CN108406803A - The interactive system and exchange method of multi-user and service robot - Google Patents

The interactive system and exchange method of multi-user and service robot Download PDF

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Publication number
CN108406803A
CN108406803A CN201810380483.0A CN201810380483A CN108406803A CN 108406803 A CN108406803 A CN 108406803A CN 201810380483 A CN201810380483 A CN 201810380483A CN 108406803 A CN108406803 A CN 108406803A
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CN
China
Prior art keywords
unit
wearing
control
user
service robot
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Application number
CN201810380483.0A
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Chinese (zh)
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CN108406803B (en
Inventor
黄玲
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Shanghai zegan Biotechnology Co., Ltd
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Suzhou Three Body Intelligence Science And Technology Ltd
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Priority to CN201810380483.0A priority Critical patent/CN108406803B/en
Publication of CN108406803A publication Critical patent/CN108406803A/en
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Publication of CN108406803B publication Critical patent/CN108406803B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0005Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks

Abstract

The invention discloses the interactive system and exchange method of a kind of multi-user and service robot, interactive system includes to be set to master control part and several wearing parts worn for user on service robot;Master control part includes control system, communication unit and positioning unit;It wears part and includes sub- communication unit, the receiver for receiving the infrared light that the infrared light generating element is sent out, positioning micro-base station, positioning label and the microprocessing unit that can be communicated with the communication unit;It can mutually be communicated between the sub- communication unit of difference wearing part.The signal transmission worn between part that the multi-user of the present invention and the interactive system of service robot and exchange method are worn by master control part on service robot and user, robot is allow to grasp position and the speech situation of each user, during guide to visitors is given a lecture, the complex situations such as user falls behind, user's speech can not acquire can be effectively solved, there is good experience.

Description

The interactive system and exchange method of multi-user and service robot
Technical field
The present invention relates to robotic technology fields, more particularly to robot human-computer interaction technique field.
Background technology
Currently in robot field, human-computer interaction is an important field of research, and there are many existing man-machine interaction method, The mainly mixed form of the forms such as interactive voice, touch-control interaction, input interaction and these interactive forms, but current machine The man-machine interaction mode of people is still mainly the one-to-one situation of robot, and the situation that robot is one-to-many, such as guide to visitors are said Robot is solved, needs that user is led to explain when walking, since there is people subjective initiative, robot to be unable to control falling for user Team distributes arbituarily situations such as speech, therefore a never preferable interactive system and method.
Invention content
Goal of the invention:In order to overcome the deficiencies in the prior art, the present invention to provide a kind of suitable for one-to-many situation The multi-user of human-computer interaction and the interactive system of service robot and exchange method.
Technical solution:To achieve the above object, the interactive system of multi-user of the invention and service robot, including being set to Master control part and several wearing parts worn for user on service robot;
Master control part includes control system, communication unit and positioning unit, and the communication unit and positioning unit are electrically connected Connect the control system;
Wear part comprising the sub- communication unit that can be communicated with the communication unit, for coordinating what the positioning unit used to connect Receive device, positioning micro-base station, positioning label and microprocessing unit;It can phase intercommunication between the sub- communication unit of difference wearing part News;
Positioning unit includes the first illuminator and a container with vertical slots that can generate infrared light, the first illuminator It is arranged in container, container can rotate under the action of rotating driving unit along vertical axes;Positioning unit also include can output it is red Second illuminator of outer light;The receiver can perceive infrared light.
Further, wearing part further includes headphone unit and microphone unit, the headphone unit and wheat Gram wind unit is all connected with the microprocessing unit.
Further, the wearing part further includes vibrations unit, and the vibrations unit connects the microprocessing unit.
Further, the wearing part further includes pushbutton unit, and the pushbutton unit connects the microprocessing unit.
The exchange method of interactive system based on above-mentioned multi-user and service robot, includes the following steps:
Step 1:Control system controls the first illuminator and brightens, and controls rotation driving unit rotation, to which driving is built-in with the The container of one illuminator rotates;
Step 2:Each part of wearing has unique number, and the generation of the first illuminator is received when there is the receiver for wearing part Infrared light, then the wearing part generation feedback information for receiving infrared light feed back to control system, and feedback information includes wearing portion The number and the wearing divided are partially received the time of infrared light, and control system is according to feedback information and rotary drive unit Rotational angle and time relationship, calculate each receive infrared light wear part residing for orientation;
Step 3:Control system controls the second illuminator and brightens, and receives the wearing of the infrared light of the first illuminator generation before It is partially received itself number after the infrared light of the second illuminator generation and to receive time of infrared light anti-as second Feedforward information is sent to control system again, and the time and the second feedback information that control system brightens according to the second illuminator can be obtained Know that these wear part with a distance from positioning unit, would know that these in conjunction with these orientation for wearing part calculated in step 2 Wear the position of part;Control system specifies wherein three to wear part in several wearing parts of known location and is used as position Reference point;
Step 4:Control system sends out finger to all wearing parts in addition to wearing part as the three of position reference point It enables, so that these is worn the positioning label of part and sent respectively to the positioning micro-base station of three wearing parts as position reference point Location information, location information send out the time of location information comprising the number and the wearing part for wearing part;
Step 5:Three wearing parts as position reference point receive location information, and increase in each location information and connect Control system is transmitted to after the time for receiving the location information;
Step 6:The location information of wearing part of the control system according to location information and as position reference point calculates remaining The position for wearing part obtains all position distribution situations for wearing part.
Further, the control system is obtained according to all position distribution situations for wearing part with wearing part User distribution situation, accordingly control service robot movement speed, when necessary control service robot stop wait for institute Some wearing parts, which reach, is further continued for guide to visitors lecture in setting range.
Further, wearing part further includes headphone unit and microphone unit, the headphone unit and wheat Gram wind unit is all connected with the microprocessing unit;Control system grasps the power that all wearing parts listen to information by headphone unit Limit and the permission made a speech by microphone unit.
Further, the wearing part further includes vibrations unit, and the vibrations unit connects the microprocessing unit;When Control system obtain with wear part user distribution situation, analyze certain user fall behind it is more serious, this can be passed through The vibrations unit for the wearing part that a little users wear reminds these users to keep up with troop.
Further, wearing part further includes pushbutton unit, when user needs to put question to, can pass through the pushbutton unit Request signal is sent out to control system, after control system accepts the request of user, makes the wheat for the wearing part for sending out request signal Gram wind unit starts to acquire voice signal.
Advantageous effect:The multi-user of the present invention and the interactive system of service robot pass through service robot with exchange method The signal transmission worn between part that upper master control part and user wear so that robot can grasp the position of each user And speech situation can effectively solve the complex situations such as user falls behind, user's speech can not acquire during guide to visitors is given a lecture, With good experience.
Description of the drawings
Attached drawing 1 is that the system composition of the interactive system of multi-user and service robot is schemed;
Attached drawing 2 is the installation site figure of positioning unit;
Attached drawing 3 is the structure chart of positioning unit;
Attached drawing 4 is master control part and several distribution maps for wearing part.
Specific implementation mode
The present invention is further described below in conjunction with the accompanying drawings.
The interactive system of multi-user and service robot as shown in Fig. 1, including set on master control portion on service robot Several wearing parts 200 divided 100 and worn for user;Master control part 100 includes control system 110, communication unit 120 And positioning unit 130, the communication unit 120 and positioning unit 130 are electrically connected the control system 110;Preferably, Positioning unit 130 is arranged at the top of robot, as shown in Fig. 2.
It includes the sub- communication unit 210, described fixed for coordinating that can be communicated with the communication unit 120 to wear part 200 Receiver 220, positioning micro-base station 230, positioning label 240 and the microprocessing unit 250 that bit location 130 uses;Difference is worn It can mutually be communicated between the sub- communication unit 210 of part 200.Sub- communication unit 210, positioning micro-base station 230, is determined receiver 220 Position label 240 4 is all connected with the microprocessing unit 250.
As shown in Fig. 3, positioning unit 130 includes the first illuminator 131 that can generate infrared light(In figure shown in dotted line) And a container 132 with vertical slots, the first illuminator 131 are arranged in container 132, container 132 can drive in rotation It is rotated along vertical axes under the action of moving cell 133, the receiver 220 can perceive infrared light.Such first illuminator 131 is sent out Light can only from vertical slots come out a vertical bar light, the spread very little of vertical bar light in the horizontal plane, and Spread in vertical plane is larger, the vertical bar light can be allow to strafe a circle along vertical axes rotation in this way, respectively The reception for wearing receiver 220 on part 200 is divided into sooner or later, receives the time of infrared light by receiver 220 and is somebody's turn to do The direction of vertical slots is the orientation worn where part 200 it can be inferred that comprising the receiver 220 in time containers 132. Positioning unit 130 also includes that can generate the second illuminator 134 of infrared light, the second illuminator 134 it is luminous not by shade, this The infrared light that the second illuminator of sample 134 is sent out can 360 degree of omnidirectionals sow, control system 110 by control the second illuminator 134 from It goes out to bright, time for shining in conjunction with the second illuminator 134 and wears receiver 220 on part 200 and receive infrared light Time can calculate and wear part 200 with a distance from robot, not only be aware of the orientation for wearing part 200 in this way but also know Thus the distance for wearing part 200 has been known that the position for wearing part 200.
The wearing part 200 further includes headphone unit 260 and microphone unit 270, the headphone unit 260 and Microphone unit 270 is all connected with the microprocessing unit 250.
The wearing part 200 further includes vibrations unit 280, and the vibrations unit 280 connects the microprocessing unit 250。
The wearing part 200 further includes pushbutton unit 290, and the pushbutton unit 290 connects the microprocessing unit 250。
The exchange method of interactive system based on above-mentioned multi-user and service robot, robot obtain each user location Method include the following steps:
Step 1:Control system 110 controls the first illuminator 131 and brightens, and controls rotation driving unit 133 and rotate, to drive The dynamic container 132 for being built-in with the first illuminator 131 rotates;
Step 2:Each part 200 of wearing has unique number, shines when there is the receiver 220 for wearing part 200 to receive first Body 131 generate infrared light, then receive infrared light wearing part 200 generate feedback information by sub- communication unit 210 with The communication of communication unit 120 feeds back to control system 110, and feedback information includes number and the wearing portion for wearing part 200 Divided for 200 times for receiving infrared light, control system 110 is according to feedback information and the rotational angle of rotary drive unit 132 With the relationship of time, the orientation worn residing for part 200 for each receiving infrared light is calculated(Part 200 is worn in master control On which direction of part 100, the θ in i.e. attached drawing 4 is indicated with parameter);
Step 3:Control system 110 controls the second illuminator 134 and brightens, and receives the infrared of the first illuminator 131 generation before The wearing part 200 of light receives itself number after the infrared light of the second illuminator 131 generation and receives infrared light Time is sent to control system 110 again as the second feedback information, and control system 110 brightens according to the second illuminator 131 Time and the second feedback information would know that these wear part 200 with a distance from positioning unit 130(D in attached drawing 4), in conjunction with These orientation for wearing part 200 calculated in step 2 would know that these wear the position of part 200;Control system 110 exists It specifies wherein three to wear part 200 in several wearing parts 200 of known location and is used as position reference point(As reference by location The black block of point worn in such as attached drawing 4 of part 200, other wear the white blocks in such as attached drawing 4 of part 200);
Step 4:Control system 110 to except as the three of position reference point wear part 200 in addition to all wearing parts 200 send out instruction, these is made to wear the positioning label 240 of part 200 respectively to three wearing parts as position reference point 200 positioning micro-base station 230 sends location information, and location information includes to wear number and the wearing part 200 of part 200 Send out the time of location information;
Step 5:Three wearing parts 200 as position reference point receive location information, and increase in each location information Control system 110 is transmitted to after the time for receiving the location information;
Step 6:The location information of wearing part 200 of the control system 110 according to location information and as position reference point pushes away Calculate remaining position for wearing part 200(First show that non-location reference point wears the wearing part 200 of part 200 relative to each The distance of wearing part 200 as position reference point, i.e. D1, D2, D3 in Fig. 4, further according to the pendant as position reference point Wearing the location information of part 200 can calculate that remaining wears the position of part 200), obtain all positions for wearing part 200 point Cloth situation.
The control system 110 is obtained according to all position distribution situations for wearing part 200 with wearing part 200 User distribution situation, accordingly control service robot movement speed, when necessary control service robot stop wait for institute Some wearing parts 200 reach in setting range(In the circle for reaching the certain radius centered on service robot, such as attached drawing In 4 shown in virtual coil)It is further continued for guide to visitors lecture.
The wearing part 200 further includes headphone unit 260 and microphone unit 270, the headphone unit 260 and Microphone unit 270 is all connected with the microprocessing unit 250;Control system 110 grasps all wearing parts 200 by earphone list The permission that member 260 listens to the permission of information and made a speech by microphone unit 270.The hair of user can be effectively controlled in this way Speech, and can solve the problems, such as that voice extracts in noisy environment, the control system 110 of robot can lead to the voice of single user It crosses each headphone unit 260 for wearing part 200 and is communicated to other users.
The wearing part 200 further includes vibrations unit 280, and the vibrations unit 280 connects the microprocessing unit 250;When control system 110 obtain with wear part 200 user distribution situation, analyze certain user fall behind it is tighter The vibrations unit 280 of weight, the wearing part 200 that can be worn by these users reminds these users to keep up with troop.
The wearing part 200 further includes pushbutton unit 290, when user needs to put question to, can pass through the pushbutton unit 290 Request signal is sent out to control system 110, after control system 110 accepts the request of user, makes the wearing portion for sending out request signal 200 microphone unit 270 is divided to start to acquire voice signal.
The multi-user of the present invention and the interactive system of service robot pass through master control portion on service robot with exchange method Divide the signal transmission worn between part worn user so that robot can grasp position and the speech of each user Situation can effectively solve the complex situations such as user falls behind, user's speech can not acquire, have good during guide to visitors is given a lecture Experience.
The above is only a preferred embodiment of the present invention, it should be pointed out that:For the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims (9)

1. the interactive system of multi-user and service robot, it is characterised in that:Including the master control part on service robot (100)And several wearing parts worn for user(200);
Master control part(100)Including control system(110), communication unit(120)And positioning unit(130), the communication list Member(120)And positioning unit(130)It is electrically connected the control system(110);
Wear part(200)Including can be with the communication unit(120)The sub- communication unit of communication(210), it is described for coordinating Positioning unit(130)The receiver used(220), positioning micro-base station(230), positioning label(240)And microprocessing unit (250);Difference wears part(200)Sub- communication unit(210)Between can mutually communicate;
Positioning unit(130)Including the first illuminator of infrared light can be generated(131)An and container with vertical slots (132), the first illuminator(131)It is arranged in container(132)It is interior, container(132)It can be in rotation driving unit(133)Under the action of It is rotated along vertical axes;Positioning unit(130)Also include can output infrared light the second illuminator(134);The receiver(220) Infrared light can be perceived.
2. the interactive system of multi-user according to claim 1 and service robot, it is characterised in that:The wearing part (200)It further include headphone unit(260)And microphone unit(270), the headphone unit(260)And microphone unit (270)It is all connected with the microprocessing unit(250).
3. the interactive system of multi-user according to claim 1 and service robot, it is characterised in that:The wearing part (200)It further include vibrations unit(280), the vibrations unit(280)Connect the microprocessing unit(250).
4. the interactive system of multi-user according to claim 2 and service robot, it is characterised in that:The wearing part (200)It further include pushbutton unit(290), the pushbutton unit(290)Connect the microprocessing unit(250).
5. the exchange method of the interactive system based on multi-user described in claim 1 and service robot, it is characterised in that:Packet Include following steps:
Step 1:Control system(110)Control the first illuminator(131)It brightens, and controls rotation driving unit(133)Rotation, To which driving is built-in with the first illuminator(131)Container(132)Rotation;
Step 2:It is each to wear part(200)With unique number, when there is wearing part(200)Receiver(220)Receive One illuminator(131)The infrared light of generation then receives the wearing part of infrared light(200)It generates feedback information and feeds back to control System(110), feedback information includes to wear part(200)Number and the wearing part(200)Receive infrared light when Between, control system(110)According to feedback information and rotary drive unit(132)Rotational angle and time relationship, calculate Each wearing part for receiving infrared light(200)Residing orientation;
Step 3:Control system(110)Control the second illuminator(134)It brightens, receives the first illuminator before(131)It generates Infrared light wearing part(200)Receive the second illuminator(131)By itself number and reception after the infrared light of generation Time to infrared light is sent to control system again as the second feedback information(110), control system(110)According to the second hair Body of light(131)The time and the second feedback information to brighten would know that these wear part(200)From positioning unit(130)Away from From in conjunction with these wearing parts calculated in step 2(200)Orientation would know that these wear part(200)Position;Control System processed(110)In several wearing parts of known location(200)In specify wherein three wearing parts(200)Join as position Examination point;
Step 4:Control system(110)To except three wearing parts as position reference point(200)All wearing portions in addition Point(200)Instruction is sent out, these is made to wear part(200)Positioning label(240)Respectively to three as position reference point Wear part(200)Positioning micro-base station(230)Location information is sent, location information includes to wear part(200)Number with And the wearing part(200)Send out the time of location information;
Step 5:Three wearing parts as position reference point(200)Location information is received, and is increased in each location information Control system is transmitted to after the time that adjunction receives the location information(110);
Step 6:Control system(110)According to location information and as the wearing part of position reference point(200)Position letter Breath calculates that remaining wears part(200)Position, obtain all wearing parts(200)Position distribution situation.
6. the exchange method of the interactive system of multi-user according to claim 5 and service robot, it is characterised in that:Institute State control system(110)According to all wearing parts(200)Position distribution situation obtain with wear part(200)Use The distribution situation at family controls the movement speed of service robot accordingly, and it is all to control service robot stopping waiting when necessary Wear part(200)It reaches and is further continued for guide to visitors lecture in setting range.
7. the exchange method of the interactive system of multi-user according to claim 5 and service robot, it is characterised in that:Institute It states and wears part(200)It further include headphone unit(260)And microphone unit(270), the headphone unit(260)And wheat Gram wind unit(270)It is all connected with the microprocessing unit(250);Control system(110)Grasp all wearing parts(200)Pass through Headphone unit(260)It listens to the permission of information and passes through microphone unit(270)The permission of speech.
8. the exchange method of the interactive system of multi-user according to claim 5 and service robot, it is characterised in that:Institute It states and wears part(200)It further include vibrations unit(280), the vibrations unit(280)Connect the microprocessing unit(250); Work as control system(110)It obtains with wearing part(200)User distribution situation, analyze certain user fall behind it is tighter Weight, can be by wearing part that these users wear(200)Vibrations unit(280)These users are reminded to keep up with troop.
9. the exchange method of the interactive system of multi-user according to claim 7 and service robot, it is characterised in that:Institute It states and wears part(200)It further include pushbutton unit(290), when user needs to put question to, the pushbutton unit can be passed through(290)To control System processed(110)Send out request signal, control system(110)After accepting the request of user, make the wearing portion for sending out request signal Point(200)Microphone unit(270)Start to acquire voice signal.
CN201810380483.0A 2018-04-25 2018-04-25 Interaction system and interaction method of multiple users and service robot Active CN108406803B (en)

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CN201810380483.0A CN108406803B (en) 2018-04-25 2018-04-25 Interaction system and interaction method of multiple users and service robot
CN201911422628.XA CN111037583A (en) 2018-04-25 2018-04-25 Multi-user and service robot interaction system

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203118401U (en) * 2013-01-24 2013-08-07 天津恒达文博科技有限公司 Intelligent audio guide
WO2016056226A1 (en) * 2014-10-10 2016-04-14 パナソニックIpマネジメント株式会社 Autonomous travel-type cleaner
CN205720649U (en) * 2016-06-28 2016-11-23 北醒(北京)光子科技有限公司 One directly drives small rotary scanning range unit
CN206115270U (en) * 2016-08-31 2017-04-19 厦门轻游信息科技有限公司 Mutual induction type has guide robot of navigation and explanation function
CN107243909A (en) * 2017-07-26 2017-10-13 武汉盛德物联科技有限公司 Intelligent robot system for nursing
CN107608352A (en) * 2017-09-19 2018-01-19 宁波美健机器人有限公司 A kind of guide robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203118401U (en) * 2013-01-24 2013-08-07 天津恒达文博科技有限公司 Intelligent audio guide
WO2016056226A1 (en) * 2014-10-10 2016-04-14 パナソニックIpマネジメント株式会社 Autonomous travel-type cleaner
CN205720649U (en) * 2016-06-28 2016-11-23 北醒(北京)光子科技有限公司 One directly drives small rotary scanning range unit
CN206115270U (en) * 2016-08-31 2017-04-19 厦门轻游信息科技有限公司 Mutual induction type has guide robot of navigation and explanation function
CN107243909A (en) * 2017-07-26 2017-10-13 武汉盛德物联科技有限公司 Intelligent robot system for nursing
CN107608352A (en) * 2017-09-19 2018-01-19 宁波美健机器人有限公司 A kind of guide robot

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CN108406803B (en) 2020-05-19

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