CN106275035A - A kind of intelligence follows shopping cart - Google Patents
A kind of intelligence follows shopping cart Download PDFInfo
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- CN106275035A CN106275035A CN201610639182.6A CN201610639182A CN106275035A CN 106275035 A CN106275035 A CN 106275035A CN 201610639182 A CN201610639182 A CN 201610639182A CN 106275035 A CN106275035 A CN 106275035A
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- 238000000034 method Methods 0.000 claims description 29
- 238000010606 normalization Methods 0.000 claims description 25
- 230000008569 process Effects 0.000 claims description 7
- 230000000903 blocking effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 201000010041 presbyopia Diseases 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/14—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor characterised by provisions for nesting or stacking, e.g. shopping trolleys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Remote Sensing (AREA)
- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of intelligence to follow shopping cart and include: car body is used for holding article；Direction acquisition device is arranged at car body front, for obtaining the person's of being followed directional information relative to shopping cart in the way of based on surrounding；Distance acquisition device is arranged at car body front, for obtaining the person's of being followed range information relative to shopping cart；Control device and be connected to direction acquisition device and distance acquisition device, for controlling to generate drive command with range information relative to the direction of shopping cart according to the person of being followed；Driving means is arranged at below car body, is connected to control device, for making shopping cart move to the person of being followed according to drive command.The present invention allows shopping cart automatically to follow the mankind to move, convenient shopping.
Description
Technical field
The present invention relates to the articles for daily use, especially, relate to a kind of intelligence and follow shopping cart.
Background technology
Along with supermarket is in the extensive the first transaction of a day's business in each city, the common people of supermarket shopping are selected also to get more and more, undeniable supermarket
Important role is play in we live.But supermarket exists following problem the most unavoidably:
1, area a lot of at some large supermarket's article is big, and consumer may be allowed to be difficult to accurately find correct road for the moment
Line is even lost in supermarket.
2, child can not facilitate shopping, the heaviest shopping cart to be very hard use for children as adult
, if not using shopping cart, take action when hands has been taken some article when the most very inconvenient.
3, old people does shopping inconvenience, also can bring to its shopping if old man has presbyopia to be difficult to see Item Information clearly for the moment
, there is inconvenience especially for handicapped old people's shopping in inconvenience.
4, having loaded and unloaded article after consumer shifts parking lot onto shopping cart, shopping cart is at will placed also can be to other passerbys
Bring inconvenience, this is also needed to the shopping cart after employing professional to collect use.
The problem causing shopping inconvenience for shopping cart in prior art, the most not yet has effective solution.
Summary of the invention
In view of this, it is an object of the invention to propose a kind of intelligence and follow shopping cart, it is allowed to people followed automatically by shopping cart
Class moves, convenient shopping.
Based on above-mentioned purpose, the technical scheme that the present invention provides is as follows:
According to an aspect of the invention, it is provided a kind of intelligence follows shopping cart, including:
Car body, is used for holding article；
Direction acquisition device, is arranged at car body front, for obtaining the person of being followed relative to purchasing in the way of based on surrounding
The directional information of thing car；
Distance acquisition device, is arranged at car body front, for obtaining the person's of being followed range information relative to shopping cart；
Control device, be connected to direction acquisition device and distance acquisition device, for the basis person of being followed relative to shopping
The direction of car and range information control to generate drive command；
Driving means, is arranged at below car body, be connected to control device, for according to drive command make shopping cart to by with
Move with person.
Wherein, direction acquisition device includes:
Image-forming module, for continuously acquiring the image information on shopping cart direct of travel；
Identification module, is connected to image-forming module, for identifying the image of the person of being followed from image information, and with based on
Mode around obtains the person's of being followed directional information relative to shopping cart.
Further, identification module includes:
Blocking unit, for carrying out piecemeal to image information；
Feature unit, for specifying each pixel from image information successively, builds pixel region for pixel and uses normalizing
Pixel region is processed as normalization result by change method, and calculates acquisition local feature based on surrounding for specified pixel；
Grouped element, for according to the local feature for specified pixel, being included into specified pixel in fixing group, returned
Enter the image that the specified pixel in same fixing group is considered to have same type texture；
Comparison unit, for being contrasted with the image of the person of being followed by the texture type of each group, determines the person of being followed
The direction of motion on image information.
Further, blocking unit is additionally operable to:
Image information is divided into multiple block of pixels residue-free, and N number of block of pixels is all square pixel set；
Use method for normalizing to process multiple block of pixels, it is thus achieved that the normalization result of multiple block of pixels, and calculate multiple picture
The meansigma methods of the normalization result of element block.
Further, feature unit is used for:
Each pixel is selected successively from image information；
Centered by specified pixel, choosing multiple neighborhood territory pixel from image information, multiple neighborhood territory pixels are to specifying picture
The distance of element is definite value；
Respectively centered by each in multiple neighborhood territory pixels, from image information, intercept out multiple neighborhood block, multiple
Neighborhood block is square pixel set centered by each neighborhood territory pixel respectively；
Use method for normalizing to process multiple neighborhood blocks, it is thus achieved that the normalization result of multiple neighborhood blocks, and calculate multiple neighbour
The meansigma methods of the normalization result of territory block；
The meansigma methods of the normalization result of the normalization result according to multiple neighborhood blocks and multiple neighborhood blocks, it is thus achieved that for referring to
The local feature based on surrounding of fixation element.
Meanwhile, distance acquisition device includes:
Transmitter module, for the person of being followed direction transmission of electromagnetic signals；
Receiver module, is connected to transmitter module, for receiving the electromagnetic signal of the person's of being followed reflection, and according to reflected signal
Obtain the person's of being followed range information relative to shopping cart.
Include it addition, control device:
Acquisition module, for receiving the person of being followed relative to the direction of shopping cart and range information；
Rotate computing module, should turn for calculating shopping cart according to the person of being followed relative to the directional information of shopping cart
Dynamic angle and direction；
Translation computing module, should protect for calculating shopping cart according to the person of being followed relative to the range information of shopping cart
The speed held；
Output module, is connected to rotate computing module and translation computing module, for the angle that should rotate according to shopping cart
Degree generates drive command with direction, the speed that should keep.
Further, rotate computing module to calculate shopping cart according to the person of being followed relative to the directional information of shopping cart and should turn
Dynamic angle includes with direction:
When the person of being followed is more than boundary limit relative to the deflection of shopping cart, with maximum rotation angle to the person of being followed
Direction, place rotates；
When the person of being followed is less than boundary limit relative to the deflection of shopping cart and is more than range of error, with standard rotary
Angle rotates to direction, the person of being followed place；
When the person of being followed is less than range of error relative to the deflection of shopping cart, do not rotate.
Meanwhile, translation computing module calculates shopping cart according to the person of being followed relative to the range information of shopping cart and should protect
The speed held includes:
When the person of being followed is more than tracking range relative to the distance of shopping cart, in place to the person of being followed institute to pursue speed
Put motion；
The person of being followed relative to shopping cart distance less than tracking range and more than safe distance time, with follow speed to
Move in the person of being followed position；
When the person of being followed is less than safe distance relative to the distance of shopping cart, keep static.
Above-mentioned car body is Shopping Basket；Direction acquisition device is the combination of photographic head and single-chip microcomputer；Distance acquisition device is sharp
Shaven head and the combination of laser pickoff；Driving means is Electric Motor Wheel.
From the above it can be seen that the technical scheme that the present invention provides is by using direction acquisition device to obtain with distance
Device obtains the person of being followed relative to the direction of shopping cart and distance, and controls driving means with this and make shopping cart to the person of being followed
The technological means of motion, it is allowed to shopping cart is automatically followed the mankind and moved, convenient shopping.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing used is needed to be briefly described, it should be apparent that, the accompanying drawing in describing below is only some enforcements of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtains according to these accompanying drawings
Obtain other accompanying drawing.
Fig. 1 is the structure chart that a kind of intelligence according to the embodiment of the present invention follows shopping cart；
Fig. 2 is the structure chart that a kind of intelligence according to the embodiment of the present invention follows the identification module of shopping cart.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with in the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is carried out further clear, complete, describe in detail, it is clear that described
Embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area
The every other embodiment that those of ordinary skill is obtained, broadly falls into the scope of protection of the invention.
According to embodiments of the invention, it is provided that a kind of intelligence follows shopping cart.
Follow shopping cart include as it is shown in figure 1, provide a kind of intelligence according to an embodiment of the invention:
Car body 11, is used for holding article；
Direction acquisition device 12, is arranged at car body front, for obtain in the way of based on surrounding the person of being followed relative to
The directional information of shopping cart；
Distance acquisition device 13, is arranged at car body front, for obtaining the person's of being followed range information relative to shopping cart；
Control device 14, be connected to direction acquisition device and distance acquisition device, for the basis person of being followed relative to purchasing
The direction of thing car and range information control to generate drive command；
Driving means 15, is arranged at below car body, is connected to control device, for making shopping cart to quilt according to drive command
Follower moves.
Wherein, direction acquisition device includes:
Image-forming module, for continuously acquiring the image information on shopping cart direct of travel；
Identification module, is connected to image-forming module, for identifying the image of the person of being followed from image information, and with based on
Mode around obtains the person's of being followed directional information relative to shopping cart.
As in figure 2 it is shown, identification module includes:
Blocking unit 21, for carrying out piecemeal to image information；
Feature unit 22, for specifying each pixel from image information successively, builds pixel region use for pixel and returns
Pixel region is processed as normalization result by one change method, and calculates acquisition local feature based on surrounding for specified pixel；
Grouped element 23, for according to the local feature for specified pixel, being included into specified pixel in fixing group, quilt
The specified pixel being included in same fixing group is considered the image with same type texture；
Comparison unit 24, for being contrasted with the image of the person of being followed by the texture type of each group, determines and is followed
Person's direction of motion on image information.
Further, blocking unit is additionally operable to:
Image information is divided into multiple block of pixels residue-free, and N number of block of pixels is all square pixel set；
Use method for normalizing to process multiple block of pixels, it is thus achieved that the normalization result of multiple block of pixels, and calculate multiple picture
The meansigma methods of the normalization result of element block.
Further, feature unit is used for:
Each pixel is selected successively from image information；
Centered by specified pixel, choosing multiple neighborhood territory pixel from image information, multiple neighborhood territory pixels are to specifying picture
The distance of element is definite value；
Respectively centered by each in multiple neighborhood territory pixels, from image information, intercept out multiple neighborhood block, multiple
Neighborhood block is square pixel set centered by each neighborhood territory pixel respectively；
Use method for normalizing to process multiple neighborhood blocks, it is thus achieved that the normalization result of multiple neighborhood blocks, and calculate multiple neighbour
The meansigma methods of the normalization result of territory block；
The meansigma methods of the normalization result of the normalization result according to multiple neighborhood blocks and multiple neighborhood blocks, it is thus achieved that for referring to
The local feature based on surrounding of fixation element.
Specifically, the workflow of feature unit is as follows:
Each pixel x is selected successively from image informationc；
With specified pixel xcCentered by, from image information, choose p neighborhood territory pixel xR, p, n, p neighborhood territory pixel xR, p, n
To specified pixel xcDistance be r, p integer in wherein n takes [0, p-1] respectively；
Respectively with p neighborhood territory pixel xR, p, nIn each centered by, from image information, intercept out p neighborhood blockP neighborhood blockIt is all a size of wr×wr, respectively with each neighborhood territory pixel xR, p, nCentered by pros
Shape collection of pixels；
Method for normalizing φ is used to process p neighborhood blockObtain p neighborhood blockNormalization resultAnd calculate p neighborhood blockThe meansigma methods of normalization result
According to p neighborhood blockNormalization resultWith p neighborhood blockNormalization knot
The meansigma methods of fruitObtain for specified pixel xcLocal feature RELBP_NI based on surroundingR, p(xc)
Wherein,
Meanwhile, distance acquisition device includes:
Transmitter module, for the person of being followed direction transmission of electromagnetic signals；
Receiver module, is connected to transmitter module, for receiving the electromagnetic signal of the person's of being followed reflection, and according to reflected signal
Obtain the person's of being followed range information relative to shopping cart.
Include it addition, control device:
Acquisition module, for receiving the person of being followed relative to the direction of shopping cart and range information；
Rotate computing module, should turn for calculating shopping cart according to the person of being followed relative to the directional information of shopping cart
Dynamic angle and direction；
Translation computing module, should protect for calculating shopping cart according to the person of being followed relative to the range information of shopping cart
The speed held；
Output module, is connected to rotate computing module and translation computing module, for the angle that should rotate according to shopping cart
Degree generates drive command with direction, the speed that should keep.
Further, rotate computing module to calculate shopping cart according to the person of being followed relative to the directional information of shopping cart and should turn
Dynamic angle includes with direction:
When the person of being followed is more than boundary limit relative to the deflection of shopping cart, with maximum rotation angle to the person of being followed
Direction, place rotates；
When the person of being followed is less than boundary limit relative to the deflection of shopping cart and is more than range of error, with standard rotary
Angle rotates to direction, the person of being followed place；
When the person of being followed is less than range of error relative to the deflection of shopping cart, do not rotate.
Meanwhile, translation computing module calculates shopping cart according to the person of being followed relative to the range information of shopping cart and should protect
The speed held includes:
When the person of being followed is more than tracking range relative to the distance of shopping cart, in place to the person of being followed institute to pursue speed
Put motion；
The person of being followed relative to shopping cart distance less than tracking range and more than safe distance time, with follow speed to
Move in the person of being followed position；
When the person of being followed is less than safe distance relative to the distance of shopping cart, keep static.
Above-mentioned car body is Shopping Basket；Direction acquisition device is the combination of photographic head and single-chip microcomputer；Distance acquisition device is sharp
Shaven head and the combination of laser pickoff；Driving means is Electric Motor Wheel.
In sum, by means of the technique scheme of the present invention, by using direction acquisition device to obtain dress with distance
Put and obtain the person of being followed relative to the direction of shopping cart and distance, and control driving means with this and make shopping cart transport to the person of being followed
Dynamic technological means, it is allowed to shopping cart is automatically followed the mankind and moved, convenient shopping.
Those of ordinary skill in the field it is understood that the foregoing is only the specific embodiment of the present invention, and
Be not used in the restriction present invention, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, all
Within protection scope of the present invention should being included in.
Claims (10)
1. an intelligence follows shopping cart, it is characterised in that including:
Car body, is used for holding article；
Direction acquisition device, is arranged at car body front, for obtaining the person of being followed relative to shopping cart in the way of based on surrounding
Directional information；
Distance acquisition device, is arranged at car body front, for obtaining the person's of being followed range information relative to shopping cart；
Control device, be connected to described direction acquisition device with described distance acquisition device, for according to the person of being followed relative to
The direction of shopping cart and range information control to generate drive command；
Driving means, is arranged at below car body, be connected to control device, for according to described drive command make shopping cart to by with
Move with person.
Shopping cart the most according to claim 1, it is characterised in that described direction acquisition device includes:
Image-forming module, for continuously acquiring the image information on shopping cart direct of travel；
Identification module, is connected to image-forming module, for identifying the image of the person of being followed from described image information, and with based on
Mode around obtains the person's of being followed directional information relative to shopping cart.
Shopping cart the most according to claim 2, it is characterised in that described identification module includes:
Blocking unit, for carrying out piecemeal to described image information；
Feature unit, for specifying each pixel from described image information successively, builds pixel region for described pixel and uses
Described pixel region is processed as normalization result by method for normalizing, and calculates acquisition local based on surrounding for specified pixel
Feature；
Grouped element, for according to the described local feature for specified pixel, is included into described specified pixel in fixing group,
The specified pixel being included in same described fixing group is considered the image with same type texture；
Comparison unit, for being contrasted with the image of the person of being followed by the texture type of each group, determines that the person of being followed is in institute
State the direction of motion on image information.
Shopping cart the most according to claim 3, it is characterised in that described blocking unit is additionally operable to:
Described image information is divided into multiple block of pixels residue-free, and described N number of block of pixels is all square pixel set；
Use method for normalizing to process the plurality of block of pixels, it is thus achieved that the normalization result of the plurality of block of pixels, and calculate institute
State the meansigma methods of the normalization result of multiple block of pixels.
Shopping cart the most according to claim 4, it is characterised in that described feature unit is used for:
Each pixel is selected successively from described image information；
Centered by described specified pixel, from described image information, choose multiple neighborhood territory pixel, the plurality of neighborhood territory pixel
Distance to described specified pixel is definite value；
Respectively centered by each in the plurality of neighborhood territory pixel, from described image information, intercept out multiple neighborhood block,
The plurality of neighborhood block is square pixel set centered by described each neighborhood territory pixel respectively；
Use method for normalizing to process the plurality of neighborhood block, it is thus achieved that the normalization result of the plurality of neighborhood block, and calculate institute
State the meansigma methods of the normalization result of multiple neighborhood block；
The meansigma methods of the normalization result of the normalization result according to the plurality of neighborhood block and the plurality of neighborhood block, it is thus achieved that right
Local feature based on surrounding in specified pixel.
Shopping cart the most according to claim 1, it is characterised in that described distance acquisition device includes:
Transmitter module, for the person of being followed direction transmission of electromagnetic signals；
Receiver module, is connected to transmitter module, for receiving the electromagnetic signal of the person's of being followed reflection, and obtains according to reflected signal
The person of being followed is relative to the range information of shopping cart.
Shopping cart the most according to claim 1, it is characterised in that described control device includes:
Acquisition module, for receiving the person of being followed relative to the direction of shopping cart and range information；
Rotate computing module, for calculating what shopping cart should rotate according to the person of being followed relative to the directional information of shopping cart
Angle and direction；
Translation computing module, for calculating what shopping cart should keep according to the person of being followed relative to the range information of shopping cart
Speed；
Output module, is connected to described rotation computing module and described translation computing module, for rotating according to shopping cart
Angle and direction, the speed that should keep generate drive command.
Shopping cart the most according to claim 7, it is characterised in that described rotation computing module according to the person of being followed relative to
The directional information of shopping cart calculates the angle that shopping cart should rotate and includes with direction:
When the person of being followed is more than boundary limit relative to the deflection of shopping cart, with maximum rotation angle to the person of being followed place
Direction rotates；
When the person of being followed is less than boundary limit relative to the deflection of shopping cart and is more than range of error, with standard rotary angle
Rotate to direction, the person of being followed place；
When the person of being followed is less than range of error relative to the deflection of shopping cart, do not rotate.
Shopping cart the most according to claim 7, it is characterised in that described translation computing module according to the person of being followed relative to
The range information of shopping cart calculates the speed that shopping cart should keep and includes:
When the person of being followed is more than tracking range relative to the distance of shopping cart, to pursue speed to the person of being followed position fortune
Dynamic；
The person of being followed relative to shopping cart distance less than tracking range and more than safe distance time, with follow speed to by with
Move with person position；
When the person of being followed is less than safe distance relative to the distance of shopping cart, keep static.
10. according to the shopping cart described in any one in claim 1-9, it is characterised in that described car body is Shopping Basket；Described
Direction acquisition device is the combination of photographic head and single-chip microcomputer；Described distance acquisition device is the group of laser head and laser pickoff
Close；Described driving means is Electric Motor Wheel.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108706034A (en) * | 2018-05-28 | 2018-10-26 | 吴静 | A kind of supermarket shopping car based on ZigBee wireless communication techniques |
| CN108732946A (en) * | 2017-12-28 | 2018-11-02 | 北京猎户星空科技有限公司 | A kind of apparatus control system, method and device |
| CN109144043A (en) * | 2017-06-27 | 2019-01-04 | 金宝电子工业股份有限公司 | The method for tracking object |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04316105A (en) * | 1991-04-15 | 1992-11-06 | Esuto:Kk | Automatically tracking type golf cart |
| JP2006155039A (en) * | 2004-11-26 | 2006-06-15 | Toshiba Corp | Store robot |
| CN202225891U (en) * | 2011-05-27 | 2012-05-23 | 严海蓉 | Intelligent trolley |
| CN204309852U (en) * | 2014-12-11 | 2015-05-06 | 浙江大学 | Controlled in wireless follows shopping cart automatically |
-
2016
- 2016-08-05 CN CN201610639182.6A patent/CN106275035B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04316105A (en) * | 1991-04-15 | 1992-11-06 | Esuto:Kk | Automatically tracking type golf cart |
| JP2006155039A (en) * | 2004-11-26 | 2006-06-15 | Toshiba Corp | Store robot |
| CN202225891U (en) * | 2011-05-27 | 2012-05-23 | 严海蓉 | Intelligent trolley |
| CN204309852U (en) * | 2014-12-11 | 2015-05-06 | 浙江大学 | Controlled in wireless follows shopping cart automatically |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109144043A (en) * | 2017-06-27 | 2019-01-04 | 金宝电子工业股份有限公司 | The method for tracking object |
| CN108732946A (en) * | 2017-12-28 | 2018-11-02 | 北京猎户星空科技有限公司 | A kind of apparatus control system, method and device |
| CN108706034A (en) * | 2018-05-28 | 2018-10-26 | 吴静 | A kind of supermarket shopping car based on ZigBee wireless communication techniques |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106275035B (en) | 2018-07-31 |
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