CN108540780A - Intelligent mobile household monitoring system based on sweeping robot equipment - Google Patents
Intelligent mobile household monitoring system based on sweeping robot equipment Download PDFInfo
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- CN108540780A CN108540780A CN201810584076.1A CN201810584076A CN108540780A CN 108540780 A CN108540780 A CN 108540780A CN 201810584076 A CN201810584076 A CN 201810584076A CN 108540780 A CN108540780 A CN 108540780A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 53
- 238000012544 monitoring process Methods 0.000 title claims abstract description 44
- 238000012545 processing Methods 0.000 claims abstract description 22
- 238000004891 communication Methods 0.000 claims abstract description 11
- 108090000565 Capsid Proteins Proteins 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 7
- 238000013135 deep learning Methods 0.000 claims description 3
- 241001417527 Pempheridae Species 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 6
- 238000012806 monitoring device Methods 0.000 abstract description 6
- 239000000047 product Substances 0.000 description 15
- 230000006870 function Effects 0.000 description 13
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The invention discloses a kind of intelligent mobile household monitoring systems based on sweeping robot equipment, including sweeping robot ontology, the surface of sweeping robot ontology is provided with image collecting device, described image harvester is used to acquire the image of sweeping robot ontology upper area, described image harvester connection processing module, the processing module connection prior-warning device and communication module, the processing module is built-in with image processing module, it is identified in real time for the image to acquisition, when identifying pedestrian target, target person identity information is identified using face recognition algorithms, when identifying suspicious object, it controls image collecting device and carries out video capture, and carry out early warning.It is transformed by the structure to existing sweeping robot, sweeping robot is combined with safety monitoring device, withouyt redundant equipment, the function of user's household cleaning and safe antitheft can be met.
Description
Technical field
The present invention relates to a kind of intelligent mobile household monitoring system, more particularly to a kind of based on sweeping robot equipment
Intelligent mobile household monitoring system.
Background technology
Burglary be it is a kind of occur it is most frequent, with most close one of the criminal activity of people's personal safety as well as the property safety relationship,
Social influence is extremely severe caused by it, but because ruffian mostly flees about to commit crimes, means of crime constantly updates, evidence-gathering difficulty
The reasons such as larger, cracking of cases rate is not high, and all kinds of burglary cases are still rampant.In recent years, as video monitoring is analyzed
The rapid development of technology, network technology, people have begun to promote the safety of domestic environment with household monitoring system.According to system
Meter, there are two main classes for the household monitoring system of present mainstream：One kind is that traditional Wiring type fixes monitoring device, that is, passes through camera shooting
Head and data line carry out video image acquisition and transmission, this kind of product installation with connect electricity and be required for connecting up, interior can be destroyed
Effect is fitted up, aesthetics is bad, and is inconvenient to remove after fixing and overhaul, and the region of single camera head monitor is also very limited；Separately
One kind is the monitoring product of wireless type, and this kind of product is mainly carried out data transmission using WIFI, charged by USB interface, generally
Equipped with firm banking or can paste on wall, relative to traditional monitoring device, this kind of product compact, without wiring,
It is relatively convenient to install and use, but single product can only also monitor a fixed area, if necessary to realize the comprehensive of one family
Monitoring, each room will arrange that an equipment, cost increase, and operation is also troublesome.In addition, more than currently sold on the market
The recognition capabilities of two class products, data analysis capabilities and real-time Transmission ability are also irregular, have a single function, most of to produce
Product false drop rate and omission factor are higher, in short, because of the limitation of product design and technical capability etc., domestic safety monitoring is set at present
Standby popularity is not high, and house security still hidden danger is heavy.
While family's monitoring class products application is obstructed, all kinds of smart home electric appliances are but widely applied, wherein
One of most popular product is exactly sweeping robot：Sweeping robot is also known as automatic to sweep machine or robot cleaner, generally
For the radio equipment of collar plate shape, different routes can be walked by built-in control algolithm, completed in the room automatically by planning
Floor cleaning work, can also voluntarily return to cradle charging, and disk perimeter is provided with the sensor of detectable barrier, such as touches
To wall or other barriers, can voluntarily turn.Because of its practical function, easy to operate, slowly popularizes now, become Modern Home
The common electrical home appliances in front yard.
Invention content
In order to solve the above-mentioned technical problem, the present invention proposes a kind of intelligent mobile family based on sweeping robot equipment
Monitoring system is transformed by the structure to existing sweeping robot, and sweeping robot is combined with safety monitoring device,
Withouyt redundant equipment, the function of user's household cleaning and safe antitheft can be met.
The technical solution adopted in the present invention is：
A kind of intelligent mobile household monitoring system based on sweeping robot equipment, including sweeping robot ontology, feature exist
In being provided with image collecting device on the surface of sweeping robot ontology, described image harvester is for acquiring machine of sweeping the floor
The image of human body's upper area, described image harvester connection processing module, processing module connection prior-warning device and
Communication module, the processing module are built-in with image processing module, are identified in real time for the image to acquisition, are identifying
When pedestrian target, target person identity information is identified using face recognition algorithms, when identifying suspicious object, control image is adopted
Acquisition means carry out video capture, and carry out early warning.
In preferred technical solution, place is identified to image using Algorithms for Moving Target Recogntion and pedestrian's recognizer
Reason, specifically includes following steps：
The Algorithms for Moving Target Recogntion uses the image alignment algorithm based on pixel value probability density distribution, to present image and
Image is counted into row pixel value probability density distribution respectively before, is up-sampled, is used in combination European in pixel orientation to probability density figure
Distance versus similarity realizes motion estimate；
After recognizing moving target, starts pedestrian's recognizer and carry out next step judgement, pedestrian identifies using based on deep learning
Pedestrian detection algorithm, identify pedestrian and determine the outer rim profile of pedestrian, intercept the upper area of profile, detection face is gone forward side by side
Pedestrian's face authentication.
In preferred technical solution, the processing module includes cruise control module, the cruise control module use with
Machine explores the form of walking, and crawl image simultaneously creates indoor environment map using SLAM algorithms, and plans wheeled region, when holding
When row task, the moving line of planning robot, control robot tracking traveling.
In preferred technical solution, the communication module is connect with remote terminal, and it is soft that the remote terminal is equipped with management
Part, the operating mode for controlling sweeping robot, check that video image and alarm are checked at setting cruise interval time.
In preferred technical solution, described image harvester is removably mounted to the surface of sweeping robot ontology.
In preferred technical solution, the sweeping robot ontology includes housing cover and ontology lower cover, under the ontology
Lid is provided with installation cavity, and described image harvester includes camera procapsid, camera back casing, camera module and camera shooting
Head mirror head, the camera module and cam lens are fixed on camera procapsid, and described image harvester passes through buckle
It is installed in the installation cavity of ontology lower cover.
Compared with prior art, the beneficial effects of the invention are as follows：
1. safety monitoring equipment is combined with sweeping robot, it, can by the pattern of sweeping the floor setting different from security monitoring pattern
To meet the multiple demand of user, the product function of sweeping robot was not only enriched, but also the use of sweeping robot can be utilized
Upsurge expands the universal use of domestic safety monitoring system, promotes domestic environment safety.
2. using the wireless WIFI transmission of sweeping robot, the voluntarily advantages such as charging, solves tradition monitoring product because needing
The problems such as connecting up transmission or beautiful, the cumbersome influence of independent wiring charge-carrying belt；In the existing obstacle of sweeping robot
SLAM monitoring cruise routing algorithms are added on the basis of object sensor and cleaning path planning algorithm（SLAM, Simultaneous
Localization and Mapping, instant positioning and map structuring）, it can be achieved that the mobile monitor of multiple regions and timing are complete
Room cruises, and solves the defect that common monitoring one camera of product can only monitor a region, improve product utilization rate and
Intelligent level；
3. on the basic function of video monitoring, moving-target identification, pedestrian's identification, recognition of face scheduling algorithm is added in system, not only
Dynamic object detection and pedestrian detection may be implemented, improve monitoring accuracy, reduce wrong report and fail to report, recognition of face can also be utilized
Judge offender's identity information, handles a case help is provided for the tracking of burglary case.Pass through end product and cell phone application
Linkage, all-dimensional all-weather safety guarantee is provided for each family.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and embodiments：
Fig. 1 is the structural schematic diagram of the intelligent mobile household monitoring system based on sweeping robot equipment；
Fig. 2 is the module of software and hardware composition figure of the intelligent mobile household monitoring system based on sweeping robot equipment；
Fig. 3 is the hardware block diagram of the intelligent mobile household monitoring system based on sweeping robot equipment.
Fig. 4 is the work flow diagram of the intelligent mobile household monitoring system based on sweeping robot equipment.
Specific implementation mode
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid this is unnecessarily obscured
The concept of invention.
Embodiment
A kind of intelligent mobile household monitoring system based on sweeping robot equipment, mainly by existing sweeping robot
Structure be transformed, sweeping robot is combined with safety monitoring device, because of the technical solution and product of sweeping robot
All comparative maturities will not be described in the present invention.From structure, safety monitoring device is removably mounted to sweep the floor
The surface of robot device's ontology, for example, be embedded on the surface disc of sweeping robot device body by screw and bayonet,
Such as can be at middle part, the cam lens of the image collecting device for Image Acquisition can collect local area upward
The all images in domain.
As shown in Figure 1, image collecting device uses coverage for 180 ° of fish-eye camera, image collecting device is by taking the photograph
As head procapsid 20, camera back casing 21, camera module 22 and cam lens 23 form.Its fixed form is：Camera shooting
Head mirror head is threadably secured in camera procapsid, and camera module is secured by bolts in camera procapsid, then takes the photograph
As the assembly of head mirror head, module and procapsid is secured by bolts in camera back casing.
Sweeping robot ontology includes that housing cover 10 and ontology lower cover 11 form, and installation can be arranged on ontology lower cover 11
Chamber（It is not shown in figure）, camera by buckling in the installation cavity of ontology lower cover 11, by bayonet installed by upper and lower covers
Form the device.
System has the pattern of sweeping the floor and two kinds of function selection modes of monitoring mode, and user can be according to demand by long-range whole
End, such as mobile phone terminal, are selected.Under the pattern of sweeping the floor, system executes the cleaning correlation function of common sweeping robot；
Under monitoring mode, system can acquire monitoring area image in real time, and utilize moving-target recognizer, pedestrian's recognizer and face
Processing is identified to image in recognizer, and when recognizing suspicious object, control image collecting device captures suspicious object figure
Picture, and acousto-optic pre-warning signal is sent to local prior-warning device, while sending pre-warning signal and suspect image to mobile phone terminal.
In addition to fixed point security monitoring, system is also equipped with timing cruise monitoring function, that is, utilizes SLAM algorithms to realize full room
Figure and Camera calibration are built, control device is advanced by pre-determined route, according to the timing of the cruise interval time of user setting to family
The each region in front yard is monitored cruise.
As shown in Figure 2,3, which is made of hardware module and software module two parts, wherein hardware module packet
Include device body, image collecting device, system processing unit, communication transmission apparatus, local warning device, mobile phone terminal：
System processing unit：Including image processing module and cruise control module.Image processing module has to pictorial information
It receives, identification, compression is received with various signals with transfer function and sending function；Cruise control module mainly utilizes SLAM algorithms
Complete cruise path planning and driving function.
Communication transmission apparatus：Using WIFI signal alarm signal and pictorial information are transmitted to mobile phone terminal；
Mobile phone terminal：The operations such as model selection are carried out using cell phone application, receive alarm signal and suspect image.
Software module includes function selecting module, picture recognition module, captures control module, path planning module, cruise
Drive module, communication module, alarm control module, cell phone application：
Mode selection module：Have the pattern of sweeping the floor and monitoring mode, different functions is executed under different mode；
Picture recognition module：Image is identified in real time with pedestrian's recognizer using moving-target recognizer, is being identified
When pedestrian target, target person identity information is identified using face recognition algorithms；
Capture control module：When identifying suspicious object, control image collecting device carries out video capture；
Cruise control module：According to monitoring demand, realize that figure and Camera calibration, control device are built in full room using SLAM algorithms
It cruises by pre-determined route；Cruise control module uses the form of random search walking first, captures image and creates indoor environment
Map, and wheeled region is cooked up, when the task of execution, the moving line of planning robot, control robot tracking traveling；
Using clock module, cruise interval time setting function is provided；
Communication module：Including intercommunication and PERCOM peripheral communication, intercommunication refers to carries out signal between each module by low and high level
Transmission, PERCOM peripheral communication refers to be transmitted by WIFI signal into row information between mobile phone terminal；
Alarm control module：After identifying suspicious object, control device carries out local sound-light alarm, and is sent to mobile phone terminal
Alarm signal；
Cell phone application:The mating application software with end product has model selection, the work(such as real-time video is checked, alarm is checked
Energy.
Processing is identified to image using moving-target recognizer, pedestrian's recognizer and face recognition algorithms, specifically
Method is：
Algorithms for Moving Target Recogntion provides trigger mechanism for follow-up identification, using the image ratio based on pixel value probability density distribution
To algorithm, image to present image and before several seconds is counted into row pixel value probability density distribution respectively, when having in image
When moving object, statistical Butut will change, to probability density figure in pixel orientation（0~255）Up-sampling, is used in combination Europe
Formula distance versus similarity, to realize the purpose of motion estimate；After recognizing moving target, starts pedestrian and identify calculation
Method carries out next step judgement, and pedestrian, which identifies, uses the pedestrian detection algorithm based on deep learning, identifies pedestrian and determines pedestrian's
Outer rim profile, intercepts upper 1/3 region of profile, and detection face is gone forward side by side pedestrian's face authentication, judges whether to belong to data set
In typing personnel.
As shown in figure 4, the workflow of system is as follows：
1）After system starts, user selects sweep the floor pattern or the two different operating modes of monitoring mode according to demand；
2）When pattern is swept the floor in user's selection, system executes the cleaning correlation function of common sweeping robot；
3）When user selects monitoring mode, system acquires monitoring area image in real time, and utilizes moving-target recognizer, pedestrian
Processing is identified to image with face recognition algorithms in recognizer；
4）When recognizing suspicious object, control image collecting device captures suspicious object image, and is sent out to local prior-warning device
Acousto-optic pre-warning signal is sent, while pre-warning signal and suspect image are sent to mobile phone terminal；
5）According to the cruise interval time of user setting, timing is monitored each region of family by pre-determined route and patrols
Boat equally executes above-mentioned real-time monitoring and control during cruise.
It should be understood that the above-mentioned specific implementation mode of the present invention is used only for exemplary illustration or explains the present invention's
Principle, but not to limit the present invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.In addition, appended claims purport of the present invention
Covering the whole variations fallen into attached claim scope and boundary or this range and the equivalent form on boundary and is repairing
Change example.
Claims (6)
1. a kind of intelligent mobile household monitoring system based on sweeping robot equipment, including sweeping robot ontology, feature
It is, the surface of sweeping robot ontology is provided with image collecting device, described image harvester is for acquiring sweeper
The image of device human body's upper area, described image harvester connection processing module, the processing module connect prior-warning device
And communication module, the processing module are built-in with image processing module, are identified in real time for the image to acquisition, are identifying
When going out pedestrian target, target person identity information is identified using face recognition algorithms, when identifying suspicious object, controls image
Harvester carries out video capture, and carries out early warning.
2. the intelligent mobile household monitoring system according to claim 1 based on sweeping robot equipment, which is characterized in that
Processing is identified to image using Algorithms for Moving Target Recogntion and pedestrian's recognizer, specifically includes following steps：
The Algorithms for Moving Target Recogntion uses the image alignment algorithm based on pixel value probability density distribution, to present image and
Image is counted into row pixel value probability density distribution respectively before, is up-sampled, is used in combination European in pixel orientation to probability density figure
Distance versus similarity realizes motion estimate；
After recognizing moving target, starts pedestrian's recognizer and carry out next step judgement, pedestrian identifies using based on deep learning
Pedestrian detection algorithm, identify pedestrian and determine the outer rim profile of pedestrian, intercept the upper area of profile, detection face is gone forward side by side
Pedestrian's face authentication.
3. the intelligent mobile household monitoring system according to claim 1 based on sweeping robot equipment, which is characterized in that
The processing module includes cruise control module, and the cruise control module uses the form of random search walking, captures image
And indoor environment map is created using SLAM algorithms, and plan wheeled region, when the task of execution, the movement of planning robot
Route, control robot tracking traveling.
4. the intelligent mobile household monitoring system according to claim 1 based on sweeping robot equipment, which is characterized in that
The communication module is connect with remote terminal, and the remote terminal is equipped with management software, the work for controlling sweeping robot
Operation mode, checks that video image and alarm are checked at setting cruise interval time.
5. the intelligent mobile household monitoring system according to claim 1 based on sweeping robot equipment, which is characterized in that
Described image harvester is removably mounted to the surface of sweeping robot ontology.
6. the intelligent mobile household monitoring system according to claim 5 based on sweeping robot equipment, which is characterized in that
The sweeping robot ontology includes housing cover and ontology lower cover, and the ontology lower cover is provided with installation cavity, and described image is adopted
Acquisition means include camera procapsid, camera back casing, camera module and cam lens, the camera module and are taken the photograph
As head mirror head is fixed on camera procapsid, described image harvester is installed on by buckle in the installation cavity of ontology lower cover.
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| CN201810584076.1A CN108540780A (en) | 2018-06-08 | 2018-06-08 | Intelligent mobile household monitoring system based on sweeping robot equipment |
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| CN201810584076.1A CN108540780A (en) | 2018-06-08 | 2018-06-08 | Intelligent mobile household monitoring system based on sweeping robot equipment |
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| CN108540780A true CN108540780A (en) | 2018-09-14 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109222769A (en) * | 2018-10-30 | 2019-01-18 | 小狗电器互联网科技（北京）股份有限公司 | Water system, method of supplying water and the sweeping robot of sweeping robot |
| CN109330501A (en) * | 2018-11-30 | 2019-02-15 | 深圳乐动机器人有限公司 | A kind of method and sweeping robot cleaning ground |
| CN109342425A (en) * | 2018-10-25 | 2019-02-15 | 成都西图科技有限公司 | Microcosmic displacement dynamic image acquisition analytical equipment |
| CN109976177A (en) * | 2019-04-01 | 2019-07-05 | 广东职业技术学院 | Smart home security robot with face identification functions |
| CN110115552A (en) * | 2019-05-23 | 2019-08-13 | 黄河科技学院 | Visual unit regulating device for sweeping robot |
| CN110432833A (en) * | 2019-07-15 | 2019-11-12 | 胡丹萍 | The family's sweeping robot for having hidden monitoring function based on Intelligent internet of things |
| CN110554650A (en) * | 2019-09-18 | 2019-12-10 | 创泽智能机器人股份有限公司 | Remote online monitoring robot system |
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| CN111772536A (en) * | 2020-07-10 | 2020-10-16 | 小狗电器互联网科技（北京）股份有限公司 | Cleaning equipment and monitoring method and device applied to cleaning equipment |
| CN114343478A (en) * | 2020-09-30 | 2022-04-15 | 宁波方太厨具有限公司 | Scene recognition method of cleaning robot and cleaning robot |
| CN114630398A (en) * | 2022-03-04 | 2022-06-14 | 美智纵横科技有限责任公司 | Network distribution method, network distribution equipment, readable storage medium and sweeping robot |
| CN114821937A (en) * | 2022-04-27 | 2022-07-29 | 松灵机器人(深圳)有限公司 | Anti-theft method and related device |
| CN115291531A (en) * | 2022-06-28 | 2022-11-04 | 青岛海尔科技有限公司 | Method and device for sending perception result, storage medium and electronic device |
| WO2023138063A1 (en) * | 2022-01-24 | 2023-07-27 | 美的集团(上海)有限公司 | Household inspection method, non-volatile readable storage medium, and computer device |
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| CN114630398A (en) * | 2022-03-04 | 2022-06-14 | 美智纵横科技有限责任公司 | Network distribution method, network distribution equipment, readable storage medium and sweeping robot |
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| CN114821937A (en) * | 2022-04-27 | 2022-07-29 | 松灵机器人(深圳)有限公司 | Anti-theft method and related device |
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