sensor acquisition module 3 reports carry out operation fusion, and under send instructions and control the motion-control module 4；The number
According to computing module 2 for being handled through the fused data of operation in the main control module 1, and with the main control module 1
Interaction data；The sensor acquisition module 3 for detect multiple external sensors with to the multiple detection datas got into
Fused data are reported to the main control module 1 by row fusion；The motion-control module 4 is used for the main control module 1
The instruction of transmission is parsed, and is controlled motor and executed operation；The power supply power supply management module 5 is for distributing battery supply
To each electricity consumption module, and carry out management of charging and discharging and detection.Here, main control module 1 is for controlling power supply power supply management module 5
The data of signal and power supply power supply management module 5 acquire operation and control.3 reported data of sensor acquisition module is obtained to carry out
Operation fusion, under send instructions and control motion-control module 4.Data operation module 2 is used for the fused bottom number of main control module 1
According to carry out Slam algorithm process, then under send instructions and 1 interaction data of main control module.Sensor acquisition module 3 is for detecting outside
Sensor and being merged is reported to again in main control module 1.Motion-control module 4 is used to obtain the instruction of the transmission of main control module 1
It is parsed, and controls motor and execute operation.Power supply power supply management module 5 is used to battery supply distributing to each power unit,
It is provided simultaneously with control output, management of charging and discharging and detection, short-circuit protection function.Pass through above-mentioned modular building chassis control system
System, allows each module that data are done with preliminary filtration treatment, is different from traditional all tidal data recoverings to the same master control
Unit carries out overall parsing.Motion-control module solves the interface between master control and motor for being adapted to a variety of electric machine controllers
Mismatch problem.Power supply power supply management module small in size is simultaneously set to system maintenance mouth position, to carry out diagnostic system shape
State.
In one embodiment of the application, the external sensor includes ultrasonic sensor, infrared distance sensor, magnetic force biography
Sensor, laser radar sensor, high frequency RFID sensor, low frequency RFID sensor and crash sensor.Here, multiple external biographies
Sensor acquisition is based on sound, light, electricity, magnetic sensor data, and sensor acquisition module 3 is by sensor data set needed for robot chassis
In summarize, support multiplex ultrasonic sensor, multichannel infrared distance sensor, magnetometric sensor, crash sensor, laser radar
Sensor, high frequency RFID sensor, low frequency RFID sensor.Main control module is reported to by the data that Multi-sensor Fusion acquires
1, figure is built to complete positioning, realizes independent navigation.
In one embodiment of the application, the main control module 1 includes that Power Management Unit 11, processing unit 12 and control are single
Member 13；The processing unit 12 is communicated with the power supply power supply management module 5, and the processing unit 12 is used for the biography
The data that sensor acquisition module 3 reports carry out fusion treatment, and the data after fusion treatment are reported to described control unit 13；
The Power Management Unit 11 is that the processing unit 12 powers and is powered distribution to each unit in the main control module；Institute
Control unit 13 is stated for carrying out calculation process to the data received, and the data are reported to by USB and Ethernet and are transported
Calculate module 2.Here, processing unit 12 is microprocessing unit MCU, control unit as shown in Fig. 2, Power Management Unit 11 is PMU
13 be key control unit.Main control module is made of PMU, MCU and key control unit, PMU and power supply power supply management module into
Row communication, power supply power supply management module are powered PMU, and PMU is responsible for the distribution of main control module internal system power supply simultaneously, from
And complete the power supply control and monitoring to MCU and key control unit；MCU is responsible for the data that collecting sensor acquisition module reports
Fusion treatment is carried out, key control unit is reported to after being disposed, while obtaining the finger sent under key control unit
Information is enabled to control motion-control module.Key control unit is responsible for all data of bottom carrying out fusion operation processing.
Above-described embodiment is connect, described control unit 13 includes removable flash memory, for recording bottom data
Log information.Here, dismountable Flash unit is arranged in key control unit, calculation process can only be passed through with traditional
The mode of unit record log (log) is different, by the way that Flash unit record log information is arranged in embodiment described herein,
It can also be by the status information of Flash unit record firmware layer all hardware peripheral hardware, to carry out the diagnosis in later period.
In one embodiment of the application, the data operation module 2 is powered by the main control module 1, and to institute
It states the data that main control module 1 reports and carries out calculation process, executed instruction according to the data determination after calculation process, by the execution
Instruction is issued to the main control module 1 for controlling the robot.Here, as shown in figure 3, data operation module 2 is higher
The industrial personal computer unit of operational performance, is powered by main control module, is communicated by USB and Ethernet, to master control mould
Block parses fused data and carries out algorithm calculation process, and final executing instruction is issued to main control module and externally realizes control
System.
In one embodiment of the application, the chassis control system includes three road motor drive modules 6, each road motor driven
Module control is located at the execution of the motor of same circuit, and each road motor drive module is connect with the motion-control module.Institute
Motion-control module 4 is stated to connect with the power supply power supply management module 5.The motion-control module 4 by signal port for being connect
Mouth is communicated with the main control module 1, to obtain the motion control instruction that the main control module 1 issues.The motion control
Module 4 distributes the data after parsing to corresponding each road motor driven for parsing the motion control instruction
In module.Here, every road motor driver individually controls as shown in figure 4, motion-control module 4 connects three road motor drivers
Electric machine actuating mechanism all the way.Power supply power supply management module 5, which is given, powers, and is communicated by signaling interface with main control module,
The motion control instruction that main control module issues is obtained, data are assigned on corresponding driver after parsing, pass through driver control
Electric machine actuating mechanism running processed, for example advance, retreat, brake etc..Motion-control module can be defeated according to the driver of different agreement
Different protocol integrated test systems, such as RS232, RS485 out can flexibly be adapted to multiple types drive system.
In one embodiment of the application, the power supply power supply management module 5 includes three road power supply units 51, two tunnels charging list
Member 52 and infrared communication unit 53, three road power supply unit 51 are used to power for the main control module 1.The two tunnels charging is single
Member 52 includes power supply emergent charging unit and automatic charging unit.The infrared communication unit 53 is used for the chassis control system
Communication with external equipment is so that the automatic charging unit executes automatic charging.Here, as shown in figure 5, power supply power supply management
Module includes automatic charging unit, emergent charging unit, motor power supply unit, customer power supply unit, infrared communication unit, is realized
The power supply of 3 tunnels, the charging of 2 tunnels and the 1 road infrared communication unit of battery.The power supply of 3 tunnels is powers to main control module, main control module starting
Afterwards, operation signal of communication starting motor is switched according to user to export for electricity output and customer power supply.The charging of 2 tunnels includes that power supply is met an urgent need
Charging and automatic charging, infrared communication unit are used to complete the communication of robot chassis and external equipment, realize automatic charging function
Energy.In addition, power supply power supply management module is also used to power for fuse unit and the distribution of power supply.
In one preferred embodiment of the application, as shown in fig. 6, robot chassis control system includes main control module, data
Computing module, sensor acquisition module, motion-control module and power supply power supply management module.Main control module is for controlling power supply confession
The signal of electric management module and the data acquisition operation and control of power supply power supply management module, obtain on sensor acquisition module
Count off according to carrying out operation fusion, under send instructions and control motion-control module.Built-in black box submodule is real-time in main control module
(Flash unit) record bottom log, the status information of recording firmware layer all hardware peripheral hardware facilitate subsequent diagnosis in real time.Number
Be used for the slam algorithm process of the fused bottom data of main control module according to computing module, then under send instructions and interacted with main control module
Data.Sensor acquisition module reports to main control module for detecting external sensor and being merged again.Motion-control module
It is parsed for obtaining the instruction that main control module is sent, and controls motor by 3 road motor drivers and execute operation.Movement control
Molding block is adapted to a variety of motor drivers, solves the interface mismatch problem between master control and motor.Power supply power supply manages mould
Block is provided simultaneously with control output, management of charging and discharging and detection, short-circuit protection function for distributing battery supply to each power unit
Can, power supply power supply management module is set to system maintenance mouth position conducive to diagnostic system state.Entire control system has very strong
Suitability and small in size is extended, it is adaptable, it is easy to operate.Each module division of labor of control system is clear, avoids because of any module
It goes wrong and whole system is caused to be paralysed, improve the reliability and stability of chassis control system.In addition, can be according to user
The different of demand only need to be individually designed to the progress of specified module, and versatility is high, greatly facilitates chassis control system side, robot
The popularization and application of case.The maintenance cost of chassis control system described herein is low, and the independent guarantor of power supply power supply management module
Dangerous silk unit can play a protective role to control system and can be with self- recoverage.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case where without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and scope of the present application is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included in the application.Any reference signs in the claims should not be construed as limiting the involved claims.This
Outside, it is clear that one word of " comprising " does not exclude other units or steps, and odd number is not excluded for plural number.
Claims (12)
1. a kind of robot chassis control system, which is characterized in that the chassis control system includes:
Main control module, data operation module, sensor acquisition module, motion-control module and power supply power supply management module, wherein
The main control module is used to control the signal of the power supply power supply management module, reports to the sensor acquisition module
Data carry out operation fusion, and under send instructions and control the motion-control module；
The data operation module for being handled through the fused data of operation in the main control module, and with the master
Control module interaction data；
The sensor acquisition module is used to detect multiple external sensors to merge to the multiple detection datas got,
Fused data are reported into the main control module；
The instruction that the motion-control module is used to send the main control module parses, and controls motor and execute operation；
The power supply power supply management module is used to battery supply distributing to each electricity consumption module, and carries out management of charging and discharging and inspection
It surveys.
2. chassis control system according to claim 1, which is characterized in that the external sensor includes ultrasonic sensing
It device, infrared distance sensor, magnetometric sensor, laser radar sensor, high frequency RFID sensor, low frequency RFID sensor and touches
Hit sensor.
3. chassis control system according to claim 1, which is characterized in that the main control module includes power management list
Member, processing unit and control unit；
The processing unit is communicated with the power supply power supply management module, and the processing unit is for adopting the sensor
The data that collection module reports carry out fusion treatment, and the data after fusion treatment are reported to described control unit；
The Power Management Unit is that the processing unit powers and is powered distribution to each unit in the main control module；
Described control unit is used to carry out calculation process to the data received, and reports to the number by USB and Ethernet
According to computing module.
4. chassis control system according to claim 1, which is characterized in that described control unit includes removable flash
Memory, for recording the log information of bottom data.
5. chassis control system according to claim 1, which is characterized in that the data operation module passes through the master control
Module is powered, and carries out calculation process to the data that the main control module reports, and is determined according to the data after calculation process
It executes instruction, described execute instruction is issued to the main control module and is used to control the robot.
6. chassis control system according to claim 1, which is characterized in that the chassis control system includes No. three motors
Drive module, the control of each road motor drive module are located at the execution of the motor of same circuit, and each road motor drive module is and institute
State motion-control module connection.
7. chassis control system according to claim 1, which is characterized in that the motion-control module and the power supply supply
Electric management module connection.
8. chassis control system according to claim 1, which is characterized in that the motion-control module is for passing through signal
Mouth interface is communicated with the main control module, to obtain the motion control instruction that the main control module issues.
9. the chassis control system according to claim 6 or 8, which is characterized in that the motion-control module is used for institute
It states motion control instruction to be parsed, the data after parsing is distributed into corresponding each road motor drive module.
10. chassis control system according to claim 1, which is characterized in that the power supply power supply management module includes three
Road power supply unit, two road charhing units and infrared communication unit, three road power supply unit are used to power for the main control module.
11. chassis control system according to claim 10, which is characterized in that two road charhing unit includes that power supply is answered
Boost charge unit and automatic charging unit.
12. chassis control system according to claim 10, which is characterized in that the infrared communication unit is used for the bottom
The communication of disk control system and external equipment is so that the automatic charging unit executes automatic charging.
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| CN201910069814.3A CN109613875A (en) | 2019-01-24 | 2019-01-24 | A kind of robot chassis control system |
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| CN201910069814.3A CN109613875A (en) | 2019-01-24 | 2019-01-24 | A kind of robot chassis control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112947471A (en) * | 2021-03-18 | 2021-06-11 | 广州视源电子科技股份有限公司 | Robot chassis system and robot |
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| CN206292585U (en) * | 2016-12-14 | 2017-06-30 | 深圳光启合众科技有限公司 | Robot and its control system |
| CN206883638U (en) * | 2017-03-28 | 2018-01-16 | 深圳光启合众科技有限公司 | Robot control system and robot |
| CN106873598A (en) * | 2017-03-29 | 2017-06-20 | 北京智能佳科技有限公司 | A kind of laser Xun Xian robots and follow line method |
| CN206781908U (en) * | 2017-05-01 | 2017-12-22 | 西北师范大学 | Service robot universal chassis based on STM32 |
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| CN207488758U (en) * | 2017-11-22 | 2018-06-12 | 上海魔龙机器人科技有限公司 | A kind of robot bobbin movement control system |
| CN207623742U (en) * | 2017-12-26 | 2018-07-17 | 湖南大学 | Chassis control circuit for bank service robot |
| CN108710376A (en) * | 2018-06-15 | 2018-10-26 | 哈尔滨工业大学 | The mobile chassis of SLAM and avoidance based on Multi-sensor Fusion |
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| CN110165772A (en) * | 2019-04-25 | 2019-08-23 | 北京海益同展信息科技有限公司 | Robot chassis electric system, chassis and robot |
| CN110165772B (en) * | 2019-04-25 | 2024-04-05 | 京东科技信息技术有限公司 | Robot chassis electrical system, chassis and robot |
| CN112947471A (en) * | 2021-03-18 | 2021-06-11 | 广州视源电子科技股份有限公司 | Robot chassis system and robot |
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Application publication date: 20190412 |