CN207164585U - A kind of mobile robot of independent navigation - Google Patents
A kind of mobile robot of independent navigation Download PDFInfo
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- CN207164585U CN207164585U CN201720921823.7U CN201720921823U CN207164585U CN 207164585 U CN207164585 U CN 207164585U CN 201720921823 U CN201720921823 U CN 201720921823U CN 207164585 U CN207164585 U CN 207164585U
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Abstract
The utility model discloses a kind of mobile robot of independent navigation, including robot carrier frame, host computer, sensor-based system, operation control panel, power-supply system, drive system, robot controller and remote control, the robot carrier frame is by top plate, bottom plate and the coaming plate for surrounding and being fixedly mounted therebetween form, the coaming plate is provided with groove in the opposite end for installing the operation control panel, the sensor-based system includes laser radar sensor and three-dimensional camera, the laser radar sensor and three-dimensional camera are fixedly mounted in groove, the sensing data of acquisition is real-time transmitted to coupled host computer by the laser radar sensor and three-dimensional camera.The utility model has that automaticity is high, deployment time is short, and maintenance cost is low, the advantages that being widely used, can be widely applied to dining room food delivery, mall shopping, the cargo transport of wisdom factory and conveyance, and that effectively realizes robot and user interacts interaction.
Description
Technical field
It the utility model is related to mobile robot technology field, more particularly to a kind of mobile robot of independent navigation.
Background technology
(Automated Guided Vehicle, abbreviation AGV), also commonly referred to as AGV dollies, refer to equipped with electricity magnetically or optically
Etc. homing guidance device, can travel along defined guide path, have safeguard protection and the transport of various transfer functions
Car.Typically its traveling can be set up by using electromagnetic path (electromagnetic path-following system)
Route, electromagnetic path are sticked on floor.Due to needing laying track in advance, there is poor expandability, can not flexibly enter line
The defects of road adjusts.
With the development of the development of computer technology and sensor technology, especially laser radar and 3D camera technologies,
The mobile robot with independent navigation function designed by using new technology is increasingly pursued by market.
Utility model content
For above-mentioned problems of the prior art, the utility model provide a kind of independent navigation mobile robot and
Its operating method, solves the technical problem limited in the prior art by AGV dolly trapped orbits.
To achieve the above object, the utility model provides following technical scheme：
A kind of mobile robot of independent navigation, including robot carrier frame, drive system, operation control panel, sensing
System, host computer, power-supply system, robot controller and remote control, the robot carrier frame by top plate, bottom plate and
Surround and coaming plate composition therebetween is fixedly mounted, the bottom of bottom plate, the operation control is fixedly mounted in the drive system
Making sheet is fixed on coaming plate one end, and the host computer, power-supply system, robot controller and remote control are installed in robot
Above bottom plate inside carrier frame, the host computer is arranged on bottom plate by computer supporting plate, the host computer
Input and output（I/O）Interface is connected with operation control panel, and the host computer is controlled by input/output interface and robot
Device is communicated, and the back side of the operation control panel is provided with DC-to-DC voltage changing module, and the power-supply system passes through direct current
It is connected respectively with host computer, robot controller and remote control to direct current transformation module；The sensor-based system includes laser
Radar sensor, three-dimensional camera, several ultrasonic sensors and sensor data acquisition interface module, the ultrasonic wave pass
Sensor is fixedly mounted on coaming plate, the barrier that can not be measured for detecting laser radar sensor, and the coaming plate is in installation institute
The opposite end for stating operation control panel is provided with groove, and the laser radar sensor and three-dimensional camera are fixedly mounted in groove,
The sensor data acquisition interface module is fixedly mounted on bottom plate, and the laser radar sensor and three-dimensional camera will obtain
The sensing data taken is real-time transmitted to coupled host computer by sensor data acquisition interface module.
Further, the operation operating system of the host computer is PC main frames or single-borad computer（SBC）In one kind, institute
State single-borad computer（SBC）Operating system can be Linux or Windows systems in one kind；The host computer is opening
Software architecture, the software architecture include map drawing module, path planning module, automatic obstacle-avoiding module, independent navigation mould
Block, sensor data acquisition interface module and communication interface modules, it is connected with each other between each module of the software architecture, it is solid
Dingan County passes through the logical of standard on bottom plate between each module of software architecture and between module and server/external system
Letter agreement and the data format of customization are communicated；The server or external system for external connected electronic equipment management system or
One kind in person's business process system.
Further, the drive system includes driving wheel, universal wheel, direct current generator, motor reducer and motor driver,
The direct current generator is connected with motor reducer, and for exporting bigger moment of torsion, the motor reducer is connected with driving wheel, drives
Driving wheel is rotated and rotated with motor reducer, and motor driver is arranged on bottom plate, passes through input/output interface and auxiliary device
It is attached；The driving wheel at least two and each other positional symmetry, are respectively connecting to independent motor reducer, using differential
Type of drive, the different rotating speeds of two motors are adjusted by motor driver, come the advance and steering of control machine people；Described ten thousand
To at least two and each other positional symmetry are taken turns, respectively positioned at the front and back of bottom plate, play a part of support.
Further, the direct current generator is closely connected with motor reducer, by the decelerating through motor for configuring different speed reducing ratio
Machine, to obtain the output torque performance of requirement；The motor reducer is connected with the electric machine support being fixedly mounted on above bottom plate
Connect, the through hole that the power line and control line of the motor reducer may pass through on bottom plate becomes with motor driver and DC-to-DC
Die block is connected；Different through hole or screw are issued on the top plate, for fixing auxiliary device.
Further, the operation control panel is provided with the power supply for realizing the control operation of user and the status display of robot
Switch, emergency stop switch, remote control switch, user button, LED light, USB interface, video interface, charging hole and power supply
Indicator lamp, the power switch are connected to main circuit, and the power supply for controlling whole robot as main switch is cut-off, and emergent stopping is opened
Pass is stopped in emergency in case of emergency order robot, and remote control switch is used for starting remote control, is switched to remote control control
Molding formula, user button and LED light can define its function by programming, and USB interface and video interface can be as needed
Host computer and robot controller are connected to, to facilitate debugging, charging hole charges for battery, and power supply indicator passes through difference
Color indicate the information about power of battery.
Further, the power-supply system includes battery compartment, the battery of polylith series/parallel, charging/power supply circuit and power supply
Distribution plate, the battery are arranged in battery compartment, and the battery compartment is fixed on bottom plate, and the battery compartment cover plate uses separate type
Design, the battery of different size can be adapted to by the length for the screw for adjusting both sides, the screw and battery compartment are by battery
It is tightly fastened, prevents that battery is mobile and drops；Several DC-to-DC voltage changing modules are installed in the power distribution board, it is described
One end of DC-to-DC voltage changing module is connected with battery, one end output voltage.
Further, the remote control is made up of receiver of remote-control sytem and hand-held remote controller, and the receiver of remote-control sytem passes through defeated
Enter output interface with robot control panel to be connected, the receiver of remote-control sytem receives the instruction that hand-held remote controller is sent, and passes through input
Output interface reports robot controller.
Further, the robot controller includes calculating and memory module, numeral and simulation input output port, sensing
Device interface, IMU modules, RS485 modules and USB module；PID speed governing algorithm, the IMU of the robot controller operation motor are mixed
Hop algorithm is communicated with host computer, the order and report real time data that reception host computer issues.
Further, a kind of operating method of the mobile robot of independent navigation, turns on the power switch and is opened with hand-held remote controller
Manipulation hand-held remote controller handle control machine people by the way of differential driving is closed to move in working space；The hand-held remote control
The guidance command of user is sent to robot controller by device, the robot controller by remote signal by data conversion into
The speed of service of driving wheel, speed of service instruction is then issued to motor driver, the motor driver is according to receiving
The rotating speed of instruction adjustment motor controls the speed of service of driving wheel；During robot is run, the laser radar passes
Sensor and three-dimensional camera constantly collect the information of surrounding environment, then pass through information in sensor data acquisition interface module
Pass to host computer to be handled, the information being collected into is uploaded to computer by the ultrasonic sensor by robot controller
The operation information of motor is uploaded to host computer, the computer master by main frame, the motor driver by robot controller
The map that machine passes through running environment where all data messages being collected into are processed with generation robot.
Further, a kind of operating method of the mobile robot of independent navigation, start robot and load map, Yong Hutong
Cross server or external system and the order for running to some target point on map is issued to robot host computer, this order includes
The coordinate and angle information of target point；After robot receives order, passage path planning module cooks up the optimal of operation
Route, the speed command of driving wheel operation, the robot controller are then issued to robot controller by communication interface
This order is issued to motor driver, robot performs operation order；During robot is run, the laser radar
Sensor and three-dimensional camera can constantly collect the information of surrounding environment, and information then is passed through into sensor data acquisition interface
Module uploads to host computer and handled, and the ultrasonic sensor uploads the information being collected into by robot controller
To host computer, the operation information of motor is uploaded to host computer by the motor driver by robot controller, described
Host computer is according to the operation of the information realization being collected into self-positioning, independent navigation to target point path planning, automatic obstacle-avoiding
Task.
Relative to prior art, the beneficial effects of the utility model are：
The utility model can complete mapping using open software architecture, path planning, automatic obstacle-avoiding, independently
Navigation.The utility model has that automaticity is high, deployment time is short, and maintenance cost is low, the advantages that being widely used, can answer extensively
For dining room food delivery, mall shopping, the cargo transport of wisdom factory and conveyance, effectively realize that robot and interacting for user are mutual
It is dynamic.
Brief description of the drawings
Fig. 1 is a kind of rear D structure figure of mobile robot of independent navigation of the utility model；
Fig. 2 is a kind of bottom driving system structure schematic diagram of mobile robot of independent navigation of the utility model；
Fig. 3 is a kind of front end sensor-based system structural representation of mobile robot of independent navigation of the utility model；
Fig. 4 is that a kind of back-end operations of mobile robot of independent navigation of the utility model control plate structure schematic diagram；
Fig. 5 is a kind of internal cross section structural representation of the mobile robot of independent navigation of the utility model；
Fig. 6 is a kind of operating principle schematic diagram of the mobile robot of independent navigation of the utility model；
Reference：1st, top plate, 2, bottom plate, 3, coaming plate, 4, operation control panel, 5, driving wheel, 6, universal wheel, 7, direct current
Machine, 8, motor reducer, 9, laser radar sensor, 10, camera, 11, ultrasonic sensor, 12, power switch, 13, tight
Anxious shutdown switch, 14, remote control switch, 15, user button, 16, LED light, 17, USB interface, 18, video interface, 19,
Charging hole, 20, power supply indicator, 21, lateral ultrasonic wave support, 22, vertical ultrasonic wave support, 23, radar supports, 24, shooting
Head bracket, 25, motor driver, 26, robot controller, 27, power distribution board, 28, host computer, 29, electric machine support,
30th, battery compartment, 31, battery, 32, computer supporting plate, 33, battery compartment cover plate, 34, support column.
Embodiment
In order that those skilled in the art more fully understand the technical solution of the utility model, with reference to of the present utility model
Accompanying drawing, clear, complete description is carried out to the technical solution of the utility model.
As shown in figure 1, robot carrier frame is by top plate 1, bottom plate 2 and surrounds and coaming plate therebetween is fixedly mounted
3 compositions, the operation control panel 4 are fixed on coaming plate one end.
As shown in Figure 2 and Figure 5, drive system includes driving wheel 5, universal wheel 6, direct current generator 7, motor reducer 8 and electricity
Machine driver 25, the direct current generator 7 are connected with motor reducer 8, for exporting bigger moment of torsion, the motor reducer 8
It is connected with driving wheel 5, driving wheel 5 rotates and rotated with motor reducer 8, and the bottom plate 2 is provided with support column 34, the motor
Driver 25 is installed on a base plate 2 by support column 34, is attached by various interfaces with auxiliary device；The driving wheel 5
At least two and positional symmetry each other, independent motor reducer 8 is respectively connecting to, using differential type of drive, passes through motor
The different rotating speeds of two motors of regulation of driver 8 carry out the advance and steering of control machine people；The universal wheel 6 at least two and
Positional symmetry each other, respectively the front and back positioned at bottom plate 2 play a supporting role；The direct current generator 7 and motor reducer 8
Close connection, the output torque performance of requirement is obtained by configuring the motor reducer 8 of different speed reducing ratio.
As shown in Figure 2 and Figure 4, the motor reducer 8 is connected with being fixedly mounted on the electric machine support 29 of the top of bottom plate 2
Connect, the power line and control line of the motor reducer 8 may pass through through hole on bottom plate 2 with motor driver 8 and direct current to directly
Rheology die block is connected；Different through hole or screw are issued on the top plate 1, for fixing auxiliary device.
As shown in Figure 3 and Figure 4, sensor-based system includes laser radar sensor 9, three-dimensional camera 10, several ultrasonic waves
Sensor 11 and sensor data acquisition interface module, the coaming plate 3 are provided with recessed in the opposite end for installing the operation control panel 4
Groove, the laser radar sensor 9 and three-dimensional camera 10 are fixedly mounted on recessed by radar supports 23 and camera bracket 24
In groove, the sensor data acquisition interface module is fixedly mounted on a base plate 2, and the ultrasonic sensor 11 is fixedly mounted on
On coaming plate 3, the barrier that can not be measured for detecting laser radar sensor 9；The laser radar sensor 9 and stereo camera shooting
The sensing data of acquisition is real-time transmitted to coupled host computer 28 by sensor data acquisition interface module by first 10；
As shown in figure 5, the bottom plate 2 is provided with lateral ultrasonic wave support 21 and vertical ultrasonic wave support 22, lateral ultrasonic wave support 21
For supporting three groups of ultrasonic sensors 11 being arranged on below robot front coaming plate groove, vertical ultrasonic wave support 22 is used for
Two group ultrasonic sensors 11 of the support installed in the both sides of operation control panel 4.
As shown in Figure 4 and Figure 5, operation control panel include power switch 12, emergency stop switch 13, remote control switch 14,
User button 15, LED light 16, usb 17, video interface 18, charging hole 19 and power supply indicator 20；The power supply is opened
Close 12 and be connected to main circuit, the power supply for controlling whole robot as main switch is cut-off；The emergency stop switch 13 is used for
In emergency circumstances use, after this switch is pressed, robot will stop immediately；The remote control switch 14 is used for starting remote control dress
Put, when pressing this switch, robot is switched to remote control pattern；The user button 15 and LED light 16 pass through programming
To define its function；The usb 17 and video interface 18 are connected to host computer and robot controller as needed, side
Just debug；Charging hole 19 is used for charging to battery 31；Power supply indicator 20 indicates the electricity of battery 31 by different colors
Information；The back side of operation control panel 4 is also equipped with the voltage changing module of DC-to-DC, for providing a variety of different voltages, 5V,
12V or 19V.
As shown in figure 5, power-supply system include battery compartment 30, the battery 31 of polylith series/parallel, charging/power supply circuit and
Power distribution board 27, the battery 31 are arranged in battery compartment 30, and the battery compartment 30 is fixed on a base plate 2, and battery 31 is put
Enter in battery compartment 30, cover battery compartment cover plate 33, the both sides of the battery compartment cover plate 33 are provided with fastening screw, the screw and electricity
Battery 31 is tightly fastened by pond storehouse 30, prevent battery 31 from moving and dropping, and is adapted to not by adjusting the length of screw of both sides
The battery 31 of same specification, several DC-to-DC voltage changing modules, the DC-to-DC are installed in the power distribution board 27
One end of voltage changing module is connected with battery 31, and one end exports different voltage.
As it can be seen in figures 5 and 6, the host computer 28, power-supply system, robot controller 26 and remote control are installed in
The top of bottom plate 2 inside robot carrier frame, the host computer 28 are installed on a base plate 2 by computer supporting plate 32, institute
The operation operating system for stating host computer 28 is PC main frames, the single-borad computer（SBC）Operating system be linux system；Institute
Host computer 28 is stated as open software architecture, the software architecture includes map drawing module, path planning module, kept away automatically
Barrier module, independent navigation module, sensor data acquisition interface module and communication interface modules, each module of the software architecture
Between be connected with each other, be fixedly mounted on a base plate 2, between each module of software architecture and module and server/outside system
Communicated between system by the communication protocol of standard and the data format of customization；The server or external system are external electricity
The management system of sub- equipment；The input and output of the host computer 28（I/O）Interface is connected with operation control panel 4, the electricity
Brain server 28 is communicated by input/output interface and robot controller 26, and the back side of the operation control panel 4 is provided with
DC-to-DC voltage changing module, the power-supply system are controlled by DC-to-DC voltage changing module and host computer 28, robot
Device 26 and remote control connect respectively；The motor driver 26 is installed on a base plate 2, is set by input/output interface with attached
It is standby to be attached.
As shown in fig. 6, a kind of operating method of the mobile robot of independent navigation, turns on the power switch 12 and holds distant
The manipulation hand-held remote controller handle of control device switch 14 control machine people by the way of differential driving moves in working space；It is described
The guidance command of user is sent to robot controller 26 by hand-held remote controller, and the robot controller 26 leads to remote signal
Data conversion is crossed into the speed of service of driving wheel 5, speed of service instruction is then issued to motor driver 25, the motor drives
Dynamic device 25 controls the speed of service of driving wheel 5 according to the rotating speed of the instruction adjustment motor received；In the process of robot operation
In, the laser radar sensor 9 and three-dimensional camera 10 constantly collect the information of surrounding environment, and information then is passed through into sensing
Device data acquisition interface module uploads to host computer 28 and handled, the information that the ultrasonic sensor 11 will be collected into
Host computer 28 is uploaded to by robot controller 26, the operation information of motor is passed through robot by the motor driver 25
Controller 26 uploads to host computer 28, and the host computer 28 to all data messages being collected into by being processed generation
The map of running environment where robot.
As shown in fig. 6, a kind of operating method of the mobile robot of independent navigation, starts robot and loads map, use
Family issues the order for running to some target point on map by server or external system to robot host computer 28, this life
Order contains the coordinate and angle information of target point；After robot receives order, passage path planning module cooks up operation
Optimal route, then by communication interface to robot controller 26 issue driving wheel 5 run speed command, the machine
This order is issued to motor driver 25 by people's controller 26, and robot performs operation order；During robot is run,
The laser radar sensor 9 and three-dimensional camera 10 can constantly collect the information of surrounding environment, and information then is passed through into biography
Sensor data acquisition interface module uploads to host computer 28 and handled, the information that the ultrasonic sensor 11 will be collected into
Host computer 28 is uploaded to by robot controller 26, the operation information of motor is passed through robot by the motor driver 25
Controller 26 uploads to host computer 28, the host computer 28 according to the information realization being collected into is self-positioning, independent navigation extremely
The path planning of target point, the operation task of automatic obstacle-avoiding.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (8)
- A kind of 1. mobile robot of independent navigation, it is characterised in that：Including robot carrier frame, drive system, operation control Making sheet, sensor-based system, host computer, power-supply system, robot controller and remote control, the robot carrier frame is by pushing up Plate, bottom plate and surround and coaming plate composition therebetween is fixedly mounted, the bottom of bottom plate, institute is fixedly mounted in the drive system State operation control panel and be fixed on coaming plate one end, the host computer, power-supply system, robot controller and remote control are respectively mounted Above the bottom plate inside robot carrier frame, the host computer is arranged on bottom plate by computer supporting plate, the electricity The input and output of brain server（I/O）Interface is connected with operation control panel, and the host computer passes through input/output interface and machine Device people's controller is communicated, and the back side of the operation control panel is provided with DC-to-DC voltage changing module, the power-supply system It is connected respectively with host computer, robot controller and remote control by DC-to-DC voltage changing module；The sensor-based system It is described including laser radar sensor, three-dimensional camera, several ultrasonic sensors and sensor data acquisition interface module Ultrasonic sensor is fixedly mounted on coaming plate, the barrier that can not be measured for detecting laser radar sensor, the coaming plate Groove is provided with the opposite end for installing the operation control panel, the laser radar sensor and three-dimensional camera are fixedly mounted on In groove, the sensor data acquisition interface module is fixedly mounted on bottom plate, and the laser radar sensor and solid are taken the photograph As the sensing data of acquisition is real-time transmitted to coupled host computer by sensor data acquisition interface module by head.
- A kind of 2. mobile robot of independent navigation as claimed in claim 1, it is characterised in that：The operation of the host computer Operating system is PC main frames or single-borad computer（SBC）In one kind, the single-borad computer（SBC）Operating system can be One kind in Linux or Windows systems；The host computer is open software architecture, and the software architecture includes map Drafting module, path planning module, automatic obstacle-avoiding module, independent navigation module, sensor data acquisition interface module and communication Interface module, it is connected with each other between each module of the software architecture, is fixedly mounted on bottom plate, each module of software architecture Between and module and server/external system between communicated by the data format of the communication protocol of standard and customization； The server or external system are one kind in the management system or business process system of external connected electronic equipment.
- A kind of 3. mobile robot of independent navigation as claimed in claim 2, it is characterised in that：The drive system includes driving Driving wheel, universal wheel, direct current generator, motor reducer and motor driver, the direct current generator are connected with motor reducer, are used for The bigger moment of torsion of output, the motor reducer are connected with driving wheel, and driving wheel rotates and rotated with motor reducer, and motor drives Dynamic device is arranged on bottom plate, is attached by input/output interface and auxiliary device；The driving wheel at least two and each other Positional symmetry, independent motor reducer is respectively connecting to, using differential type of drive, two electricity are adjusted by motor driver The different rotating speeds of machine, come the advance and steering of control machine people；The universal wheel at least two and each other positional symmetry, respectively Positioned at the front and back of bottom plate, play a part of support.
- A kind of 4. mobile robot of independent navigation as claimed in claim 3, it is characterised in that：The direct current generator and motor Reductor closely connects, by configuring the motor reducer of different speed reducing ratio, to obtain the output torque performance of requirement；The electricity Machine reductor is connected with the electric machine support being fixedly mounted on above bottom plate, and the power line and control line of the motor reducer can It is connected through the through hole on bottom plate with motor driver and DC-to-DC voltage changing module；Different through holes is issued on the top plate Or screw, for fixing auxiliary device.
- A kind of 5. mobile robot of independent navigation as claimed in claim 4, it is characterised in that：The operation control panel is provided with Realize the power switch of the control operation of user and the status display of robot, emergency stop switch, remote control switch, user Button, LED light, USB interface, video interface, charging hole and power supply indicator, the power switch are connected to main circuit, The power supply for controlling whole robot as main switch is cut-off, and it is urgent that emergency stop switch is used in case of emergency order robot Parking, remote control switch are used for starting remote control, are switched to remote control pattern, user button and LED light can pass through Program to define its function, USB interface and video interface can be connected to host computer and robot controller as needed, with side Just debug, charging hole charges for battery, and power supply indicator indicates the information about power of battery by different colors.
- A kind of 6. mobile robot of independent navigation as claimed in claim 5, it is characterised in that：The power-supply system includes electricity Chi Cang, the battery of polylith series/parallel, charging/power supply circuit and power distribution board, the battery are arranged in battery compartment, institute State battery compartment to be fixed on bottom plate, the battery compartment cover plate uses separation design, can pass through the length for the screw for adjusting both sides Spend to be adapted to the battery of different size, battery is tightly fastened by the screw with battery compartment, prevents that battery is mobile and drops；It is described Several DC-to-DC voltage changing modules are installed, one end and the battery of the DC-to-DC voltage changing module connect in power distribution board Connect, one end output voltage.
- A kind of 7. mobile robot of independent navigation as claimed in claim 6, it is characterised in that：The remote control is by being remotely controlled Receiver and hand-held remote controller composition, the receiver of remote-control sytem is connected by input/output interface with robot control panel, described Receiver of remote-control sytem receives the instruction that hand-held remote controller is sent, and robot controller is reported by input/output interface.
- A kind of 8. mobile robot of independent navigation as claimed in claim 7, it is characterised in that：The robot controller bag Containing calculating and memory module, numeral and simulation input output port, sensor interface, IMU modules, RS485 modules and USB moulds Block；PID speed governing algorithm, the IMU hybrid algorithms of the robot controller operation motor are communicated with host computer, receive electricity The order and report real time data that brain server issues.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720921823.7U CN207164585U (en) | 2017-07-27 | 2017-07-27 | A kind of mobile robot of independent navigation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720921823.7U CN207164585U (en) | 2017-07-27 | 2017-07-27 | A kind of mobile robot of independent navigation |
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| CN207164585U true CN207164585U (en) | 2018-03-30 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107193283A (en) * | 2017-07-27 | 2017-09-22 | 青岛诺动机器人有限公司 | The mobile robot and its operating method of a kind of independent navigation |
| CN108726633A (en) * | 2018-06-20 | 2018-11-02 | 虞惠敏 | A kind of softening water processing robot of automatically walk cleaning |
| CN115864605A (en) * | 2023-02-08 | 2023-03-28 | 广州里工实业有限公司 | Power distribution device and method for mobile robot, robot and medium |
-
2017
- 2017-07-27 CN CN201720921823.7U patent/CN207164585U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107193283A (en) * | 2017-07-27 | 2017-09-22 | 青岛诺动机器人有限公司 | The mobile robot and its operating method of a kind of independent navigation |
| CN108726633A (en) * | 2018-06-20 | 2018-11-02 | 虞惠敏 | A kind of softening water processing robot of automatically walk cleaning |
| CN115864605A (en) * | 2023-02-08 | 2023-03-28 | 广州里工实业有限公司 | Power distribution device and method for mobile robot, robot and medium |
| CN115864605B (en) * | 2023-02-08 | 2023-05-16 | 广州里工实业有限公司 | Power supply distribution device and distribution method for mobile robot, robot and medium |
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