CN104898469A - Dog walking device and dog walking control method based on dog walking device - Google Patents
Dog walking device and dog walking control method based on dog walking device Download PDFInfo
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- CN104898469A CN104898469A CN201510149536.4A CN201510149536A CN104898469A CN 104898469 A CN104898469 A CN 104898469A CN 201510149536 A CN201510149536 A CN 201510149536A CN 104898469 A CN104898469 A CN 104898469A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K29/00—Other apparatus for animal husbandry
Abstract
The invention is applicable to the technical field of information processing, and provides a dog walking device and a dog walking control method based on the dog walking device. The dog walking device comprises a detector for detecting surrounding environment information, a controller connected with the detector for generating a rope control instruction according to the surrounding environment information and a rope device connected with the controller for contracting or prolonging the rope for tying the dog according to the rope control instruction. Through detecting the surrounding environment information, the rope device is controlled to contract or prolong the rope for tying the dog according to the surrounding environment information, and unmanned dog walking can thus be realized.
Description
Technical field
The present invention relates to field of information processing, more particularly, relate to a kind of device for walking dog and the control method that walks a dog based on device for walking dog.
Background technology
Along with the raising day by day of living standard, pet feeding becomes a kind of fashion already.Wherein dog is a kind of pet the most common.In the process of foster dog, walk a dog and be absolutely necessary, conveniently walk a dog, device for walking dog arises at the historic moment.
The device for walking dog that prior art provides is artificial device for walking dog, i.e. the device for walking dog rope for tying down dog that comprises handle and be connected with handle.The major function of this device for walking dog is in the process walked a dog, play the effect of traction dog, can not realize intelligence and walk a dog.
Summary of the invention
Given this, the embodiment of the present invention provides a kind of device for walking dog and the control method that walks a dog based on device for walking dog, can not realize to solve existing device for walking dog the problem that intelligence walks a dog.
The embodiment of the present invention is achieved in that a kind of device for walking dog, and described device for walking dog comprises:
Detecting device, for detecting ambient condition information;
The controller be connected with described detecting device, for generating rope steering order according to described ambient condition information;
The Abseiling device be connected with described controller, for shrinking according to described rope steering order or extending the rope being used for bolt dog.
The embodiment of the present invention also provides a kind of control method that walks a dog based on device for walking dog, and described method comprises:
Detect ambient condition information;
Rope steering order is generated according to described ambient condition information;
Shrink according to described rope steering order or extend the rope being used for bolt dog.
Preferably, described detection ambient condition information specifically comprises:
Gather the surrounding environment image of described dog position;
Image recognition is carried out to described surrounding environment image, to identify ambient condition information from described surrounding environment image.
Embodiment of the present invention beneficial effect is compared with prior art: the embodiment of the present invention detects ambient condition information by detecting device, rope steering order is generated according to ambient condition information by controller, Abseiling device shrinks according to this rope steering order or extends and ties down the rope of dog, thus can realize intelligence and walk a dog.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The structured flowchart of the device for walking dog that Fig. 1 provides for first embodiment of the invention;
The structured flowchart of the device for walking dog that Fig. 2 provides for second embodiment of the invention;
The structured flowchart of the device for walking dog that Fig. 3 provides for third embodiment of the invention;
The structured flowchart of the device for walking dog that Fig. 4 provides for fourth embodiment of the invention;
The structured flowchart of the device for walking dog that Fig. 5 provides for fifth embodiment of the invention;
The realization flow figure of the control method that walks a dog based on the device for walking dog shown in Fig. 1 to 5 that Fig. 6 provides for the embodiment of the present invention.
Embodiment
In below describing, in order to illustrate instead of in order to limit, propose the detail of such as particular system structure, technology and so on, understand the embodiment of the present invention thoroughly to cut.But, it will be clear to one skilled in the art that and also can realize the present invention in other embodiment not having these details.In other situation, omit the detailed description to well-known system, device, circuit and method, in order to avoid unnecessary details hinders description of the invention.
In order to technical solutions according to the invention are described, be described below by specific embodiment.
embodiment one:
Fig. 1 is the structured flowchart of the device for walking dog that the embodiment of the present invention provides.This device for walking dog comprises detecting device 1, the controller 2 be connected with detecting device 1, and the Abseiling device 3 be connected with controller 2.Wherein:
Detecting device 1 is for detecting ambient condition information.Ambient condition information refers to the ambient condition information of dog present position.This ambient condition information includes but not limited to whether have human or animal around, and whether have car around, whether dog has the trend etc. of attack.
In the present embodiment, the various inductors that ambient condition information can be detected that detecting device 1 can provide for prior art, as infrared inductor, sound inductor etc.Also can be other structure, follow-uply to describe in detail again.
Controller 2 generates rope steering order for the ambient condition information detected according to detecting device 1.This rope steering order is rope contraction instruction or is that rope extends instruction.Wherein rope contraction instruction is used to indicate Abseiling device 3 retraction cables.Rope prolongation instruction is used to indicate Abseiling device 3 and extends rope.
Concrete, controller 2 can be CPU, programming device etc.
In a preferred embodiment of the invention, rope steering order comprises rope change length.Comprise rope contracted length as rope shrinks instruction, rope extends instruction and comprises rope extending length.This rope changes length can be set as fixed value, namely often generates a rope steering order, just the length of rope is changed once this fixed value length.This rope changes length also can be random, or arrange according to ambient condition information.
Its detailed process that its middle controller 2 generates rope steering order according to the ambient condition information that detecting device 1 detects is as follows:
The ambient condition information that detecting device 1 detects by controller 2 contrasts with the rope pinch condition preset, and when the ambient condition information that detecting device detects meets default rope pinch condition, this controller 2 generates rope and shrinks instruction.The ambient condition information that detecting device 1 detects by this controller 2 contrasts with the rope condition of prolongation preset, and when the ambient condition information detected meets default rope prolongation condition, this controller 2 generates rope and extends instruction.
Wherein rope pinch condition include but not limited to the surrounding of dog present position have in people, animal, car any one or multiple, dog has the trend etc. of attack.This rope pinch condition can also be arranged arbitrarily according to the concrete needs walked a dog, and is not limited at this.Wherein the surrounding of dog present position refers to centered by dog present position, take predeterminable range as the circle of radius or rotund region.This predeterminable range can be arranged arbitrarily according to the environment walked a dog.
The rope condition that extends include but not limited in surrounding nobody of dog present position, animal, car any one, and reach Preset Time apart from the time that last rope lengths changes.Be appreciated that this rope pinch condition can also be arranged arbitrarily according to the concrete needs walked a dog, be not limited at this.The time that the last rope lengths of its middle distance changes reaches Preset Time and refers to that the time extended apart from last rope contraction or rope reaches Preset Time.
Abseiling device 3, after the rope steering order receiving controller 2 transmission, shrinks according to this rope steering order or extends the rope of bolt dog.Concrete, when this rope steering order is rope contraction instruction, this Abseiling device 3 shrinks the rope of bolt dog; When this rope steering order is rope prolongation instruction, this Abseiling device 3 extends the rope of bolt dog.
In an alternative embodiment of the invention, when rope steering order comprises rope change length, rope contracted length is comprised as rope shrinks instruction, rope extends instruction and comprises rope extending length, then Abseiling device 3 shrinks instruction according to rope and the rope of bolt dog is shunk this rope and shrink the rope contracted length that instruction comprises, or Abseiling device 3 extends instruction according to rope and the rope of bolt dog extended this rope and extend the rope extending length that instruction comprises.
Concrete, this Abseiling device 3 comprises rope controller 31 and wiring mechanism 32.This wiring mechanism 32 comprises traction component and rope (scheming not shown).One end of rope is connected with traction component, and the other end ties down dog.This traction component can change contraction and the prolongation of rope under the control of rope controller 31.Other structure that this Abseiling device 3 can also provide for prior art, does not repeat them here.
In embodiments of the present invention, the ambient condition information of dog present position can be detected by detecting device 1, rope steering order can be generated according to ambient condition information by controller 2, this rope steering order controls Abseiling device and shrinks or extend, thus this device for walking dog can realize intelligence walks a dog or nobody walks a dog.
In a preferred embodiment of the invention, in order to make this device for walking dog can be applicable to various different environment more flexibly, this device for walking dog also comprises condition setting assembly (scheming not shown).This condition setting assembly condition of acceptance arranges instruction, and arranges rope pinch condition and rope prolongation condition according to condition setting instruction.Rope pinch condition and/or rope prolongation condition can be changed at any time by this condition setting assembly, thus this device for walking dog difference environmentally can be shunk or extend rope, thus can be applicable to more flexibly in various environment.
embodiment two:
Fig. 2 shows the structure of the device for walking dog that another embodiment of the present invention provides, and for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.This device for walking dog adds storer 4 on the basis of the device for walking dog shown in Fig. 1.This storer 4 is connected with controller 2, or this storer 4 is integrated in this controller 2.This storer 2 for storing the various information in this device for walking dog, as rope pinch condition, rope extend condition, audio-frequency information etc.Wherein this audio-frequency information includes but not limited to melody, for preventing the voice etc. that dog carries out attacking.
In an alternative embodiment of the invention, this device for walking dog also comprises the audio collecting device 5 be connected with controller 2.This audio collecting device 5 is for gathering audio-frequency information.The audio-frequency information via controller 2 that this audio collecting device 5 collects is stored in storer 4, so that this controller 2 follow-up can read this audio-frequency information from storer 4.
In embodiments of the present invention, this device for walking dog also comprises storer and/or audio collecting device, thus makes this device for walking dog have memory function, can store various information.Make this device for walking dog also have audio collection function simultaneously, the audio-frequency information of dog present position can be gathered.This audio-frequency information can store in memory, in order to follow-up use.
embodiment three:
Fig. 3 shows the structure of the device for walking dog that another embodiment of the present invention provides.This device for walking dog is the improvement done on the basis of the device for walking dog shown in Fig. 1 or Fig. 2, and therefore, the part do not described in the present embodiment is see the appropriate section of Fig. 1 or Fig. 2.
This device for walking dog also comprises audio player 6.This audio player 6 is connected with controller 2, playback of audio information under control of the controller 2.Now, the ambient condition information of this controller 2 also for detecting according to detecting device 1 reads corresponding audio-frequency information and generates audio frequency play instruction from storer 4.The audio-frequency information that the audio frequency play instruction playing controller 2 that this audio player 6 generates according to controller 2 reads.
Concrete, the ambient condition information that detecting device 1 detects by this controller 2 is play condition with the audio frequency preset and is contrasted, when the ambient condition information that detecting device detects meets default audio frequency broadcasting condition, this controller 2 generates audio frequency play instruction, and from storer 4, read corresponding audio-frequency information.Its sound intermediate frequency is play condition and is included but not limited to that dog has the trend etc. of attack.
In the present embodiment, when the ambient condition information that detecting device 1 detects be dog there is the trend of attack time, this controller 2 generates audio frequency play instruction, this controller 2 reads the audio-frequency information carrying out attacking for preventing dog from storer 4 simultaneously, and the audio frequency play instruction of the audio-frequency information read and generation is transferred to audio player 6 by controller 2.Namely audio player 6 starts playback of audio information after receiving audio frequency play instruction.
In the present embodiment, this device for walking dog also comprises audio player, generate audio frequency play instruction read corresponding audio-frequency information from storer after, audio player can play this audio-frequency information at controller according to ambient condition information, thus make device for walking dog more intelligent.
embodiment four:
Fig. 4 shows the structure of the device for walking dog that another embodiment of the present invention provides.This device for walking dog is any one in above-described embodiment one to three improvement of doing, and therefore, the part do not described in detail in the present embodiment is with reference to the appropriate section in above-described embodiment one to three.
Detecting device 1 in the present embodiment comprises the image capture device 11 and image recognizer 12 that are connected with controller 2 respectively.Wherein:
Image capture device 11 gathers the surrounding environment image of dog position.This image capture device 11 can be that picture pick-up device etc. can the equipment of captured image.The surrounding environment image of the dog position collected is transferred to image recognizer 12 by controller by image capture device 11.
The surrounding environment image of the dog position that image recognizer 12 pairs of image capture devices 11 collect carries out image recognition, from this surrounding environment image, identify ambient condition information.
Concrete, the mode that this image recognizer 12 carries out image recognition is prior art, is only briefly described as follows at this:
Image recognizer 12 scans surrounding environment image, and adopts in this surrounding environment image of recognition of face mode identification whether comprise face.For other ambient condition information, the same recognition of face of its ultimate principle.
In an alternative embodiment of the invention, multiple surrounding environment images that image capture device 11 collects in short period (as 2 seconds etc.) inherent same direction contrast by this image recognizer 12, if multiple surrounding environment image difference are comparatively large, then this image recognizer 12 can obtain following ambient condition information according to surrounding environment image: dog has attack trend.
In the present embodiment, this detecting device comprises image capture device and image recognizer, thus the surrounding environment image of dog present position can be gathered by image capture device, ambient condition information can be identified from surrounding environment image by image recognizer, thus make this detecting device have higher accuracy.
embodiment five:
Fig. 5 shows the structure of the device for walking dog that the embodiment of the present invention provides.This device for walking dog is any one in above-described embodiment one to three improvement of doing, and therefore, the part do not described in detail in the present embodiment is with reference to the appropriate section in above-described embodiment one to three.
Detecting device 1 in the present embodiment comprises sign detecting element 13.This sign detecting element 13 detects the sign information of dog.Wherein sign information includes but not limited to blood pressure, respiration rate, beats etc.What this sign detecting element was concrete can be sphygmomanometer, for detecting the instrument of respiration rate or beats.Because these instruments are prior art, do not repeat them here.
Now, this controller 2 also for the action tendencies information according to sign information prediction dog, and when dog trend information reaches audio frequency broadcasting condition, reads corresponding audio-frequency information according to the action tendencies information of described dog and generates audio frequency play instruction from storer 4.Wherein as follows according to the detailed process of the action tendencies information of sign information prediction dog:
When sign information reaches predetermined threshold value, as reached blood pressure thresholds when blood pressure, respiration rate reaches respiration threshold, or when beats reaches heartbeat threshold value, the action tendencies information of the dog that this controller 2 predicts according to sign information is that dog has attack trend.
In the present embodiment, the sign information of dog can be detected by sign detecting element, controller can dope the action tendencies of dog according to sign information, when doping dog and having attack trend, the audio-frequency information of the attack for preventing dog is read from storer, and by audio player plays, to prevent the attack of dog in time, thus make this device for walking dog more intelligent.
embodiment six:
Device for walking dog in this embodiment is any one in above-described embodiment one to five improvement of doing, and therefore, the part do not described in detail in the present embodiment is with reference to the appropriate section in above-described embodiment one to three five.
This device for walking dog also comprises lighting device and supply unit.This supply unit is connected with controller 2, under control of the controller 2 for lighting device provides power supply.
In embodiments of the present invention, this device for walking dog also comprises lighting device and supply unit, can provide illumination, walks a dog also can realize intelligence under the environment of night or dark.
embodiment seven:
Fig. 6 shows the control method that walks a dog based on the device for walking dog described in above-described embodiment one to six that the embodiment of the present invention provides, and details are as follows:
S11, detects ambient condition information.
Ambient condition information refers to the ambient condition information of dog present position.This ambient condition information includes but not limited to whether have human or animal around, and whether have car around, whether dog has the trend etc. of attack.
S12, generate rope steering order according to ambient condition information.This rope steering order is rope contraction instruction or is that rope extends instruction.Wherein rope contraction instruction is used to indicate Abseiling device retraction cables.Rope extends instruction and is used to indicate Abseiling device prolongation rope.
In a preferred embodiment of the invention, rope steering order comprises rope change length.Comprise rope contracted length as rope shrinks instruction, rope extends instruction and comprises rope extending length.This rope changes length can be set as fixed value, namely often generates a rope steering order, just the length of rope is changed once this fixed value length.This rope changes length also can be random, or arrange according to ambient condition information.
Wherein as follows according to its detailed process of the ambient condition information generation rope steering order detected:
The ambient condition information detected and the rope pinch condition preset are contrasted, when the ambient condition information detected meets default rope pinch condition, generates rope and shrink instruction.The ambient condition information detected and the rope condition of prolongation preset are contrasted, when the ambient condition information detected meets default rope prolongation condition, generates rope and extend instruction.
In an alternative embodiment of the invention, as follows according to its detailed process of the ambient condition information generation rope steering order detected:
Gather the surrounding environment image of dog position;
Image recognition is carried out to surrounding environment image, to identify ambient condition information from surrounding environment image.
Concrete, image recognition can be carried out to individual surrounding environment image, also can multiple the surrounding environment images collected in short period (as 2 seconds etc.) inherent same direction be identified, therefrom to identify ambient condition information.
S13, shrink according to rope steering order or extend and be used for the rope of bolt dog.Concrete, when this rope steering order is rope contraction instruction, shrink the rope of bolt dog; When this rope steering order is rope prolongation instruction, extend the rope of bolt dog.
In a preferred embodiment of the invention, the method also comprises the steps:
Condition of acceptance arranges instruction, and arranges rope pinch condition and rope prolongation condition according to condition setting instruction.
In the present invention preferably implements, the method also comprises:
Gather audio-frequency information, and the audio-frequency information of collection is stored to storer.
In a preferred embodiment of the invention, the method also comprises:
From storer, read corresponding audio-frequency information according to the ambient condition information detected and generate audio frequency play instruction, playing the audio-frequency information read according to the audio frequency play instruction generated.
In a preferred embodiment of the invention, the method also comprises:
Detect the sign information of dog, wherein sign information includes but not limited to blood pressure, respiration rate, beats etc.
According to the action tendencies information of sign information prediction dog, and when dog trend information reaches audio frequency broadcasting condition, from storer, read corresponding audio-frequency information according to the action tendencies information of described dog and generate audio frequency play instruction.
In embodiments of the present invention, by detecting ambient condition information, and generating rope steering order according to ambient condition information, to shrink according to this rope steering order or to extend the rope of bolt dog, thus realizing intelligence and to walk a dog and nobody walks a dog.Detect ambient condition information by the mode of image acquisition and image recognition, thus make to walk a dog control more accurate.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For method disclosed in embodiment, because it is corresponding with device disclosed in embodiment, so description is fairly simple, relevant part illustrates see method part.
The part that the technical scheme of the embodiment of the present invention contributes to prior art in essence in other words or all or part of of this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) or processor (processor) perform all or part of step of method described in each embodiment of the embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. various can be program code stored medium.
The above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of each embodiment technical scheme of the embodiment of the present invention.
Claims (10)
1. a device for walking dog, is characterized in that, described device for walking dog comprises:
Detecting device, for detecting ambient condition information;
The controller be connected with described detecting device, for generating rope steering order according to described ambient condition information;
The Abseiling device be connected with described controller, for shrinking according to described rope steering order or extending the rope being used for bolt dog.
2. device for walking dog as claimed in claim 1, it is characterized in that, described device for walking dog also comprises storer.
3. device for walking dog as claimed in claim 2, it is characterized in that, described device for walking dog also comprises the audio collecting device for gathering audio-frequency information, and described audio-frequency information stores in which memory.
4. device for walking dog as claimed in claim 2, it is characterized in that, described device for walking dog also comprises audio player, described controller also for reading corresponding audio-frequency information and generating audio frequency play instruction from described storer according to described ambient condition information, described audio player plays the audio-frequency information of described controller reading according to described audio frequency play instruction.
5. the device for walking dog as described in any one of Claims 1-4, is characterized in that, described detecting device comprises:
For gathering the image capture device of the surrounding environment image of described dog position;
For carrying out image recognition to described surrounding environment image, to identify the image recognizer of ambient condition information from described surrounding environment image.
6. the device for walking dog as described in any one of Claims 1-4, is characterized in that, described detecting device comprises the sign detecting element of the sign information for detecting dog.
7. device for walking dog as claimed in claim 6, it is characterized in that, described controller is also for the action tendencies information according to described sign information prediction dog, and when the action tendencies information of described dog reaches pre-conditioned, from described storer, read corresponding audio-frequency information according to the action tendencies information of described dog and generate audio frequency play instruction.
8. the device for walking dog as described in any one of Claims 1-4, is characterized in that, described Abseiling device comprises wiring mechanism and the rope controller for the contraction and prolongation that control the rope in described wiring mechanism.
9. based on the control method that walks a dog of the device for walking dog described in any one of claim 1 to 8, it is characterized in that, described method comprises:
Detect ambient condition information;
Rope steering order is generated according to described ambient condition information;
Shrink according to described rope steering order or extend the rope being used for bolt dog.
10. control method as claimed in claim 9, it is characterized in that, described detection ambient condition information specifically comprises:
Gather the surrounding environment image of described dog position;
Image recognition is carried out to described surrounding environment image, to identify ambient condition information from described surrounding environment image.
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| CN201510149536.4A CN104898469B (en) | 2015-03-31 | 2015-03-31 | A kind of device for walking dog and the control method that walks a dog based on device for walking dog |
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| CN201510149536.4A CN104898469B (en) | 2015-03-31 | 2015-03-31 | A kind of device for walking dog and the control method that walks a dog based on device for walking dog |
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| CN105912021A (en) * | 2016-05-31 | 2016-08-31 | 成都德善能科技有限公司 | Dog walking unmanned aerial vehicle |
| CN105912021B (en) * | 2016-05-31 | 2019-10-01 | 莆田市荔城区任西贸易有限公司 | One kind walks a dog unmanned plane |
| TWI691268B (en) * | 2019-08-28 | 2020-04-21 | 南開科技大學 | Smart dog walking system and method thereof |
| CN111291641A (en) * | 2020-01-20 | 2020-06-16 | 上海依图网络科技有限公司 | Image recognition method and device, computer readable medium and system |
| CN111291641B (en) * | 2020-01-20 | 2024-02-27 | 上海依图网络科技有限公司 | Image recognition method and device, computer readable medium and system |
| CN112455570A (en) * | 2020-11-06 | 2021-03-09 | 钱继红 | Sharing robot for pet companion and working method thereof |
| CN112906678A (en) * | 2021-05-07 | 2021-06-04 | 南京甄视智能科技有限公司 | Illegal dog walking event detection method and device based on monitoring video |
| CN113692990A (en) * | 2021-08-23 | 2021-11-26 | 台州市爱信工业设计有限公司 | Dog walking device with enhanced stability |
| CN113892440A (en) * | 2021-09-29 | 2022-01-07 | 湖南纳九物联科技有限公司 | Device and method for monitoring lead rope during dog walking |
| CN113936378A (en) * | 2021-11-29 | 2022-01-14 | 敦讯信息咨询(海南)有限公司 | Self-service all-in-one machine |
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