CN110221602B - Target object capturing method and device, storage medium and electronic device - Google Patents
Target object capturing method and device, storage medium and electronic device Download PDFInfo
- Publication number
- CN110221602B CN110221602B CN201910372705.9A CN201910372705A CN110221602B CN 110221602 B CN110221602 B CN 110221602B CN 201910372705 A CN201910372705 A CN 201910372705A CN 110221602 B CN110221602 B CN 110221602B
- Authority
- CN
- China
- Prior art keywords
- robot
- target
- controlling
- target object
- move
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 60
- 238000012544 monitoring process Methods 0.000 claims abstract description 84
- 238000012806 monitoring device Methods 0.000 claims description 39
- 230000015654 memory Effects 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 12
- 241000699666 Mus <mouse, genus> Species 0.000 description 30
- 235000013305 food Nutrition 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 241000700159 Rattus Species 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000699670 Mus sp. Species 0.000 description 1
- 206010035148 Plague Diseases 0.000 description 1
- 241000700605 Viruses Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30232—Surveillance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30241—Trajectory
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a target object capturing method and device, a storage medium and an electronic device. Wherein, the method comprises the following steps: receiving a first position where a first target object to be captured is located, wherein the first position is sent by monitoring equipment, the monitoring equipment is used for detecting a moving object of which the type is a target type in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of a first robot; controlling the first robot to move to a second position according to the determined first moving path, wherein the second position is located in a first target area where the first position is located; and controlling the first robot to arrange a first capturing device at the second position, wherein the first capturing device is used for capturing the moving object of which the type is the target type. The invention solves the technical problem of low mouse trapping efficiency caused by fixed place of the mouse trapping device.
Description
Technical Field
The invention relates to the field of robots, in particular to a target object capturing method and device, a storage medium and an electronic device.
Background
In restaurants and hotels, the taste of dishes is guaranteed, and the sanitation of kitchens and dining environments is guaranteed, but in the kitchen, which is a place where food is gathered, the food is troubled by rats, and the health of consumers is seriously threatened. Because the food is stored for a long time, the rats are tempted by the food source to continuously enter the areas such as the kitchen of the restaurant and the like for taking the food.
The mouse usually moves at night and has an indefinite path, and the mouse often appears in sewers, toilets, kitchens and the like, moves back and forth between a bacteria-carrying place and a clean area, and spreads viruses through mouse feet, body hair and the like, thereby seriously affecting the food safety in the area. Food safety is closely related to brand image of catering enterprises, and mouse suffering problems are not inconsiderable in the catering industry.
Because of the uniqueness of the catering industry, the plague cannot be controlled by toxic medicines, and the catering industry generally uses mouse catching devices such as mouse sticking plates and mouse catching cages to catch mice, and the mouse catching devices are mostly positioned at fixed places, and the place change needs to be manually replaced. The placement positions of the mouse trapping devices such as the mouse sticking plate mainly depend on the experience of the mouse prevention and control personnel, if the experience of the prevention and control personnel is insufficient or the environment of a kitchen is not known enough, the mouse trapping device is not properly arranged, and the mouse trapping efficiency is often very low due to the fixation of the mouse trapping device, and the mouse prevention and control effect is poor.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a target object capturing method and device, a storage medium and an electronic device, and at least solves the technical problem of low mouse trapping efficiency caused by fixed place of a mouse trapping device.
According to an aspect of an embodiment of the present invention, there is provided a target object capturing method including: receiving a first position where a first target object to be captured is located, wherein the first position is sent by monitoring equipment, the monitoring equipment is used for detecting a moving object of which the type is a target type in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of a first robot; controlling the first robot to move to a second position according to the determined first moving path, wherein the second position is located in a first target area where the first position is located; and controlling the first robot to arrange a first capturing device at the second position, wherein the first capturing device is used for capturing the moving object of which the type is the target type.
According to another aspect of the embodiments of the present invention, there is also provided a target object capturing apparatus, including: the first receiving module is used for receiving a first position where a first target object to be captured is sent by monitoring equipment, wherein the monitoring equipment is used for detecting a moving object of which the type is a target type in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of a first robot; the first control module is used for controlling the first robot to move to a second position according to the determined first moving path, wherein the second position is located in a first target area where the first position is located; and the second control module is used for controlling the first robot to arrange a first capturing device at the second position, wherein the first capturing device is used for capturing the moving object of which the type is the target type.
According to still another aspect of the embodiments of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is configured to execute the above target object capturing method when running.
According to another aspect of the embodiments of the present invention, there is also provided an electronic apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the target object capturing method through the computer program.
In the embodiment of the invention, the first position of the first target object to be captured, which is sent by the receiving monitoring equipment, is adopted to control the robot to move to the second position in the first target area where the first position is located, and the first capturing device is arranged at the second position, so that the technical effect of flexibly placing the capturing device according to the object to be captured is realized, and the technical problem of low mouse trapping efficiency caused by fixed place of the mouse trapping device is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow diagram of an alternative target object capture method according to an embodiment of the invention;
FIG. 2 is a schematic view of a first monitored area according to an embodiment of the present invention;
FIG. 3 is a flow diagram of yet another alternative target object capture method according to an embodiment of the present invention;
FIG. 4 is a flow diagram of yet another alternative target object capture method in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of an alternative target object capture device in accordance with an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an alternative electronic device according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, according to an aspect of an embodiment of the present invention, there is provided a target object capturing method including:
step S102, receiving a first position where a first target object to be captured is located, wherein the first position is sent by monitoring equipment, the monitoring equipment is used for detecting a moving object of which the type is a target type in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of a first robot;
in the embodiment of the present invention, the first target object may be a mouse, a small animal, or the like, which is desired to be captured. The monitoring device is a device installed in a first monitoring area to be monitored, and can monitor a moving object in the first monitoring area. It will be appreciated that there may be a plurality of monitoring devices, and that the first monitoring area may be covered by the cooperation of a plurality of monitoring devices. The first monitored area may be an area to be monitored within a kitchen.
It can be understood that the robot itself can also monitor moving objects within a certain range, but the robot has a small monitoring range and often cannot cover the whole monitoring area. The first monitoring area can be covered by the monitoring equipment with lower cost, so that the first monitoring area can be comprehensively monitored. It is to be understood that, in the embodiment of the present invention, in the case that the robot detects a moving object whose type is a target type, the position of the moving object may also be acquired, so as to execute the following method to capture the moving object.
For the method of detecting a moving object, the moving object may be determined by processing the captured image frame, and by comparing a comparison image in which the moving object does not exist with the captured image frame. Or the moving object can be monitored by an infrared camera. The image may also be processed to identify whether a moving object of the target type is present. It is to be understood that the present invention is not limited to a method of monitoring a moving object.
Step S104, controlling the first robot to move to a second position according to the determined first moving path, wherein the second position is located in a first target area where the first position is located;
here, since a target object to be captured, such as a mouse or the like, may move to a position that cannot be reached by the robot, such as a table top, in the embodiment of the present invention, the position to be reached by the robot is determined to be the second position within the first target area where the first position is located. Therefore, the problem that the robot cannot reach the position of the moving object under some conditions is solved.
The second position may be determined by determining a first target area where the robot is located according to the first position, and determining a first target position corresponding to the first target area according to a preset target area-target position mapping relationship, where the first target position is a position that the robot can reach. The second position may also be randomly determined among a plurality of positions to which the robot may move within the first target area.
Referring to fig. 2, for example, the monitoring apparatus finds that the moving object is at point B, where the robot may not reach, and thus, point a that the robot can reach in area 1 where point B is located may be determined as the position to be reached by the robot. It will be appreciated that the effect of capturing near point B is higher than elsewhere. Here, the first monitoring area may be divided, and a robot reaching position may be determined in each area. Of course, a position may be randomly selected from the positions that can be reached by the robot in the area 1.
And S106, controlling the first robot to arrange a first capturing device at the second position, wherein the first capturing device is used for capturing the moving object with the target type.
In the embodiment of the invention, the first position of the first target object to be captured, which is sent by the monitoring equipment, is received, the robot is controlled to move to the second position in the first target area where the first position is located, the first capturing device is arranged at the second position, the purpose of placing the capturing device according to the object to be captured is achieved, the monitoring equipment monitors a large range, the capturing device can be flexibly placed according to the place where the mouse waits for the object to be captured to sink, and the capturing efficiency can be effectively improved.
Optionally, after controlling the first robot to set the first capturing device at the first target position, the method further comprises: controlling the first robot to move to a third position according to the determined second moving path under the condition that the first capturing device does not capture the moving object within the first preset time; and controlling the first robot to arrange the first capturing device at the third position.
The first predetermined time period can be set according to actual needs. In an optional embodiment of the invention, as the mouse waits for the capture object to move continuously, if the first robot stays at the second position for too long and does not capture the moving object, the first robot is controlled to move to the third position, so that the robot is controlled to capture the moving object to be captured at different positions, and the capturing efficiency is improved.
For the determination of the third position, the present invention provides the following alternative embodiments.
In an optional embodiment of the present invention, before controlling the first robot to move to the third position according to the determined second moving path, the method further includes: under the condition that the first capturing device does not capture the moving object within the first preset time, receiving a fourth position where a second target object to be captured is sent by the monitoring equipment, wherein the moving object comprises the second target object; and determining a third position in the second target area where the fourth position is located.
In the case that the first robot does not capture within the first predetermined time period, other locations sent by the monitoring device, such as the fourth location of point E shown in fig. 2, may be received. Here, the first robot may move to point F in the area 3 where the fourth position is located, and at this time, the position of point F is the third position.
It will be appreciated that the third position may be determined from a fourth position of the second target object to be captured, which is sent by the monitoring device, and reference may be made to the manner of determining the second position from the second target area in which the fourth position is located.
The mobile object is not captured within the first preset time, the position where the second target object to be captured is sent by the monitoring equipment is received, the second target object is moved to the third position to be captured, and the mouse is captured at different positions where the mouse waits for the capture object to appear and disappear, so that the capturing efficiency can be effectively improved. It is understood that the second target object is a mobile object of the target type sent by the monitoring device, which may be the same as or different from the first target object.
In another optional embodiment of the present invention, before controlling the first robot to move to the third position according to the determined second moving path, the method further comprises: and under the condition that the first capturing device does not capture the moving object within the first preset time, receiving a third position sent by the monitoring equipment, wherein the third position is located on a moving track of the first target object detected by the monitoring equipment, and the time length of the first target object staying at the third position is longer than a second preset time length.
Here, the monitoring device may record a movement trajectory of the object to be captured, and since the object to be captured may stay at a plurality of positions for more than the second predetermined time period, the object to be captured may be captured between a plurality of locations on the movement trajectory, thereby improving the capturing efficiency. It will be appreciated that the second predetermined length of time may be set as desired.
The monitoring device may monitor the first target object, as shown in fig. 2, if the moving object may move to a point D, and is not captured within a first predetermined time period of the first robot, and the position of the point D belongs to a position where the robot can reach, the robot may be controlled to directly move to the point D, and at this time, the point D is the third position.
In this embodiment, the third position where the staying time of the object to be captured is longer than the second predetermined time is located just on the moving track, so that the object to be captured can be directly moved to the third position on the moving track.
In another optional embodiment of the present invention, before controlling the first robot to move to the third position according to the determined second moving path, the method further comprises: under the condition that the first capturing device does not capture the moving object within the first preset time, receiving a fifth position sent by the monitoring equipment, wherein the fifth position is located on a moving track of the first target object detected by the monitoring equipment, and the stay time of the first target object at the fifth position is longer than a second preset time or shorter than the stay time of the first target object at the first position; a third position is determined within a third target area where the fifth position is located.
In this embodiment, since the position on the moving track of the object to be captured may be located at a position where the first robot cannot reach, the position where the first robot can reach may be determined according to the position where the staying time is longer than the second predetermined time, so as to control the robot to go ahead. It is understood that, considering that the stay time of a moving object such as a mouse is often different in different places, the success rate of capturing is higher for a position where the stay time is longer. Therefore, in this embodiment, the first position may be a position where the moving object stays on the moving track for the longest time, the fifth position may be a place where the staying time is shorter than the first position, and the robot is controlled to capture at a plurality of positions where the staying time is longer, so that the success rate of capturing can be improved.
With continued reference to fig. 2, for example, a mouse moves to a point G, at which time, since the point G robot may not be able to reach, the first robot may be controlled to move to a point C within the area 2 where the point G is located, thereby capturing the moving object. It is understood that the third position C may correspond to the area 2, or may be a position that can be reached by a robot randomly selected in the area 2.
Optionally, after controlling the first robot to set the first capturing device at the second position, the method further includes: and under the condition that the first capturing device captures the moving object within a first preset time, controlling the first robot to move to a preset charging position for charging, wherein a charging device for charging the first robot is arranged on the charging position, or controlling the first robot to move to a preset moving object placing position, wherein a device for limiting the moving object to move is arranged on the moving object placing position.
It can be understood that, after the first robot captures the moving object to be captured, the first robot can be controlled to go to the charging position for charging, so that the first robot can perform other work subsequently. Of course, the first robot can also be controlled to go to a preset moving object placing position, and the moving objects to be captured are processed in a unified mode at the placing position, so that manual collection work is reduced.
Optionally, after controlling the first robot to move to the predetermined charging position for charging or controlling the first robot to move to the predetermined moving object placing position, the method further includes: controlling the second robot to move to a second position; and controlling the second robot to arrange a second capturing device at a second position, wherein the second capturing device is used for capturing the moving object of which the type is the target type.
It is understood that, after the first robot captures the moving object, the second robot may be controlled to perform a corresponding capturing operation, so as to capture other moving objects to be captured.
Optionally, after controlling the first robot to move to the predetermined charging position or to the predetermined moving object placing position, the method further includes: controlling the second robot to move to a sixth position; controlling the second robot to place a second capturing device at a sixth position, wherein the second capturing device is used for capturing the moving object of which the type is the target type; the sixth position is located in a fourth target area where the seventh position is located, the seventh position is a position where a third target object detected by the monitoring device is located, and the moving object comprises the third target object; or the sixth position is located on the moving track of the first target object detected by the monitoring equipment, and the stay time of the first target object at the sixth position is longer than a third preset time; or, the sixth position is located in a fifth target area where the eighth position is located, the eighth position is located on a moving track of the first target object detected by the monitoring device, and the time length of the first target object staying at the eighth position is longer than a fourth predetermined time length or shorter than the time length of the first target object staying at the first position.
It will be appreciated that the operations performed by the second robot herein may be referred to as operations performed by the first robot described above. After the first robot catches the moving object to be caught, the second robot is controlled to catch other moving objects to be caught, and the moving objects to be caught in the monitoring area can be continuously caught.
Optionally, the receiving the first position of the first target object to be captured, which is sent by the monitoring device, includes: the control module receives a first position where a first target object to be captured is sent by the monitoring equipment;
controlling the first robot to move to the first target position according to the determined first movement path comprises: the control module controls the first robot to move to a first target position according to the determined first moving path;
controlling the first robot to set the capturing device at the first target position includes: the control module controls the first robot to set a capturing device at a first target position;
the control module is located in the first robot, or located in the monitoring device, or is a module connected with the first robot and the monitoring device.
It is understood that the capturing method may be executed by a robot, or executed by a control module in a monitoring device controlling the robot, or having a control device provided with a control module, where the control module is in communication connection with the monitoring device and the robot, respectively, so as to control the robot to capture the moving object to be captured.
Referring to fig. 3, after controlling the first robot to set the first capturing device at the second position, the method further comprises:
step S306, acquiring a first real-time electric quantity of the first robot;
and S308, controlling the first robot to move to a preset charging position for charging under the condition that the first real-time electric quantity is smaller than a first preset electric quantity, wherein the charging position is provided with a charging device for charging the first robot.
It can be understood that, since the robot is powered by the battery, and cannot work when the electric quantity is insufficient, in the embodiment of the present invention, when the first real-time electric quantity of the first robot is smaller than the first preset electric quantity, the first robot is controlled to go to the charging position for charging, so that the first robot continues to capture the moving object after charging.
Optionally, before controlling the first robot to move to the second position according to the determined first moving path, the method further includes:
step S302, acquiring a second real-time electric quantity of the first robot;
and step S304, controlling the first robot to charge at a charging position under the condition that the second real-time electric quantity is smaller than a second preset electric quantity, wherein the charging position is provided with a charging device for charging the first robot.
Before controlling the first robot to move to the second position to capture the moving object to be captured, whether the second real-time electric quantity of the first robot is larger than a second preset electric quantity or not can be judged, and under the condition that the second real-time electric quantity of the first robot is larger than or equal to the second preset electric quantity, the step of controlling the first robot to move to the second position according to the determined first moving path can be executed; and under the condition that the second real-time electric quantity is smaller than a second preset electric quantity, the first robot is controlled to be charged firstly, so that the first robot is prevented from being insufficient in electric quantity to support the first robot to complete the capturing operation.
An embodiment of the present invention is further described below with reference to fig. 4.
S402, receiving a first position sent by the monitoring equipment, wherein the first position can be the position of a moving object to be captured, which is obtained by the monitoring equipment through identification processing according to a monitoring picture;
here, it is necessary to determine whether the robot power is greater than T1 before capturing the moving object, and T1 may be set according to actual conditions. When the electric quantity is less than or equal to T1, the robot is charged first.
S404, controlling the robot to move to a second position under the condition that the electric quantity is larger than T1, wherein the second position is located in a first target area where the first position is located;
s406, the first capturing device is provided at the second position, and the robot captures the moving object at the second position by the first capturing device.
Here, the real-time power of the robot needs to be monitored, and the power greater than or equal to T2 indicates that the current power can continue to perform the operation of capturing the capture object.
And S408, controlling the robot to charge at the charging position when the electric quantity is less than T2.
Here, the robot may determine whether or not the weight of the capturing device is increased, and may determine that the moving object is currently captured when the weight is increased and the increased weight is greater than a set weight. The weight setting device can avoid misjudgment caused by measuring precision at different times.
According to another aspect of the embodiments of the present invention, there is also provided a target object capturing apparatus for implementing the above target object capturing method. As shown in fig. 5, the apparatus includes:
a first receiving module 502, configured to receive a first position where a first target object to be captured is located, where the first target object is sent by a monitoring device, the monitoring device is configured to detect a mobile object of a target type in a first monitoring area, the mobile object includes the first target object, and the first monitoring area is larger than a monitoring area of a first robot;
in the embodiment of the present invention, the first target object may be a mouse, a small animal, or the like, which is desired to be captured. The monitoring device is a device installed in a first monitoring area to be monitored, and can monitor a moving object in the first monitoring area. It will be appreciated that there may be a plurality of monitoring devices, and that the first monitoring area may be covered by the cooperation of a plurality of monitoring devices. The first monitored area may be an area to be monitored within a kitchen.
It can be understood that the robot itself can also monitor moving objects within a certain range, but the robot has a small monitoring range and often cannot cover the whole monitoring area. The first monitoring area can be covered by the monitoring equipment with lower cost, so that the first monitoring area can be comprehensively monitored. It is to be understood that, in the embodiment of the present invention, in the case that the robot detects a moving object whose type is a target type, the position of the moving object may also be acquired, so as to execute the following method to capture the moving object.
The first control module 504 is configured to control the first robot to move to a second position according to the determined first moving path, where the second position is located in a first target area where the first position is located;
here, since a target object to be captured, such as a mouse or the like, may move to a position that cannot be reached by the robot, such as a table top, in the embodiment of the present invention, the position to be reached by the robot is determined to be the second position within the first target area where the first position is located. Therefore, the problem that the robot cannot reach the position of the moving object under some conditions is solved.
The second position may be determined by determining a first target area where the robot is located according to the first position, and determining a first target position corresponding to the first target area according to a preset target area-target position mapping relationship, where the first target position is a position that the robot can reach. The second position may also be randomly determined among a plurality of positions to which the robot may move within the first target area.
And a second control module 506, configured to control the first robot to set the first capturing device at the second position, where the first capturing device is used to capture the moving object of which the type is the target type.
In the embodiment of the invention, the first position of the first target object to be captured, which is sent by the monitoring equipment, is received, the robot is controlled to move to the second position in the first target area where the first position is located, the first capturing device is arranged at the second position, the purpose of placing the capturing device according to the object to be captured is achieved, the monitoring equipment monitors a large range, the capturing device can be flexibly placed according to the place where the mouse waits for the object to be captured to sink, and the capturing efficiency can be effectively improved.
Optionally, the apparatus further comprises:
the third control module is used for controlling the first robot to move to a third position according to the determined second moving path under the condition that the first capturing device does not capture the moving object within the first preset time length;
and the fourth control module is used for controlling the first robot to arrange the first capturing device at the third position.
Optionally, the apparatus further comprises:
the second receiving module is used for receiving a fourth position where a second target object to be captured is sent by the monitoring equipment under the condition that the first capturing device does not capture the moving object within a first preset time period, wherein the moving object comprises the second target object;
and the first determining module is used for determining the third position in the second target area where the fourth position is located.
Optionally, the apparatus further comprises:
and the third receiving module is used for receiving a third position sent by the monitoring equipment under the condition that the first capturing device does not capture the moving object within the first preset time length, wherein the third position is located on a moving track of the first target object detected by the monitoring equipment, and the time length of the first target object staying at the third position is longer than the second preset time length.
Optionally, the apparatus further comprises:
the fourth receiving module is configured to receive a fifth position sent by the monitoring device when the first capturing apparatus does not capture the moving object within the first predetermined time period, where the fifth position is located on a moving track of the first target object detected by the monitoring device, and a time length of the first target object staying at the fifth position is longer than the second predetermined time period or shorter than a time length of the first target object staying at the first position;
and the second determining module is used for determining a third position in a third target area where the fifth position is located.
Optionally, the apparatus further comprises:
and the fifth control module is used for controlling the first robot to move to a preset charging position for charging under the condition that the first capturing device captures the moving object within a first preset time length, or controlling the first robot to move to a preset moving object placing position, wherein a device for limiting the moving object to move is arranged on the moving object placing position.
Optionally, the apparatus further comprises:
the sixth control module is used for controlling the second robot to move to the second position;
and the seventh control module is used for controlling the second robot to arrange a second capturing device at the second position, wherein the second capturing device is used for capturing the moving object of which the type is the target type.
Optionally, the apparatus further comprises:
the eighth control module is used for controlling the second robot to move to the sixth position;
a ninth control module for controlling the second robot to place a second capturing device at a sixth position, wherein the second capturing device is used for capturing the moving object of which the type is the target type;
the sixth position is located in a fourth target area where the seventh position is located, the seventh position is a position where a third target object detected by the monitoring device is located, and the moving object comprises the third target object; or the sixth position is located on the moving track of the first target object detected by the monitoring equipment, and the stay time of the first target object at the sixth position is longer than a third preset time; or, the sixth position is located in a fifth target area where the eighth position is located, the eighth position is located on a moving track of the first target object detected by the monitoring device, and the time length of the first target object staying at the eighth position is longer than a fourth predetermined time length or shorter than the time length of the first target object staying at the first position.
Optionally, the first receiving module includes: the control unit is used for receiving a first position where a first target object to be captured is sent by the monitoring equipment;
the first control module includes: the control unit is used for controlling the first robot to move to a first target position according to the determined first moving path;
the second control module includes: the control unit is used for controlling the first robot to set the catching device at the first target position;
the control unit is located in the first robot, or in the monitoring device, or is a module connected with the first robot and the monitoring device.
Optionally, the apparatus further comprises:
the first acquisition module is used for acquiring first real-time electric quantity of the first robot;
and the tenth control module is used for controlling the first robot to move to a preset charging position for charging under the condition that the first real-time electric quantity is smaller than the first preset electric quantity, wherein the charging position is provided with charging equipment for charging the first robot.
Optionally, the apparatus further comprises:
the second acquisition module is used for acquiring second real-time electric quantity of the first robot;
and the eleventh control module is used for controlling the first robot to charge at the charging position under the condition that the second real-time electric quantity is smaller than the second preset electric quantity, wherein the charging position is provided with a charging device for charging the first robot.
It can be understood that the apparatus according to the embodiment of the present invention has the advantages corresponding to the method embodiments described above, and the two may be referred to each other, which are not described herein again.
According to yet another aspect of the embodiments of the present invention, there is also provided an electronic apparatus for implementing the above target object capturing method, as shown in fig. 6, the electronic apparatus includes a memory 602 and a processor 604, the memory 602 stores therein a computer program, and the processor 604 is configured to execute the steps in any one of the above method embodiments through the computer program.
Optionally, in this embodiment, the electronic apparatus may be located in at least one network device of a plurality of network devices of a computer network.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, receiving a first position where a first target object to be captured is sent by a monitoring device, wherein the monitoring device is used for detecting a moving object of which the type is a target type in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of a first robot;
s2, controlling the first robot to move to a second position according to the determined first moving path, wherein the second position is located in a first target area where the first position is located;
and S3, controlling the first robot to arrange a first capturing device at the second position, wherein the first capturing device is used for capturing the moving object with the target type.
Alternatively, it can be understood by those skilled in the art that the structure shown in fig. 6 is merely an illustration, and the electronic device may also be a terminal device such as an intelligent robot, a meal delivery robot, or the like. Fig. 6 is a diagram illustrating a structure of the electronic device. For example, the electronic device may also include more or fewer components (e.g., network interfaces, etc.) than shown in FIG. 6, or have a different configuration than shown in FIG. 6.
The memory 602 may be used to store software programs and modules, such as program instructions/modules corresponding to the target object capturing method and apparatus in the embodiments of the present invention, and the processor 604 executes various functional applications and data processing by running the software programs and modules stored in the memory 602, so as to implement the target object capturing method described above. The memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 602 may further include memory located remotely from the processor 604, which may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. As an example, as shown in fig. 6, the memory 602 may include, but is not limited to, the first receiving module 502, the first control module 504, and the second control module 506 of the target object capturing apparatus. In addition, other module units in the target object capturing apparatus may also be included, but are not limited to, and are not described in detail in this example.
Optionally, the transmitting device 606 is used for receiving or sending data via a network. Examples of the network may include a wired network and a wireless network. In one example, the transmission device 606 includes a Network adapter (NIC) that can be connected to a router via a Network cable and other Network devices to communicate with the internet or a local area Network. In one example, the transmitting device 606 is a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In addition, the electronic device further includes: a mobile device 608 and a connection bus 610 for connecting the various modular components of the electronic device.
According to a further aspect of embodiments of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above-mentioned method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, receiving a first position where a first target object to be captured is sent by a monitoring device, wherein the monitoring device is used for detecting a moving object of which the type is a target type in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of a first robot;
s2, controlling the first robot to move to a second position according to the determined first moving path, wherein the second position is located in a first target area where the first position is located;
and S3, controlling the first robot to arrange a first capturing device at the second position, wherein the first capturing device is used for capturing the moving object with the target type.
Alternatively, in this embodiment, a person skilled in the art may understand that all or part of the steps in the methods of the foregoing embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing one or more computer devices (which may be personal computers, servers, network devices, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (13)
1. A target object capture method, comprising:
receiving a first position where a first target object to be captured is located, wherein the first position is sent by monitoring equipment, the monitoring equipment is used for detecting a moving object of which the type is a target type in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of a first robot;
controlling the first robot to move to a second position according to the determined first moving path, wherein the second position is located in a first target area where the first position is located;
controlling the first robot to set a first capturing device at the second position, wherein the first capturing device is used for capturing the moving object of which the type is the target type;
under the condition that the first capturing device does not capture the moving object within a first preset time, controlling the first robot to move to a third position according to a determined second moving path, wherein the third position is determined based on the position of the first target object staying on the moving track for a time period longer than a second preset time period, or determined based on the moving track of the second target object;
and controlling the first robot to set the first capturing device at the third position.
2. The method of claim 1, wherein prior to controlling the first robot to move to the third location according to the determined second path of movement, the method further comprises:
receiving a fourth position where a second target object to be captured is sent by the monitoring device when the first capturing device does not capture the moving object within the first predetermined time, wherein the moving object comprises the second target object;
and determining the third position in the second target area where the fourth position is located.
3. The method of claim 1, wherein prior to controlling the first robot to move to the third location according to the determined second path of movement, the method further comprises:
and receiving the third position sent by the monitoring equipment when the first capturing device does not capture the moving object within the first preset time, wherein the third position is located on a moving track of the first target object detected by the monitoring equipment, and the time length of the first target object staying at the third position is longer than a second preset time length.
4. The method of claim 1, wherein prior to controlling the first robot to move to the third location according to the determined second path of movement, the method further comprises:
receiving a fifth position sent by the monitoring device when the first capturing device does not capture the moving object within the first predetermined time, wherein the fifth position is located on a moving track of the first target object detected by the monitoring device, and the time length of the first target object staying at the fifth position is longer than a second predetermined time length or shorter than the time length of the first target object staying at the first position;
and determining the third position in a third target area where the fifth position is located.
5. The method of claim 1, wherein after said controlling the first robot to set the first capture device at the second location, the method further comprises:
and under the condition that the first capturing device captures the mobile object within a first preset time, controlling the first robot to move to a preset charging position for charging, wherein a charging device for charging the first robot is arranged on the charging position, or controlling the first robot to move to a preset mobile object placing position, wherein a device for limiting the mobile object to move is arranged on the mobile object placing position.
6. The method according to claim 5, wherein after controlling the first robot to move to a predetermined charging position for charging or controlling the first robot to move to a predetermined moving object placing position, the method further comprises:
controlling a second robot to move to the second position;
and controlling the second robot to arrange a second capturing device at the second position, wherein the second capturing device is used for capturing the moving object of which the type is the target type.
7. The method according to claim 5, wherein after controlling the first robot to move to a predetermined charging position or to a predetermined moving object placing position, the method further comprises:
controlling the second robot to move to a sixth position;
controlling the second robot to place a second capturing device at the sixth position, wherein the second capturing device is used for capturing the moving object of which the type is the target type;
the sixth position is located in a fourth target area where a seventh position is located, the seventh position is a position where a third target object detected by the monitoring device is located, and the moving object includes the third target object; or, the sixth position is located on the moving track of the first target object detected by the monitoring device, and the time length of the first target object staying at the sixth position is longer than a third predetermined time length; or, the sixth position is located in a fifth target area where an eighth position is located, the eighth position is located on a moving track of the first target object detected by the monitoring device, and a time length of the first target object staying at the eighth position is longer than a fourth predetermined time length or shorter than a time length of the first target object staying at the first position.
8. The method according to any one of claims 1 to 7,
the receiving of the first position of the first target object to be captured sent by the monitoring device includes: the control module receives a first position where a first target object to be captured is sent by the monitoring equipment;
controlling the first robot to move to the first target position according to the determined first movement path comprises: the control module controls the first robot to move to the first target position according to the determined first moving path;
controlling the first robot to set a capture device at the first target location comprises: the control module controls the first robot to set a capturing device at the first target position;
the control module is located in the first robot, or in the monitoring device, or is a module connected with the first robot and the monitoring device.
9. The method of any one of claims 1 to 7, wherein after said controlling the first robot to set the first capture device at the second location, the method further comprises:
acquiring a first real-time electric quantity of the first robot;
and under the condition that the first real-time electric quantity is smaller than a first preset electric quantity, controlling the first robot to move to a preset charging position for charging, wherein a charging device for charging the first robot is arranged on the charging position.
10. The method of any of claims 1 to 7, wherein prior to controlling the first robot to move to the second position according to the determined first path of movement, the method further comprises:
acquiring a second real-time electric quantity of the first robot;
and under the condition that the second real-time electric quantity is smaller than a second preset electric quantity, controlling the first robot to charge at a charging position, wherein a charging device for charging the first robot is arranged on the charging position.
11. A target object capture apparatus, comprising:
the system comprises a first receiving module, a first monitoring module and a second receiving module, wherein the first receiving module is used for receiving a first position where a first target object to be captured is located, the first position is sent by monitoring equipment, the monitoring equipment is used for detecting a moving object of which the type is a target type in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of a first robot;
the first control module is used for controlling the first robot to move to a second position according to the determined first moving path, wherein the second position is located in a first target area where the first position is located;
the second control module is used for controlling the first robot to arrange a first capturing device at the second position, wherein the first capturing device is used for capturing the moving object of which the type is the target type;
the third control module is used for controlling the first robot to move to a third position according to the determined second movement path under the condition that the first capturing device does not capture the moving object within the first preset time length, wherein the third position is determined based on the position of the first target object staying on the movement track for a time length longer than the second preset time length or determined based on the movement track of the second target object;
and the fourth control module is used for controlling the first robot to arrange a first capturing device at the third position.
12. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program when executed performs the method of any of the preceding claims 1 to 10.
13. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the method of any one of claims 1 to 10 by the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910372705.9A CN110221602B (en) | 2019-05-06 | 2019-05-06 | Target object capturing method and device, storage medium and electronic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910372705.9A CN110221602B (en) | 2019-05-06 | 2019-05-06 | Target object capturing method and device, storage medium and electronic device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110221602A CN110221602A (en) | 2019-09-10 |
| CN110221602B true CN110221602B (en) | 2022-04-26 |
Family
ID=67820414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910372705.9A Active CN110221602B (en) | 2019-05-06 | 2019-05-06 | Target object capturing method and device, storage medium and electronic device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110221602B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113436295B (en) * | 2021-06-25 | 2023-09-15 | 平安科技（深圳）有限公司 | Living body culture monitoring track drawing method, device, equipment and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106155065A (en) * | 2016-09-28 | 2016-11-23 | 上海仙知机器人科技有限公司 | A kind of robot follower method and the equipment followed for robot |
| WO2018077164A1 (en) * | 2016-10-28 | 2018-05-03 | 北京进化者机器人科技有限公司 | Method and system for enabling robot to automatically return for charging |
| CN108956994A (en) * | 2017-04-06 | 2018-12-07 | 安捷伦科技有限公司 | Method and apparatus for measuring the physiological property of biological sample |
| CN109151375A (en) * | 2017-06-16 | 2019-01-04 | 杭州海康威视数字技术股份有限公司 | A kind of target object grasp shoot method, device and video monitoring equipment |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5911299B2 (en) * | 2011-12-27 | 2016-04-27 | キヤノン株式会社 | Information processing apparatus, information processing apparatus control method, and program |
| JP2017100214A (en) * | 2015-11-30 | 2017-06-08 | 株式会社リコー | Manipulator system, imaging system, object delivery method, and manipulator control program |
| CN106791565A (en) * | 2016-12-15 | 2017-05-31 | 北京奇虎科技有限公司 | Robot video calling control method, device and terminal |
| CN108849836B (en) * | 2017-05-09 | 2023-11-10 | 高峰 | Circuit device and mousetrap comprising same |
| CN109566592A (en) * | 2018-12-28 | 2019-04-05 | 北京明略软件系统有限公司 | The method and system of rat destruction |
| CN109644977A (en) * | 2019-01-28 | 2019-04-19 | 北京明略软件系统有限公司 | Object Snap device and method |
-
2019
- 2019-05-06 CN CN201910372705.9A patent/CN110221602B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106155065A (en) * | 2016-09-28 | 2016-11-23 | 上海仙知机器人科技有限公司 | A kind of robot follower method and the equipment followed for robot |
| WO2018077164A1 (en) * | 2016-10-28 | 2018-05-03 | 北京进化者机器人科技有限公司 | Method and system for enabling robot to automatically return for charging |
| CN108956994A (en) * | 2017-04-06 | 2018-12-07 | 安捷伦科技有限公司 | Method and apparatus for measuring the physiological property of biological sample |
| CN109151375A (en) * | 2017-06-16 | 2019-01-04 | 杭州海康威视数字技术股份有限公司 | A kind of target object grasp shoot method, device and video monitoring equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110221602A (en) | 2019-09-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103676914B (en) | Intelligent home control method and device | |
| EP2875378B1 (en) | Method for enrolling nodes into an ad hoc network | |
| CN111080968B (en) | Linkage control early warning method and system for accidental occurrence of solitary old people | |
| EP3032369A2 (en) | Methods for clearing garbage and devices for the same | |
| EP2875375B1 (en) | Methods for enrolling nodes into an ad hoc network | |
| CN110262277B (en) | Control method and device of intelligent household equipment and intelligent household equipment | |
| EP2875372B1 (en) | Method for enrolling nodes into an ad hoc network | |
| EP2875373B1 (en) | Method for enrolling nodes into an ad hoc network | |
| US9762437B2 (en) | Systems and methods for networking consumer devices | |
| US20140023363A1 (en) | Systems and methods for networking consumer devices | |
| US20140023060A1 (en) | Systems and methods for networking consumer devices | |
| EP2875694A1 (en) | Systems and methods for networking consumer devices | |
| CN110226589B (en) | Target object driving method and device, storage medium and electronic device | |
| CN104009898A (en) | Household appliance and control method and device thereof | |
| US20140022940A1 (en) | Systems and methods for networking consumer devices | |
| CN105404201B (en) | The intelligent control method of the intelligence control system of refrigerator | |
| CN105785955A (en) | Smart home control method, smart home equipment and intelligent terminal | |
| CN109905680A (en) | The monitoring method and device of operation, storage medium, electronic device | |
| CN103901860A (en) | Intelligent home control system | |
| CN110221602B (en) | Target object capturing method and device, storage medium and electronic device | |
| CN112631282A (en) | Intelligent path planning method, device, system and medium for sweeping robot | |
| CN110507251B (en) | Mode identification method, device and system of intelligent household equipment | |
| CN105141910A (en) | Video IOT (Internet of Things) terminal acquisition equipment, video IOT terminal acquisition method, cloud control device and cloud control method | |
| CN110658727B (en) | Equipment control method and device based on operating system | |
| CN104539722B (en) | A kind of collection method of remote short-haul connections manipulation data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230721 Address after: 200232 32 / F, West Bank artificial intelligence center, 701 Yunjin Road, Xuhui District, Shanghai Patentee after: Shanghai Mingsheng Pinzhi Artificial Intelligence Technology Co.,Ltd. Address before: Room 1302-13, No.6 Weide Road, Yangpu District, Shanghai 200433 Patentee before: SHANGHAI SECOND PICKET NETWORK TECHNOLOGY CO.,LTD. |
|
| TR01 | Transfer of patent right |