CN107627306A - Assist from fighter robot - Google Patents
Assist from fighter robot Download PDFInfo
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- CN107627306A CN107627306A CN201610870232.1A CN201610870232A CN107627306A CN 107627306 A CN107627306 A CN 107627306A CN 201610870232 A CN201610870232 A CN 201610870232A CN 107627306 A CN107627306 A CN 107627306A
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- 230000008447 perception Effects 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 9
- 238000005516 engineering process Methods 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 8
- 239000000443 aerosol Substances 0.000 claims description 5
- 230000001066 destructive effect Effects 0.000 claims description 5
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- 238000009434 installation Methods 0.000 claims description 3
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- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 2
- 230000009429 distress Effects 0.000 claims description 2
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- 238000000034 method Methods 0.000 abstract description 5
- 239000000203 mixture Substances 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 238000012856 packing Methods 0.000 description 4
- 229920000297 Rayon Polymers 0.000 description 3
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- 239000000523 sample Substances 0.000 description 3
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- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 2
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- 230000001360 synchronised effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Abstract
The association of the present invention is from fighter robot, it is a kind of based on microcontroller and remote monitor, the mobile robot for realizing intelligent control, microcontroller and associated sensor and application apparatus, fight function equipment etc. are provided with, can be walked in a manner of the composite crawler of dynamic equilibrium.The implementation method of the present invention is that locating module is associated with microcontroller, is completed in real time to assisting the geo-location from fighter robot；By on motion perception sensors association to microcontroller, to monitor motion state of the association from fighter robot, assign its battlefield motor-driven function；Identification and supervision equipment are associated with microcontroller and remote monitor, to determine target of attack of the association from fighter robot, and battlefield fact is uploaded to command centre, to support battlefield decision-making；Fight function equipment is associated with microcontroller and remote monitor, to assign fight function of the association from fighter robot.
Description
Technical field
The present invention relates to robot engineering technical field, in particular to a kind of association applied to actual combat from fighter robot.
Background technology
The application technology of specialized robot, the fighter robot of military mission is had been directed to perform, in wartime
Substitute soldier and perform the various military missions such as operation, scouting, the basic demand of fighter robot is to embody tactics function and machine
Dynamic property and equipment carrying amount, it is known that, country that be formally equipped with military ground robot, on land, military robot is led
The research in domain is to break through application of the artificial intelligence technology in complicated actual environment as main target, the ground attack system in China
Research and application, be also at manual remote control robot and set to the stage of autonomous robot transition, its military ground robot
Standby and function is still needed to be continually developed, is perfect in the application.
The content of the invention
The mesh of the present invention is both to be directed to military robot technical equipment still to have to be developed, perfect situation, comprehensive existing
Specialized robot technology, there is provided a kind of based on existing intelligent control technology, retinue soldier and coordinate that it fights, association is from work
Fight robot.
The technical problem to be solved in the present invention
Complete to monitor association from the position of fighter robot, motion state in real time, to control association from the battlefield of fighter robot
Motion；Monitoring to battlefield and enemy and we's identification are completed in real time, to confirm combat objective of the association from fighter robot, and by battlefield
Situation upload to command centre；Using vehicle dynamic equilibrium walking technology, will association from fighter robot to be configured to structure most simple
Single mobile robot.
The technical solution adopted for the present invention to solve the technical problems is
The association of the present invention is a kind of based on microcontroller and remote monitor, the shifting for realizing intelligent control from fighter robot
Mobile robot, it is provided with jamproof High Speed Microcontroller MCU and associated sensor and application apparatus, fight function
Equipment etc., can be walked in a manner of the composite crawler of dynamic equilibrium.
Locating module is associated with microcontroller, completed in real time to assisting the geo-location from fighter robot；
By on motion perception sensors association to microcontroller, to monitor motion state of the association from fighter robot, assign
The motor-driven function in its battlefield；
Identification and supervision equipment are associated with microcontroller and remote monitor, to determine association from fighter robot
Target of attack, and battlefield fact is uploaded to command centre, support battlefield decision-making；
Fight function equipment is associated with microcontroller and remote monitor, to assign work of the association from fighter robot
Battle achievement energy；
Microcontroller and associated sensor and application apparatus are set into own backup battery, in during certain,
The function of keeping its most basic, transmission distress signal and self-destruction to destroy.
Beneficial effect
Using battlefield association equipping diversification, monitoring in real time from fighter robot, auxiliary operation soldier participates in battlefield and fought, no
Improve only fighting capacity and the chance for survival of operation soldier, also enable commanding in the rear center in time, accurately grasp battlefield
Situation, take rapidly correlation counter-measure, hold opportunity of combat.
Brief description of the drawings
Fig. 1：The system of one embodiment of the invention sets figure
Fig. 2：The front view of the structure setting of one embodiment of the invention
Fig. 3：The left view of the structure setting of one embodiment of the invention
Fig. 4：Fig. 2 partial enlarged drawing
Fig. 5：Fig. 3 partial enlarged drawing I
Fig. 6：Fig. 3 partial enlarged drawing II.
In Fig. 1：
1st, microcontroller 2, positioning unit 3, probe unit I, II 4, attack weapon unit
5th, moving situation unit 6, enemy and we's recognition unit 7, wireless charging unit 8, command centre's monitor
9th, individual soldier battlefield monitor 10, remote supervisory and control(ling) equipment 11, communication module 12, monitoring unit
13rd, stick unit 14, alert news unit 15, body.
In Fig. 2 and Fig. 4：
16th, received in movable pendulum under state 17, movable pendulum corner 18, movable pendulum and support state
19th, round-the-clock video camera, sound pick-up 20, aerosol producer 21, destructive mechansim
22nd, blinding weapon and infrared detector, laser range finder 23, offensive weapon and its Shell-feeding system
24th, movable pendulum 25, cushion pad 26, movable pendulum connector 27, movable pendulum driving worm gear
28th, movable pendulum decelerator 29, adjustment disk 30, movable pendulum support frame 31, chassis
32nd, composite crawler.
In Fig. 3, Fig. 5 and Fig. 6：
33rd, weapon head 34, head 35, antenna 36, crawler belt blob of viscose
37th, rivet 38, chain wing plate 39, big sprocket wheel 40, battery case
41st, motor 42, bolt I and packing ring I 43, nut I 44, pad I
45th, packing ring II 46, nut II 47, minor sprocket 48, bearing interstage sleeve
49th, shaft retaining ring 50, bearing 51, composite crawler wheel 52, sonac
53rd, infrared sensor 54, movable pendulum motor 55, composite crawler wheeling supporting frame.
The explanation of concrete methods of realizing
The concrete methods of realizing of the present invention is explained with reference to the accompanying drawings and examples.
Two parts are included to the description of the embodiment of the present invention：
System composition and effect explanation to association of the invention from fighter robot embodiment；
Composition and effect explanation to association of the invention from the body construction of fighter robot embodiment.
In description, the individual soldier that advocates war be a natural person soldier, association from fighter robot association from its participation fight,
And manipulated by it.
It is that the association of the present invention forms the explanation with effect from the system of fighter robot embodiment first：
In the system composition of association of the invention from fighter robot, body（15）It is one to accommodate with microcontroller（1）For
Master controller, be associated with the association of other function devices from fighter robot, microcontroller（1）Own backup battery,
Both it is temporary transient lost contact to have made, and also can keep its basic function within a certain period of time.
Positioning unit（2）, it is to rely on to be associated with microcontroller（1）On, have positioning function the Big Dipper or GPS moulds
Block and architecture module etc. realize its function, and in the theater of war, association is from the positioning unit on fighter robot（2）It is interior
Architecture module have networking Elementary Function concurrently, the combination of above-mentioned setting, can effectively determine association from operation machine in real time
Geographical position residing for people, and show many associations on battlefield in real time and configured from the battlefield of fighter robot so that advocate war individual soldier and
Command centre can dispatch battlefield soldiers configuration, positioning unit according to this in real time（2）Own backup battery, it is temporary transient lost contact both to have made,
Also its basic function can be kept within a certain period of time.
Probe unit I（3）, it is included in body（15）Several sonacs of upper comprehensive setting（52）And infrared sensing
Device（53）Deng, to ensure association from fighter robot the avoidant disorder in traveling, and aid in enemy and we's recognition unit（6）Differentiate enemy
We is soldier.
Probe unit II（3）, including it is mounted in cradle head of two degrees of freedom（34）On blinding weapon and infrared detector, swash
Ligh-ranging machine（22）Deng distance and position to spotting, assigning blinding weapon（22）, offensive weapon（23）Etc. attacking
The firing datas such as the direction of attack and firing angle of hitting property weapon.
Attack weapon unit（4）, including it is mounted in the weapon head of two degrees of freedom（33）On blinding weapon（22）, attack
Hitting property weapon and its Shell-feeding system（23）Deng to cause the combat casualty of enemy soldier and equipment to damage in fight.
Moving situation unit（5）, it is multiple by gyroscope, acceleration transducer, attitude transducer, motor code-disc etc.
Motion sensor is formed, to monitor motion state of the association from fighter robot, High Speed Microcontroller MCU（1）Servo accordingly
Control association assigns its battlefield motor-driven function from the motion of fighter robot.
Enemy and we's recognition unit（6）, it is to be made up of the electronic installation that can launch and receive identification signal, to identify battlefield
On one's own side fighter.
Wireless charging unit（7）, it is to pass through body（15）Interior wireless charging module with it is outside, by soldier's manipulation of advocating war
Charging equipment be engaged, complete body（15）The charging operation of interior rechargeable battery.
Remote supervisory and control(ling) equipment（10）, it is by command centre's monitor（8）With individual soldier battlefield monitor（9）Formed, individual soldier
Battlefield monitor（9）It is a dependence communication module（11）With microcontroller（1）Remotely associated electronic monitoring equipment,
It is bottom monitor of the association from fighter robot by individual soldier's portable of advocating war, there is the association of monitoring in real time from fighter robot and battlefield
The function setting of situation, and battleficld command function can be implemented；
Command centre's monitor（8）It is a dependence communication module（11）With microcontroller（1）Remotely associated electronics prison
Control equipment, be global monitoring on battlefield high-rise monitor, command centre's monitor（8）Individual soldier battlefield monitor can be authorized（9）,
Commander is assisted from fighter robot.
Communication module（11）It is and microcontroller（1）Associated communication apparatus, installed in association from fighter robot
Body（15）On, communication module（11）Own backup battery, it is temporary transient lost contact both to have made, and also can keep its base within a certain period of time
This function.
Monitoring unit（12）, including installed in head（34）On round-the-clock video camera, sound pick-up（19）Deng can will be existing
The fact of field, is sent to remote supervisory and control(ling) equipment in real time（10）On.
Stick unit（13）, including aerosol producer（20）, emergency electronic signal occurrence of equipment, destructive mechansim（21）Deng,
Aerosol producer（20）, to screen the action of itself, and coordinate alert news unit（14）Send an SOS, can also be used as one kind
Contact information；
Cry for help electronic signal occurrence of equipment, be with after controlling party lost contact, the contact taken and the equipment for reporting itself orientation,
Its function need to coordinate microcontroller（1）, locating module（2）, communication module（11）When enabling own backup battery Deng setting
Function and realize；
Destructive mechansim（21）, can be destroyed in lost contact or after falling into the hands of the enemy association to be revealed from fighter robot.
Alert news unit（14）, it is round-the-clock electro-acoustic element and alert news generating means and LED flickers, the shake for including high-decibel
The function setting such as dynamic, to implement tactics interference, deterrence enemy soldier and contact friend side.
Association has group cooperation function from fighter robot, can be by multiple associations in battlefield from operation machine
People, is mutually unified into associated fight colony, in the colony that fights, every association it is live from the battlefield residing for fighter robot, can be real
When be associated with other crowd of members and higher level, remote supervisory and control(ling) equipment（10）On, to cooperate with the action in battlefield.
As above, system composition and effect explanation from fighter robot embodiment to association of the invention are completed.
Here is the composition of body construction and the explanation of effect from fighter robot embodiment to association of the invention：
Assist from fighter robot body（15）, it is to be made up of the setting being shown on Fig. 2, Fig. 3, and contain Fig. 1 institutes
Show the function of each functional unit.
The motor of hub motor structure form（41）Dynamic housing, pass through bolt I and packing ring I（42）, it is connected to big sprocket wheel
（39）On；Motor（41）Hollow support dead axle, pass through nut I（43）, pad I（44）, packing ring II（45）, nut II
（46）Deng being connected to composite crawler wheeling supporting frame（55）On；
Composite crawler wheeling supporting frame（55）With chassis（31）Form body（15）Chassis and suspension strut；Above-mentioned setting, formed
The composite crawler wheel of a pair or so settings（51）, be associated with chassis（31）On structure, formed body（15）Body support knot
Structure and hoofing part are set.
By movable pendulum motor（54）The movable pendulum decelerator of driving（28）, worm gear is driven with a pair of movable pendulums（27）Output is synchronous
Towards or away from revolution driving power, pass through adjustment disk（29）With the connector such as flat key, movable pendulum is driven into worm gear（27）Association
To movable pendulum connector（26）On, and then it is connected to movable pendulum（24）On；
Adjustment disk（29）On long lumbar hole, be based on the movable pendulum that is arranged in pairs of adjustment（24）Starting relative position and set；
Movable pendulum（24）Latter end, relevant minor sprocket is set（47）Cantilevered axle, minor sprocket（47）Pass through bearing herein（50）, axle
Hold interstage sleeve（48）, shaft retaining ring（49）Deng component, movable pendulum is associated with（24）On.
With movable pendulum（24）Associate integral movable pendulum decelerator（28）, pass through movable pendulum support frame（30）It is connected to chassis（31）
On, form body（15）Housing construction and movable pendulum（24）Associated movable pendulum driving structure is set.
Composite crawler（32）It is by the light-duty double strand chain with wing plate, passes through rivet（37）By crawler belt blob of viscose（36）, connection
To chain wing plate（38）It is upper to be formed, crawler belt blob of viscose（36）With the tread structure for reducing walking vibrations.
By composite crawler（32）It is installed to big sprocket wheel（39）And movable pendulum（24）On a pair of minor sprockets（47）On, form association from
The running gear of fighter robot.
Installed in body（15）Both sides, running gear, it is the setting for realizing association from the walking function of fighter robot.
Installed in body（15）Chassis（31）On each function device, such as：Microcontroller（1）, servo-drive
Equipment, sensor, communication apparatus, wireless charging unit（7）, round-the-clock video camera, sound pick-up（19）, aerosol producer（20）、
Destructive mechansim（21）, blinding weapon and infrared detector, laser range finder（22）, offensive weapon and its Shell-feeding system
（23）, weapon head（33）, head（34）, battery case（40）, sonac（52）, infrared sensor（53）Deng, be to
Realize that association cooperates with the function setting for individual combat of advocating war from fighter robot.
Weapon head（33）, head（34）It is that the two degree-of-freedom motion carrying with circumferential revolution, height pitching function is set
It is standby, its function be to confer to carry thereon, round-the-clock video camera, sound pick-up（19）, blinding weapon and infrared detector, swash
Ligh-ranging machine（22）, offensive weapon and its Shell-feeding system（23）Dimensional orientation and firing data Deng function device；
Weapon head（33）, head（34）Pass through cushion pad（25）With chassis（31）It is associated.
The walking function from fighter robot is assisted, is the technology and equipment based on two wheeled electric balance car, establishes in dynamic
Realized in stable principle, utilize moving situation unit（5）Comprising gyroscope and acceleration transducer, posture sensing
Device etc., to detection body（15）The change of state, and utilize the central microprocessor MCU (1) and SERVO CONTROL of high speed
System, accurately motor（41）It is adjusted correspondingly, to keep body（15）Moving equilibrium, realize body（15）'s
Startup, acceleration, deceleration, stopping, turning etc. act.
By composite crawler（32）, big sprocket wheel（39）And minor sprocket（47）And the associated running gear that composition is set, to
Realize walking function of the association from fighter robot, when being walked on level land or excellent road conditions, movable pendulum（24）Receipts can be gone up to movable pendulum
Receipts state（16）Shown position, is assisted from fighter robot according to composite crawler（32）Wheeled high speed walking；
When implementing tactical operation and the walking of bad road conditions or breaking the barriers, movable pendulum（24）State can be supportted under the bottom to movable pendulum
（18）Shown position, according to composite crawler（32）, big sprocket wheel（39）And minor sprocket（47）And the associated crawler belt row that composition is set
Walk the walking of mode low speed, obstacle detouring or standing；
Assist from fighter robot in the process of walking, movable pendulum（24）Swing position, in movable pendulum corner（17）In shown scope,
To keep body（15）For the purpose of the safe condition not toppled, by microcontroller（1）Coupled movements situation unit（5）, watch
Take the motor of driving（41）With movable pendulum motor（54）Set and realize etc. system.
As above, complete to the composition of body construction and the froming the perspective of of effect of the association of the present invention from fighter robot embodiment
It is bright.
In embodiments of the invention, the set-up mode and set location and its interrelational form of each function device；Form movable pendulum
（24）Component and its associated components；Form chassis（31）Component and its associated components；Form composite crawler（32）Component
And its associated components；Form big sprocket wheel（39）With motor（41）The structure shape of the setting such as associated structure and its associated components
Formula, structure shown in the drawings is not limited to, can realize the present invention, assist any structure from fighter robot working method.
Above in the narration in the embodiment of the present invention, without reference to the information with standard component and off-the-shelf.
Claims (10)
1. a kind of association for realizing intelligent control based on microcontroller and remote monitor is provided with anti-dry from fighter robot
The High Speed Microcontroller MCU and associated sensor and application apparatus that disturb, fight function equipment etc., can be with dynamic equilibrium
Composite crawler mode is walked, and it is set and function is：Locating module is associated with microcontroller, in real time complete to association from
The geo-location of fighter robot；By on motion perception sensors association to microcontroller, assisted to monitor from operation machine
The motion state of people, assign its action function；Identification and supervision equipment are associated with microcontroller and remote monitor,
To determine target of attack of the association from fighter robot, and battlefield fact is uploaded to command centre, supports battlefield decision-making；It will make
Battle achievement can be equipped and is associated with microcontroller and remote monitor, to assign fight function of the association from fighter robot；Will
Microcontroller and associated sensor and application apparatus set own backup battery, in during lost contact, keep it
The function most basic, send distress signal and self-destruction is destroyed.
2. according to claim 1 assist from fighter robot, it is characterized in that：Described locating module, including the Big Dipper or GPS
Module and architecture module, architecture module have the function of networking unit concurrently.
3. according to claim 1 assist from fighter robot, it is characterized in that：Described motion perception sensor, including it is super
Sonic transducer and infrared sensor, gyroscope, acceleration transducer, attitude transducer, code-disc.
4. according to claim 1 assist from fighter robot, it is characterized in that：Described identification and supervision equipment, including take
It is loaded on cradle head of two degrees of freedom, enemy and we identify electronic installation and round-the-clock video camera, sound pick-up.
5. according to claim 1 assist from fighter robot, it is characterized in that：Described remote monitor, including in commander
Heart monitor and individual soldier battlefield monitor.
6. according to claim 1 assist from fighter robot, it is characterized in that：Described fight function equipment, including carry
On cradle head of two degrees of freedom, blinding weapon and offensive weapon system and infrared detector, laser range finder.
7. according to claim 1 assist from fighter robot, it is characterized in that：Described application apparatus, including microcontroller
MCU, servo-drive equipment, sensor, communication apparatus, video monitoring equipment, alert news equipment, aerosol producer, emergency e-mail
Number occurrence of equipment, destructive mechansim, battery, wireless charging device etc..
8. according to claim 1 assist from fighter robot, it is characterized in that：The association of described dynamic equilibrium walking is from operation
The walking function of robot is the technology and equipment based on two wheeled electric balance car, it is in the principle of dynamic stability and real to establish
Existing.
9. according to claim 1 assist from fighter robot, it is characterized in that：Described composite crawler, it is by with wing plate
Chain, crawler belt acting body is connected on chain wing plate by rivet and formed, crawler belt acting body, which has, reduces walking vibrations
Soft tread structure；The function of described composite crawler is to rely on the big sprocket wheel of installation motor, is coordinated small a pair in movable pendulum
Sprocket wheel, the composite crawler running gear formed and realize；In described composite crawler running gear, movable pendulum is by its own drive
Dynamic device drives, can swung within the specific limits, assigns described association from fighter robot, passes through bad road according to composite crawler
The walking function of condition and barrier.
10. according to claim 1 assist from fighter robot, it is characterized in that：Described association has group from fighter robot
Group's cooperation function, associated fight colony can be mutually unified into by multiple associations in battlefield from fighter robot, it is described
Fight in colony, every association it is live from the battlefield residing for fighter robot, can real time correlation to other crowd of members and higher level, institute
On the remote supervisory and control(ling) equipment stated, to cooperate with the operation in battlefield.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610870232.1A CN107627306A (en) | 2016-10-05 | 2016-10-05 | Assist from fighter robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610870232.1A CN107627306A (en) | 2016-10-05 | 2016-10-05 | Assist from fighter robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107627306A true CN107627306A (en) | 2018-01-26 |
Family
ID=61113460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610870232.1A Withdrawn CN107627306A (en) | 2016-10-05 | 2016-10-05 | Assist from fighter robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107627306A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109357573A (en) * | 2018-09-26 | 2019-02-19 | 中国人民解放军总参谋部第六十研究所 | Intelligent robot tactics target vehicle platform |
| CN109460060A (en) * | 2018-12-05 | 2019-03-12 | 四川航天系统工程研究所 | It is unmanned to equip intelligent coordinated control assembly and control method |
| CN110039545A (en) * | 2019-04-30 | 2019-07-23 | 齐鲁工业大学 | A kind of robot remote control system and control method based on wearable device |
| CN112269391A (en) * | 2020-07-20 | 2021-01-26 | 中国北方车辆研究所 | Fighting machine |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8594844B1 (en) * | 2010-02-09 | 2013-11-26 | Defense Vision Ltd | Single operator multitask robotic platform |
| CN205273662U (en) * | 2016-01-11 | 2016-06-01 | 中国人民解放军军事交通学院 | For military use bionical operation robot based on bionics principle |
| CN105881488A (en) * | 2014-12-30 | 2016-08-24 | 赵楠 | Military robot |
-
2016
- 2016-10-05 CN CN201610870232.1A patent/CN107627306A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8594844B1 (en) * | 2010-02-09 | 2013-11-26 | Defense Vision Ltd | Single operator multitask robotic platform |
| CN105881488A (en) * | 2014-12-30 | 2016-08-24 | 赵楠 | Military robot |
| CN205273662U (en) * | 2016-01-11 | 2016-06-01 | 中国人民解放军军事交通学院 | For military use bionical operation robot based on bionics principle |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109357573A (en) * | 2018-09-26 | 2019-02-19 | 中国人民解放军总参谋部第六十研究所 | Intelligent robot tactics target vehicle platform |
| CN109460060A (en) * | 2018-12-05 | 2019-03-12 | 四川航天系统工程研究所 | It is unmanned to equip intelligent coordinated control assembly and control method |
| CN110039545A (en) * | 2019-04-30 | 2019-07-23 | 齐鲁工业大学 | A kind of robot remote control system and control method based on wearable device |
| CN112269391A (en) * | 2020-07-20 | 2021-01-26 | 中国北方车辆研究所 | Fighting machine |
| CN112269391B (en) * | 2020-07-20 | 2023-07-25 | 中国北方车辆研究所 | Fighter machine |
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Application publication date: 20180126 |
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