CN106364542A - Multi-sensor fusion intelligent baby posture pacifying method based on support vector machine - Google Patents
Multi-sensor fusion intelligent baby posture pacifying method based on support vector machine Download PDFInfo
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- CN106364542A CN106364542A CN201610833753.XA CN201610833753A CN106364542A CN 106364542 A CN106364542 A CN 106364542A CN 201610833753 A CN201610833753 A CN 201610833753A CN 106364542 A CN106364542 A CN 106364542A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000012706 support-vector machine Methods 0.000 title claims abstract description 34
- 230000004927 fusion Effects 0.000 title claims abstract description 20
- 238000012549 training Methods 0.000 claims abstract description 15
- 230000008859 change Effects 0.000 claims abstract description 11
- 206010011469 Crying Diseases 0.000 claims abstract description 8
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 16
- 206010039740 Screaming Diseases 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 5
- 238000003756 stirring Methods 0.000 claims description 4
- 238000003491 array Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 5
- 230000003993 interaction Effects 0.000 abstract description 3
- 239000011435 rock Substances 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008451 emotion Effects 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 230000000474 nursing effect Effects 0.000 description 2
- 230000002618 waking effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000013145 classification model Methods 0.000 description 1
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- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002996 emotional effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012067 mathematical method Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000005096 rolling process 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
- B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
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Abstract
The invention discloses a multi-sensor fusion intelligent baby posture pacifying method based on a support vector machine. The method is achieved based on monitoring of a baby carriage to vibration, sounds and light intensity. When the baby carriage is used, a support vector machine algorithm is used for training a central controller, when a pressure change average value detected by a pressure sensor reaches an effective value range of the pressure change average value, the volume of a baby detected by a sound sensor reaches an effective value range of the volume, and the light intensity detected by a light intensity sensor reaches an effective value range of the light intensity, it is judged that the baby wakes up and cries; and when training is completed, the central controller can utilize the support vector machine algorithm to process the three variables, namely the pressure, sound and light intensity, and the current state of the baby is obtained. Multi-sensor information is integrated, whether the baby wakes up and cries is intelligently judged, the baby is intelligent pacified and stopped crying, and information interaction with a baby carriage user is effectively achieved.
Description
Technical field
A kind of the present invention relates to stroller technical field, in particular it relates to Multi-sensor Fusion based on support vector machine
Intelligent baby figure pacifies method.
Background technology
Baby before not having association to speak, its many to itself emotional expression and demand by the mode such as roll, cry and scream
Realize, and stroller, as a kind of most-often used tool car of nursery inner and outer movable, is nowadays also provided with increasing work(
Can, stroller brings certain benefit can to the intelligent development of child, and the brains increasing child is developed.The stroller using at present
It is primarily present the defect of following several respects: stroller is unable to the active situation of real-time monitoring in-car baby, if baby cries and screams
When need user to take baby in one's arms to be pacified, stroller can not form information interaction etc. with user.Therefore, in order that stroller is used
The dynamic of in-car baby is easily monitored at family, realizes automatic baby soothing, preferably completes to nurse work, a kind of many sensings of design
It is very significant that device merges intelligent baby's figure's method of pacifying.
Content of the invention
The present invention is directed to the deficiencies in the prior art, there is provided a kind of Multi-sensor Fusion intelligence baby based on support vector machine
Youngster figure pacifies method, and the information of integrated multi-sensor judges that baby is in sleep, still wakes up and cry and scream, be capable of
The purpose of intelligent baby soothing.
The above-mentioned purpose of the present invention is achieved by the following technical programs.
A kind of Multi-sensor Fusion intelligence baby figure based on support vector machine pacifies method, and methods described is based on baby
Car is realized to the monitoring of vibration, sound and light intensity and feedback:
Described stroller comprises pressure transducer, sound transducer, light intensity sensor and master controller；Described vibration is by array
It is distributed in the pressure transducer detection of stroller sleeping basket bottom surface, frequency and intensity that detection babies stir；Described sound by
Sound transducer detection in stroller sleeping basket, detection baby sends the size of sound；Described light intensity is by stroller sleeping basket top
The light intensity sensor detection of upside, detects environmental light intensity；
Described stroller uses front, using algorithm of support vector machine training centre controller, when described pressure transducer detects
Pressure change meansigma methodss reach its valid value range, it is effective that the baby sound size that described sound transducer detects reaches it
Value scope, when described light intensity sensor detects light intensity and reaches its valid value range, judges that baby wakes up and cries and screams；Train
During one-tenth, described master controller can utilize algorithm of support vector machine processing pressure, sound, three variables of light intensity, obtain baby and work as
Front state, and by master controller, baby is pacified.
Multi-sensor Fusion intelligence baby figure of the present invention pacifies method and is based on pressure, sound, three variables of light intensity
Data Detection, process, the information of multisensor is merged, whether has the strong of cry and scream sound or sound of crying and screaming according to baby
Degree, and the frequency stirred of its body and intensity, in conjunction with prevailing circumstances light intensity, judge that baby is in sleep, just still wake up
Crying and screaming, baby is being carried out with intelligence and pacifies.Wherein, the valid value range of described pressure, sound and light intensity is to preset, and profit
With these three parameters, master controller is carried out with the Algorithm for Training based on support vector machine.
Described support vector machine are similar with neutral net, are all learning-oriented mechanism, but from unlike neutral net, prop up
Hold vector machine and use mathematical method and optimisation technique.Support vector machine are a kind of two classification models, its basic model
It is defined as the linear classifier of the interval maximum on feature space, that is, the learning strategy of support vector machine is margin maximization,
It is different from perceptron to be spaced ambassador, finally can be converted into the solution of a convex quadratic programming problem；Support vector machine are also wrapped
Include geo-nuclear tracin4, this makes it also become substantial Nonlinear Classifier.Described supporting vector refers to those in interval area edge
Training sample point, by DUAL PROBLEMS OF VECTOR MAPPING to the space of a more higher-dimension, set up in this space has one to support vector machine
Large-spacing hyperplane.Have two hyperplane parallel to each other on the both sides of the hyperplane of separate data, set up direction suitable
Separating hyperplane makes the distance between two hyperplane parallel with it maximize, and it is assumed to, the distance between parallel hyperplane or
Gap is bigger, and the total error of grader is less.
The support vector machine of the present invention provide a kind of supervised learning model relevant with learning algorithm, can analyze number
According to recognition mode, for classification and regression analyses.For example, one group of training sample (pressure in the present invention, sound, light intensity are given
Three variables), each is labeled as belonging to two classes, and a support vector machine training algorithm establishes a model, distributes new reality
Example is for a class or other classes so as to become non-probability binary linearity classification.The learning strategy of support vector machine is exactly to be spaced maximum
Change, form can turn to a problem solving convex quadratic programming, the minimum being also equivalent to the hinge loss function of regularization is asked
Topic.The support vector machine of the present invention improve learning machine generalization ability by seeking structuring least risk, realize empiric risk
With the minimum of fiducial range, thus reaching in the case that statistical sample amount is less, the mesh of good statistical law also can be obtained
's.
Preferably, described stroller also comprises player, wheel controller and motor；Described player is slept positioned at stroller
In basket, described wheel controller and motor are located on stroller wheel；Cry when described master controller judges baby to wake up
When noisy, start player plays and pacify music or recording, and controlled motor and wheel controller make that stroller is regular to be rocked.
The existing routine method of pacifying is: when baby cry, baby is taken in one's arms from stroller by parents and family, with certain amplitude gently
Rock baby and pass through sound baby soothing.Intelligent baby figure of the present invention pacifies method and exactly simulates above-mentioned artificial peace
The method comforted, stroller is regular to be rocked instead of baby takes in one's arms the action rocked, and player plays pacify music or record
The scene that sound instead of parents and family is pacified, and effectively prevent caregiver and does not pacify asking not in time what baby caused by the side of
Topic.
Preferably, described stroller also comprises to be fixed on the Collapsible vehicle cover on sleeping basket top, and described light intensity sensor is located at
The top of Collapsible vehicle cover；When described master controller judge baby wake up cry and scream when, control Collapsible vehicle cover sunshade
Layer open.When light intensity is larger, baby easily wakes up, and now the present invention devises Collapsible vehicle cover, as baby because light intensity is excessive
When waking up, described stroller controls the sunshade layer of Collapsible vehicle cover to automatically open up.
Control for making described sunshade layer is more intelligent, can control opening of multilamellar sunshade layer according to light intensity,
Preferably, described Collapsible vehicle cover comprises at least two-layer sunshade layer, using algorithm of support vector machine training centre controller, works as light
By force by during weak to strong change, described master controller is carried out successively to Collapsible vehicle cover: controls open Collapsible vehicle cover one layer
Sunshade layer, controls the multilamellar sunshade layer opening Collapsible vehicle cover.
Preferably, described stroller also comprises signal transceiver, and described signal transceiver comprises signal receiving unit, signal
Processing unit, signal transmitting unit, gprs antenna, signal transceiver is connected with user terminal.
Preferably, described signal transceiver and the connected mode of user terminal are gprs, bluetooth, one of wifi or many
Kind.
Preferably, described user terminal is user mobile phone.
Preferably, described sound transducer is located at the side of described sleeping basket baby head, and described player is located at described sleeping
The opposite side of basket baby head.
Preferably, described pressure transducer has 9, is uniformly distributed in the bottom surface of described sleeping basket by 3 × 3 arrays.
Preferably, described wheel controller controls described wheel swing.The foundation of rocking of described baby's vehicle main body is cured
Raw instruct rock direction, amplitude, speed carry out program setting.Meanwhile, described stroller also can be by signal transceiver by baby
The exception reporting of youngster is sent to user terminal, realizes the remote nursing of baby.
Preferably, left front, right front, left back, right back swing are pointed in described swing；Described left front and the right side
Front, the angle between left back and right back is 0 ~ 45 °.It is highly preferred that the path of described swing is 0 ~ 10cm；Every point
Clock swing 10 ~ 30 times.
Compared with prior art, the present invention has the beneficial effects that: the Multi-sensor Fusion based on support vector machine for the present invention
Intelligent baby figure pacifies method integration multi-sensor information, and intelligent decision baby is in sleep, still wakes up and cries and screams,
And motor vehicles bodies are shaken by a small margin with certain energetic start up motor and plays music, baby soothing, make baby stop crying and screaming, simultaneously also logical
Cross signal transceiver and user terminal carries out the long-range display of data, record, control operation, effectively realize with stroller user's
Information interaction.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, with reference to embodiments, the present invention is carried out
Further describe.It should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to limit
The present invention.Based on embodiments of the invention, those of ordinary skill in the art's gained on the premise of not making creative work
The all other embodiment arriving, broadly falls into the scope that the present invention is protected.
In describing the invention, it should be noted that term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation of instruction such as " level ", " interior ", " outward " or position relationship are for only for ease of the description present invention and simplify description, rather than
Indicate or the hint device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not
It is interpreted as limitation of the present invention.Additionally, term " first ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that
Instruction or hint relative importance.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or is integrally connected；Can
To be to be mechanically connected or electrical connection；Can be to be joined directly together it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Below by specific embodiment, the present invention is described in further detail.
Embodiment 1
The present embodiment provides a kind of intelligence baby figure of the Multi-sensor Fusion based on support vector machine to pacify method.Described support
Vector machine is a kind of machine learning method based on Statistical Learning Theory, improves learning machine by seeking structuring least risk
Generalization ability, realizes the minimum of empiric risk and fiducial range, thus reaching in the case that statistical sample amount is less, also can
Obtain the purpose of good statistical law.The entity that baby figure of the present invention pacifies method is based on a stroller, described stroller bag
Containing pressure transducer, sound transducer, light intensity sensor, master controller, player, wheel controller and motor.
Methods described is realized to the monitoring of vibration, sound and light intensity and feedback based on stroller:
Described vibration is detected in the pressure transducer of stroller sleeping basket bottom surface by array distribution, the frequency that detection babies stir
And intensity；Specifically, described pressure transducer has 9, is uniformly distributed in the bottom surface of described sleeping basket by 3 × 3 arrays, and baby is sleeping
Under conditions of, the pressure value detecting of multiple described pressure transducers has almost no change or does not hold within a period of time
Continuous change, when baby wakes up rolling in sleeping basket, the pressure transducer of diverse location detects the frequency that babies stir
And intensity, the data of multiple pressure transducers is by master controller analysis, process and feedback.Described sound is by stroller sleeping basket
Sound transducer detection, detection baby sends the size of sound；Described sound transducer is located at described sleeping basket baby head
Side, described player is located at the opposite side of described sleeping basket baby head, and when baby sends and cries and screams sound, sound transducer receives
Signal simultaneously sends to master controller analysis, processes, then will feed back signal and send to player or other comforting equipments.Described light
By force by the light intensity sensor detection on the upside of stroller sleeping basket top, detect environmental light intensity.
Described stroller uses front, using algorithm of support vector machine training centre controller, when the inspection of described pressure transducer
The pressure change meansigma methodss measuring reach its valid value range, and the baby sound size that described sound transducer detects reaches it
Valid value range, when described light intensity sensor detects light intensity and reaches its valid value range, judges that baby wakes up and cries and screams；Instruction
When white silk completes, described master controller can utilize algorithm of support vector machine integrated treatment pressure, sound, three variables of light intensity, obtains
Obtain baby's current state, and by master controller, baby is pacified.Described stroller also comprises；Wheel controller and electricity
Wheel controller described in machine and motor are located on stroller wheel；Cry and scream when described master controller judges baby to wake up
When, start player plays and pacify music or recording, and controlled motor and wheel controller make that stroller is regular to be rocked.Institute
State recording and can pacify sound for what baby father and mother recorded in advance, the valid value range of described pressure, sound and light intensity is in advance
Set.
The present invention stroller use front, using algorithm of support vector machine training centre controller so as to can to pressure,
Whether sound, three variables of light intensity carry out Data Detection, process, the information of multisensor is merged, is cried according to baby
Noisy sound or the intensity of sound of crying and screaming, and the frequency stirred of its body and intensity, in conjunction with prevailing circumstances light intensity, judge baby be
In sleep, still wake up and cry and scream, baby is carried out with intelligence and pacifies.Described intelligence is pacified and is simulated the effect manually pacified,
Stroller is regular to be rocked instead of baby takes in one's arms the action rocked, and player plays pacify music or recording instead of father
The scene of married woman's parent's home people is pacified, can waking up and timely feedback of crying and screaming to baby, be easy to baby soothing emotion, so that baby is felt more
Plus comfortable, safety.
Embodiment 2
Substantially same as Example 1, difference that the Multi-sensor Fusion intelligence baby figure that the present embodiment provides pacifies method
It is, the stroller of the present embodiment also comprises signal transceiver, described signal transceiver comprises signal receiving unit, signal processing
Unit, signal transmitting unit, gprs antenna, signal transceiver is connected with user terminal.Described signal transceiver and user terminal
Connected mode be gprs, bluetooth, one or more of wifi.Specifically, described user terminal is user mobile phone.
Described stroller also comprises to be fixed on the Collapsible vehicle cover on sleeping basket top, and described Collapsible vehicle cover comprises two-layer sunshade
Layer, the sunshade layer of lower floor is sunshade net, and the sunshade layer on upper strata is puggaree, and described light intensity sensor is located at the top of Collapsible vehicle cover
Portion；When described master controller judge baby wake up cry and scream when, using algorithm of support vector machine training centre controller, when
By during weak to strong change, described master controller is carried out successively light intensity to the sunshade net of Collapsible vehicle cover, sunshade layer.
When described master controller judge baby wake up cry and scream when, specifically, described wheel controller controls described
Wheel swing.Left front, right front, left back, right back swing are pointed in described swing；Before described left front and the right side
Side, the angle between left back and right back is 0 ~ 45 °, and the path of described swing is 0 ~ 10cm；Swing per minute
10 ~ 30 times.
Described baby's vehicle main body above-mentioned rock according to physician guidance rock direction, amplitude, speed carry out program setting,
Support vector machine training in advance master controller, enables the different conditions to baby and carries out different feedbacks, for example, baby
Just waken up cry and scream sound larger when, pacify sound and stroller shaking amplitude be larger, frequency very fast, when infant emotion is gradually stable
When, pacify that sound lightens, stroller rocks and slows down etc..Meanwhile, described stroller also can be by signal transceiver by baby's
Exception reporting is sent to user terminal, realizes the remote nursing of baby.
The inventive method training to stroller master controller based on support vector machine, melts to multi-sensor information
Close, method, baby soothing artificial intelligence can manually be pacified according to baby figure, make baby stop crying and screaming, effectively prevent and see
The problem pacified not in time that shield personnel do not cause by the side of in baby.Obviously, the above embodiment of the present invention is used for the purpose of clearly
Chu ground illustrates example of the present invention, and is not the restriction to embodiments of the present invention.Common for art
For technical staff, can also make other changes in different forms on the basis of the above description, here need not
All of embodiment cannot be exhaustive.All any modifications made within the scope of the spirit and principles in the present invention, etc.
With replacement and improvement etc., should be included within the protection domain of the claims in the present invention.
Claims (10)
1. a kind of Multi-sensor Fusion intelligence baby figure based on support vector machine pacifies method it is characterised in that described side
Method is realized to the monitoring of vibration, sound and light intensity and feedback based on stroller:
Described stroller comprises pressure transducer, sound transducer, light intensity sensor and master controller；Described vibration is by array
It is distributed in the pressure transducer detection of stroller sleeping basket bottom surface, frequency and intensity that detection babies stir；Described sound by
Sound transducer detection in stroller sleeping basket, detection baby sends the size of sound；Described light intensity is by stroller sleeping basket top
The light intensity sensor detection of upside, detects environmental light intensity；
Described stroller uses front, using algorithm of support vector machine training centre controller, when described pressure transducer detects
Pressure change meansigma methodss reach its valid value range, it is effective that the baby sound size that described sound transducer detects reaches it
Value scope, when described light intensity sensor detects light intensity and reaches its valid value range, judges that baby wakes up and cries and screams；Train
During one-tenth, described master controller can utilize algorithm of support vector machine processing pressure, sound, three variables of light intensity, obtain baby and work as
Front state, and by master controller, baby is pacified.
2. Multi-sensor Fusion according to claim 1 intelligence baby figure pacifies method it is characterised in that described baby
Car also comprises player, wheel controller and motor；Described player is located in stroller sleeping basket, described wheel controller and electricity
Machine is located on stroller wheel；When described master controller judge baby wake up cry and scream when, start player plays pacify
Music or recording, and controlled motor and wheel controller make that stroller is regular to be rocked.
3. Multi-sensor Fusion according to claim 2 intelligence baby figure pacifies method it is characterised in that described baby
Car also comprises to be fixed on the Collapsible vehicle cover on sleeping basket top, and described light intensity sensor is located at the top of Collapsible vehicle cover；When described
Master controller judges that baby wakes up when crying and screaming, and controls the sunshade layer open of Collapsible vehicle cover.
4. Multi-sensor Fusion intelligence baby figure according to claim 3 pacifies method it is characterised in that described receive
Contracting vehicle cover comprises at least two-layer sunshade layer, using algorithm of support vector machine training centre controller, when light intensity is by weak to strong change
When, described master controller is carried out successively to Collapsible vehicle cover: controls one layer of sunshade layer opening Collapsible vehicle cover, control is opened
The multilamellar sunshade layer of Collapsible vehicle cover.
5. Multi-sensor Fusion according to claim 1 intelligence baby figure pacifies method it is characterised in that described baby
Car also comprises signal transceiver, described signal transceiver comprise signal receiving unit, signal processing unit, signal transmitting unit,
Gprs antenna, signal transceiver is connected with user terminal.
6. Multi-sensor Fusion according to claim 5 intelligence baby figure pacifies method it is characterised in that described signal
Transceiver is gprs with the connected mode of user terminal, bluetooth, one or more of wifi.
7. Multi-sensor Fusion according to claim 1 intelligence baby figure pacifies method it is characterised in that described sound
Sensor is located at the side of described sleeping basket baby head, and described player is located at the opposite side of described sleeping basket baby head.
8. Multi-sensor Fusion according to claim 1 intelligence baby figure pacifies method it is characterised in that described pressure
Sensor has 9, is uniformly distributed in the bottom surface of described sleeping basket by 3 × 3 arrays.
9. Multi-sensor Fusion according to claim 1 intelligence baby figure pacifies method it is characterised in that described wheel
Controller controls described wheel swing.
10. Multi-sensor Fusion according to claim 9 intelligence baby figure pacifies method it is characterised in that before described
Swing afterwards and point to left front, right front, left back, right back swing；Described left front and right front, left back and right back it
Between angle be 0 ~ 45 °.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107697139A (en) * | 2017-09-15 | 2018-02-16 | 智易行科技(武汉)有限公司 | The anti-drowned perambulator of self-balancing answered based on water sensitive |
| CN108619605A (en) * | 2018-04-12 | 2018-10-09 | 四川斐讯信息技术有限公司 | A kind of intelligent infant pacifies method and device |
| CN110077448A (en) * | 2019-04-15 | 2019-08-02 | 深圳和而泰数据资源与云技术有限公司 | A kind of stroller and its control method |
| CN112572249A (en) * | 2019-09-27 | 2021-03-30 | 宝马股份公司 | Smart seat system for caring for infants in a vehicle |
| CN113017337A (en) * | 2021-03-30 | 2021-06-25 | 复旦大学 | Intelligent baby bed trolley |
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| CN104545844A (en) * | 2014-12-25 | 2015-04-29 | 中国科学院苏州生物医学工程技术研究所 | Multi-parameter sleep monitoring and intelligent diagnosis system based on 4G mobile communication technology and application method of multi-parameter sleep monitoring and intelligent diagnosis system |
| CN105812580A (en) * | 2016-05-13 | 2016-07-27 | 齐鲁工业大学 | Intelligent baby stroller based Internet of Things |
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| CN113017337A (en) * | 2021-03-30 | 2021-06-25 | 复旦大学 | Intelligent baby bed trolley |
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