CN106781332A - The method and system of alarm are realized by sweeping robot - Google Patents
The method and system of alarm are realized by sweeping robot Download PDFInfo
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- CN106781332A CN106781332A CN201710077781.8A CN201710077781A CN106781332A CN 106781332 A CN106781332 A CN 106781332A CN 201710077781 A CN201710077781 A CN 201710077781A CN 106781332 A CN106781332 A CN 106781332A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 132
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000004891 communication Methods 0.000 claims abstract description 18
- 230000008569 process Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
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- 230000005540 biological transmission Effects 0.000 abstract 1
- 238000012545 processing Methods 0.000 description 5
- 230000001960 triggered effect Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/012—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using recorded signals, e.g. speech
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/016—Personal emergency signalling and security systems
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Abstract
The present invention relates to a kind of method and system that alarm is realized by sweeping robot.The problems such as it solves existing sweeping robot unitary function.The method is comprised the following steps：S1：At least one user instruction information is received by sweeping robot body and sweeping robot body is switched to by first aid modes state according to user instruction information；S2：The sweeping robot body is positioned by locating module and sends the customer location of command information and be moved to customer location, while opening the image information and/or audio-frequency information of multimedia information acquisition module collection customer location；S3：Image information that the sweeping robot body will be gathered by wireless communication module and/or audio information transmissions are to mobile terminal.Advantage is：A set of security mechanism is completed using sweeping robot, smart mobile phone, simple to operate, all instructions is all by sound control, and real-time is high, the information of alerts user can in time be notified to specify user.
Description
Technical Field
The invention belongs to the field of electronic equipment, and particularly relates to a method and a system for realizing alarm through a sweeping robot.
Background
More and more families now own sweeping robots. The sweeping robot is sanitary in daily cleaning, and stays at one corner of a room more often, so that resource waste is caused. In daily life, a person who is alone old or young is at home, and the old or young is suddenly attacked or robbed in a room, and no one knows the thing, so that the tragic affairs are caused, if a tool which can find the abnormality of the old as soon as possible, provide help and inform the family, the necessity is changed, although alarm switches are configured in some districts or buildings, the alarm switches have the following defects: 1. the position of the alarm switch is fixed, and the switch can not be clicked in time in case of emergency; 2. the old and children may not move past click switches; 3. the alarm switch cannot record the situation occurring indoors.
For solving the above problems, people have long sought after, for example, chinese patent discloses an alarm system and a method of implementing the alarm system [ application No.: 201210413457.6], the alarm system comprising: the Bluetooth alarm comprises a plurality of Bluetooth signal transmitting modules, a Bluetooth alarm switch and an alarm; the Bluetooth alarm switch comprises at least one Bluetooth signal receiving module; each Bluetooth signal transmitting module is used for establishing Bluetooth connection with a corresponding Bluetooth signal receiving module in the Bluetooth alarm switch and sending a Bluetooth signal to the connected Bluetooth signal receiving module when receiving an alarm trigger signal; the Bluetooth alarm switch is used for triggering the alarm when any Bluetooth signal receiving module receives a Bluetooth signal; and the alarm is used for giving an alarm when being triggered.
Also as disclosed in the chinese patent, a household intelligent burglar alarm [ application number: 200910098409.0], comprises a package, a working power supply, a vibration sensor, a control module, a relay, an alarm, a short message alarm module, and an image capture and capture device. The alarm is disguised as an obstacle with any shape, so that a thief touches the obstacle without vigilance and gives an alarm.
Among the two above-mentioned schemes, the first kind has solved current alarm fixed position problem to a certain extent, can realize wireless warning, but because its operation is comparatively complicated, old man and child are difficult to the operation, the second belongs to passive warning, still need manual trigger just can realize the warning, and above-mentioned two kinds of schemes still need the independent configuration, increased user's use cost to a certain extent, intelligent low excessively simultaneously, be not suitable for the family that has old man and child at home to use.
Disclosure of Invention
The invention aims to solve the problems and provides a method for realizing alarm through a sweeping robot, which can timely start an alarm and can display the current information of a user in real time when the robot cannot move.
Another objective of the present invention is to provide a system for realizing an alarm by a sweeping robot with a high degree of intelligence.
In order to achieve the purpose, the invention adopts the following technical scheme:
the method for realizing the alarm through the sweeping robot comprises the following steps:
s1: receiving at least one user instruction information through the sweeping robot body and switching the sweeping robot body to an emergency mode state according to the user instruction information;
s2: the sweeping robot body positions a user position sending instruction information through the positioning module and moves to the user position, and meanwhile, the multimedia information acquisition module is started to acquire image information and/or audio information of the user position;
s3: the sweeping robot body transmits the collected image information and/or audio information to the mobile terminal through the wireless communication module.
Obviously, the sweeping robot body and the mobile terminal form a set of intelligent emergency system, the sweeping robot body is placed at a position capable of receiving user instruction information in daily use, when emergency is required, the sweeping robot can be started to enter an emergency mode through self-defined voice instruction information, such as keywords of a hidden number 'Help', emergency and the like, the sweeping robot moves to a current sound position, the started camera shooting and the current sound and video are transmitted to a specified smart phone user through the internet to inform the user of operation, the smart phone of the user receives the indoor condition sent by the sweeping robot, alarm or other processing is adopted, and meanwhile, the sweeping robot can be controlled to be cleaned through the user instructions of the voice and the like in daily use.
In the above method for implementing an alarm by a sweeping robot, the step S1 specifically includes:
s1-1, the control background of the sweeping robot body stores at least one process for receiving user instruction information,
if the user instruction information is received, comparing the user instruction information with preset instruction information;
s1-2, if the received user instruction information is consistent with the preset instruction information in comparison, starting an emergency mode state of the sweeping robot body;
and if the received user instruction is not consistent with the preset instruction in matching and comparison, the sweeping robot body is in a state of continuously waiting for receiving the user instruction information.
Therefore, the process for receiving the user instruction information is stored in the background no matter the sweeping robot works or is in a standby state, and the emergency mode state can still be triggered even if the sweeping robot is in the standby state in a critical time.
In the method for implementing an alarm by a sweeping robot, before step S2-1, the method further includes:
preset instruction information is input through an instruction input module of the sweeping robot body, and the preset instruction information is stored in a storage module of the sweeping robot body. The preset instruction information needs to be set by a user before use, for example, voice information can be input as the preset instruction information, and meanwhile, the user can also set the instruction information for daily control of sweeping of the sweeping robot in a customized manner.
In the method for realizing the alarm through the sweeping robot, the user instruction information includes any one or more of voice instruction information, action instruction information and smell instruction information. Preferably, the user instruction information here is voice instruction information.
In the method for realizing the alarm by the sweeping robot, in step S2, the positioning module includes any one or more of a voice positioning module, an ultrasonic positioning module, an infrared positioning module, an ultra-wideband positioning module, and a radio frequency identification positioning module.
In the method for realizing the alarm by the sweeping robot, when the user instruction information is voice instruction information, in step S2, the sweeping robot body searches for the position of the user sending the instruction information through the voice positioning module.
In the method for realizing the alarm by the sweeping robot, in step S2, the multimedia information collecting module includes an image collecting module and/or a voice collecting module.
In the method for realizing the alarm through the sweeping robot, in step S3, the wireless communication module is any one or combination of a bluetooth module, a 4G module and a WIFI module; the mobile terminal is any one or combination of a mobile phone, a tablet computer and a notebook computer.
The system for realizing the alarm through the sweeping robot based on the method for realizing the alarm through the sweeping robot is as follows:
the system for realizing the alarm through the sweeping robot comprises a sweeping robot body, wherein the sweeping robot body is respectively provided with an instruction receiving module, a positioning module and a multimedia information acquisition module, and is connected with a mobile terminal through a wireless communication module; wherein,
the instruction receiving module is used for receiving at least one user instruction message and switching the sweeping robot to an emergency mode state according to the user instruction message;
the positioning module is used for positioning the position of a user sending instruction information;
the multimedia information acquisition module is used for acquiring image information and/or audio information of the position of a user;
the wireless communication module is used for wirelessly connecting the sweeping robot body with the mobile terminal;
and the mobile terminal is used for receiving the collected image information and/or audio information.
The intelligent floor sweeping robot system has the advantages that the floor sweeping robot and the mobile terminals such as the mobile phone are connected to form the intelligent alarm system, the intelligent degree is high, voice control alarm can be carried out when a user cannot move, real-time voice and video information can be transmitted to the mobile terminals, the intelligent mobile phone of the user receives the indoor situation sent by the floor sweeping robot, and alarm or other processing is carried out
In the system for realizing the alarm through the sweeping robot, the instruction receiving module is connected with a judging module, the judging module is connected with a storage module, and the storage module is connected with an instruction input module;
wherein:
the judging module is used for comparing the user instruction information with preset instruction information;
the storage module is used for storing preset instruction information;
and the instruction input module is used for inputting preset instruction information.
The intelligent emergency system can be formed by the sweeping robot body and the mobile terminal, the operation is simple, and a user can transmit real-time video and audio to the mobile terminal through the voice control sweeping robot.
The system has simple hardware framework, high intelligent degree and high real-time performance, timely informs the appointed user of knowing the situation and realizes voice control alarm when the user cannot move.
Drawings
FIG. 1 is a topology diagram of a first embodiment of the present invention;
fig. 2 is a block diagram of a first embodiment of the present invention.
In the figure, the sweeping robot comprises a sweeping robot body 1, an instruction input module 11, a storage module 12, an instruction receiving module 13, a judging module 14, a positioning module 2, a voice positioning module 21, a multimedia information acquisition module 3, an image acquisition module 31, a voice acquisition module 32, a wireless communication module 4 and a mobile terminal 5.
Detailed Description
The following is a preferred embodiment of the present invention and is further described with reference to the accompanying drawings, but the present embodiment is not limited to these embodiments.
Example one
Aiming at the problem that the existing sweeping robot is single in function, the embodiment provides the technical scheme of the method for realizing the alarm through the sweeping robot.
Detailed description of the drawings referring to fig. 1-2, the method for realizing alarm through the floor sweeping robot comprises the following steps:
step S1:
the sweeping robot body 1 receives at least one piece of user instruction information and switches the sweeping robot body 1 to an emergency mode state according to the user instruction information; the user instruction information is any one or combination of voice instruction information, action instruction information and smell instruction information.
Further, step S2:
the sweeping robot body 1 positions a user position sending instruction information through the positioning module 2 and moves the user position to the user position, and meanwhile, the multimedia information acquisition module 3 is started to acquire image information and/or audio information of the user position;
the positioning module 2 can include any one or more of a voice positioning module 21, an ultrasonic positioning module, an infrared positioning module, an ultra-wideband positioning module and a radio frequency identification positioning module;
when the user instruction information is voice instruction information, in step S2, the sweeping robot body 1 searches for the position of the user who sent the instruction information through the voice positioning module 21.
In step S2, the multimedia information collection module 3 may include the image collection module 31 and/or the voice collection module 32.
Further, here, step S3:
the sweeping robot body 1 transmits the collected image information and/or audio information to the mobile terminal 5 through the wireless communication module 4;
in step S3, the wireless communication module 4 is any one or a combination of a bluetooth module, a 4G module, and a WIFI module; the mobile terminal 5 is any one or combination of a mobile phone, a tablet computer and a notebook computer.
Obviously, the sweeping robot body 1 and the mobile terminal 5 form a set of intelligent emergency system, the sweeping robot body 1 is placed at a position capable of receiving user instruction information in daily use, when emergency is required, the sweeping robot can be started to enter an emergency mode through self-defined voice instruction information, such as keywords of a password ' Help ', emergency ' and the like, the sweeping robot moves to a current sound position, and the started camera shooting and the current sound and video are transmitted to a specified smart phone user through the internet to inform the user of operation, the smart phone of the user receives the indoor condition sent by the sweeping robot, alarm or other processing is adopted, and meanwhile, the sweeping robot can be controlled to be swept to be sanitary through user instructions of voice and the like in daily use.
The step S1 herein specifically includes:
s1-1, storing at least one process in a control background of the sweeping robot body 1 for receiving user instruction information;
if the user instruction information is received, comparing the user instruction information with preset instruction information;
s1-2, if the received user instruction information is consistent with the preset instruction information in comparison, starting an emergency mode state of the sweeping robot body 1;
if the received user instruction is not consistent with the preset instruction in matching and comparison, the sweeping robot body 1 is in a state of continuously waiting for receiving the user instruction information.
Therefore, the process for receiving the user instruction information is stored in the background no matter the sweeping robot works or is in a standby state, and the emergency mode state can still be triggered even if the sweeping robot is in the standby state in a critical time.
Before step S2-1, the method further includes:
preset instruction information is input through an instruction input module 11 of the sweeping robot body 1 and stored in a storage module 12 of the sweeping robot body 1; the preset instruction information needs to be set by a user before use, for example, voice information can be input as the preset instruction information, and meanwhile, the user can also set the instruction information for daily control of sweeping of the sweeping robot in a customized manner.
The following specific examples take user instruction information as voice instruction information and the mobile terminal 5 as a mobile phone:
firstly, preset voice instruction information is recorded through an instruction recording module 11, for example, keywords such as 'Help', 'first aid' and the like can be recorded, and the preset voice instruction information is prestored in a storage module 12;
secondly, when the sweeping robot body 1 is in a working or standby state, a process capable of receiving user instruction information is stored in a control background of the sweeping robot body 1, when the sweeping robot body 1 receives the user voice instruction information, the user voice instruction is matched with a preset voice instruction, and if the user voice instruction information is matched with the preset voice instruction, the sweeping robot body 1 enters an emergency mode;
the sweeping robot body judges the position of a user according to the voice instruction information of the user and moves to the position of the user, namely, a voice source is positioned in a sound source positioning mode, the sound source positioning technology mainly utilizes a plurality of microphone arrays arranged on the sweeping robot body 1 to receive sound field information, and direction finding and distance measurement of passive sound source signals are realized by means of time difference estimation and time delay estimation of the sound source signals reaching each array element. Therefore, in the case of a microphone array with known geometry, we can accurately calculate the position parameter information source from the estimate of the time difference of the source signal arriving at each microphone element.
In microphone-based array beamforming, the array output is a weighted sum of the outputs of the individual array elements, and then the ideal beam is formed by adjusting the weighting coefficients, resulting in a response in the other direction. The directional information of the acoustic source signal can be determined by observing the spatial beam sweep.
And fourthly, after the sweeping robot body moves to the user position, opening the image acquisition module 31 and the voice acquisition module 32 to acquire real-time image information and voice information of the user position, transmitting the acquired information to the mobile phone through a wireless network, informing the user of operation, and sending an indoor condition by the sweeping robot after the mobile phone of the user receives the indoor condition, and alarming or performing other processing.
The technical scheme of the system for realizing the alarm through the sweeping robot is provided in the embodiment, aiming at the problems that the existing sweeping robot is single in function and cannot be started in time by a user with a fixed alarm switch.
The system for realizing the alarm through the sweeping robot comprises a sweeping robot body 1;
the sweeping robot body 1 is respectively provided with an instruction receiving module 13, a positioning module 2 and a multimedia information acquisition module 3,
the sweeping robot body 1 is connected with the mobile terminal 5 through the wireless communication module 4; wherein:
the instruction receiving module 13 is configured to receive at least one user instruction information and switch the cleaning robot to an emergency mode state according to the user instruction information;
the positioning module 2 is used for positioning the position of a user sending instruction information;
the multimedia information acquisition module 3 is used for acquiring image information and/or audio information of the position of a user;
the wireless communication module 4 is used for wirelessly connecting the sweeping robot body 1 with the mobile terminal 5;
and the mobile terminal 5 is used for receiving the collected image information and/or audio information.
The intelligent floor sweeping robot system has the advantages that the floor sweeping robot and the mobile terminals such as the mobile phone are connected to form the intelligent alarm system, the intelligent degree is high, voice control alarm can be carried out when a user cannot move, real-time voice and video information can be transmitted to the mobile terminals, the intelligent mobile phone of the user receives indoor conditions sent by the floor sweeping robot, and alarm or other processing is carried out.
The instruction receiving module 13 is connected with a judging module 14, the judging module 14 is connected with a storage module 12, and the storage module 12 is connected with an instruction recording module 11;
wherein:
the judging module 14 is used for comparing the user instruction information with preset instruction information;
the storage module 12 is used for storing preset instruction information;
and the instruction entry module 11 is used for entering preset instruction information.
Example two
The structure, principle and implementation steps of the present embodiment are similar to those of the present embodiment, except that:
the sweeping robot 1 in this embodiment does not adopt the voice positioning module 21 to position the user, and adopts the ultra-wideband positioning module to position the user, which is detailed as follows:
the user wears a label with an ID (identity) identification, the label can be worn on the user in the form of a bracelet and the like, and the label broadcasts the position of the user;
then, arranging a plurality of slave base stations in a room, arranging the slave base stations at indoor fixed positions, and calculating the distance between the tag and the slave base stations;
the system comprises a plurality of main base stations, every three optional slave base stations can correspond to one main base station, the main base stations are used for wirelessly transmitting the information of the slave base stations about the distance of the tags to a data processing center, the data processing center can be directly arranged in a sweeping robot body, and then the data processing center calculates the positions of the tags to obtain the positions of users.
For ultra-wideband communication, the carrier in the traditional communication system is not needed, but the data is transmitted by sending and receiving extremely narrow pulses with nanosecond or nanosecond level or below, and the ultra-wideband communication has strong penetrating power, good anti-multipath effect and high safety. Therefore, the UWB is adopted for wireless positioning, the requirement of the future wireless positioning on the accuracy can be met, great advantages are achieved in a plurality of wireless positioning technologies, and the sweeping robot can be quickly positioned and moved to the position of a user sending user instruction information by means of the UWB positioning module.
Compared with the prior art, the invention has the advantages that:
1. the floor sweeping robot is easy to deploy, and a set of safety mechanism can be completed by using the floor sweeping robot and the smart phone.
2. The operation is simple, and all instructions are controlled by sound.
3. The real-time performance is high, and the appointed user is informed of knowing the situation in time.
4. High concealment and is not easy to be detected by gangsters.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although the terms of the sweeping robot body 1, the instruction entry module 11, the storage module 12, the instruction receiving module 13, the determination module 14, the positioning module 2, the voice positioning module 21, the multimedia information acquisition module 3, the image acquisition module 31, the voice acquisition module 32, the wireless communication module 4, the mobile terminal 5, etc. are used more frequently, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (10)
1. A method for realizing alarm through a sweeping robot is characterized by comprising the following steps:
s1: the sweeping robot comprises a sweeping robot body (1), a first-aid mode state and a second-aid mode state, wherein the sweeping robot body (1) receives at least one piece of user instruction information and switches the sweeping robot body (1) to the first-aid mode state according to the user instruction information;
s2: the sweeping robot body (1) positions a user position sending instruction information through the positioning module (2) and moves the user position to the user position, and meanwhile, the multimedia information acquisition module (3) is started to acquire image information and/or audio information of the user position;
s3: the sweeping robot body (1) transmits the collected image information and/or audio information to the mobile terminal (5) through the wireless communication module (4).
2. The method for realizing the alarm through the sweeping robot according to claim 1, wherein the step S1 specifically comprises:
s1-1, the control background of the sweeping robot body (1) stores at least one process for receiving user instruction information,
if the user instruction information is received, comparing the user instruction information with preset instruction information;
s1-2, if the received user instruction information is consistent with the preset instruction information,
the sweeping robot body (1) is in an emergency mode state;
if the received user command is not consistent with the preset command in comparison,
the sweeping robot body (1) is in a state of continuously waiting for receiving the instruction information of the user.
3. The method for realizing the alarm through the sweeping robot according to claim 2, further comprising, before the step S2-1:
preset instruction information is input through an instruction input module (11) of the sweeping robot body (1), and the preset instruction information is stored in a storage module (12) of the sweeping robot body (1).
4. The method for realizing the alarm through the sweeping robot according to claim 1, 2 or 3, wherein the user instruction information comprises any one or more of voice instruction information, action instruction information and smell instruction information.
5. The method for realizing the alarm through the sweeping robot according to claim 4, wherein in step S2, the positioning module (2) comprises any one or more of a voice positioning module (21), an ultrasonic positioning module, an infrared positioning module, an ultra-wideband positioning module and a radio frequency identification positioning module.
6. The method for realizing alarm by sweeping robot according to claim 5, wherein when the user instruction information is voice instruction information, in step S2, the sweeping robot body (1) searches for the position of the user who sent the instruction information through the voice positioning module (21).
7. The method for realizing an alarm by a sweeping robot according to claim 4, wherein in step S2, the multimedia information collection module (3) comprises an image collection module (31) and/or a voice collection module (32).
8. The method for realizing the alarm through the sweeping robot according to claim 1, wherein in the step S3, the wireless communication module (4) is any one or more of a bluetooth module, a 4G module and a WIFI module; the mobile terminal (5) is any one or combination of a mobile phone, a tablet personal computer and a notebook computer.
9. The system for realizing the alarm through the sweeping robot based on the method for realizing the alarm through the sweeping robot of any one of claims 1 to 8 is characterized by comprising a sweeping robot body (1), wherein the sweeping robot body (1) is respectively provided with an instruction receiving module (13), a positioning module (2) and a multimedia information acquisition module (3), and the sweeping robot body (1) is connected with a mobile terminal (5) through a wireless communication module (4); wherein,
the instruction receiving module (13) is used for receiving at least one piece of user instruction information and switching the sweeping robot to an emergency mode state according to the user instruction information;
the positioning module (2) is used for positioning the position of a user sending instruction information;
the multimedia information acquisition module (3) is used for acquiring image information and/or audio information of the position of a user;
the wireless communication module (4) is used for wirelessly connecting the sweeping robot body (1) with the mobile terminal (5);
and the mobile terminal (5) is used for receiving the collected image information and/or audio information.
10. The system for realizing alarm by sweeping robot according to claim 9, wherein the instruction receiving module (13) is connected with a judging module (14), the judging module (14) is connected with a storage module (12), and the storage module (12) is connected with an instruction entering module (11);
wherein,
the judging module (14) is used for comparing the user instruction information with preset instruction information;
the storage module (12) is used for storing preset instruction information;
and the instruction recording module (11) is used for recording preset instruction information.
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| CN201710077781.8A CN106781332A (en) | 2017-02-14 | 2017-02-14 | The method and system of alarm are realized by sweeping robot |
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| CN108306991A (en) * | 2017-08-31 | 2018-07-20 | 弗徕威智能机器人科技（上海）有限公司 | A kind of indoor and outdoor security protection coordinated control system |
| CN110858440A (en) * | 2018-08-24 | 2020-03-03 | 江苏美的清洁电器股份有限公司 | Communication method, intelligent sweeper and storage medium |
| CN111168690A (en) * | 2019-12-30 | 2020-05-19 | 大连交通大学 | Voice interaction non-fixed task multi-person cooperative robot |
| CN111371996A (en) * | 2020-01-06 | 2020-07-03 | 安然 | Household monitoring system and method |
| CN111860058A (en) * | 2019-04-29 | 2020-10-30 | 杭州萤石软件有限公司 | Method and system for positioning indoor functional area of mobile robot |
| CN113885704A (en) * | 2021-09-30 | 2022-01-04 | 紫清智行科技(北京)有限公司 | Man-machine interaction method and system for blind guiding vehicle |
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