CN111390925A - A inspection robot for dangerization article warehouse - Google Patents
A inspection robot for dangerization article warehouse Download PDFInfo
- Publication number
- CN111390925A CN111390925A CN202010263464.7A CN202010263464A CN111390925A CN 111390925 A CN111390925 A CN 111390925A CN 202010263464 A CN202010263464 A CN 202010263464A CN 111390925 A CN111390925 A CN 111390925A
- Authority
- CN
- China
- Prior art keywords
- image
- unit
- visual feature
- inspection robot
- warehouse
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention provides a patrol robot for a hazardous chemical warehouse. The lifting mechanism comprises a first vertical sliding rail fixed on the carrier platform, a second vertical sliding rail is connected to the first vertical sliding rail in a sliding mode, and a collection platform is connected to the second vertical sliding rail in a sliding mode. The acquisition platform is provided with an image acquisition unit, an electronic tag reading unit and an environment perception monitoring unit. And the control mechanism is arranged on the carrier platform and is respectively and electrically connected with the moving mechanism, the lifting mechanism, the image acquisition unit, the electronic tag reading unit and the environment perception monitoring unit. According to the invention, through the image recognition system, whether goods on the warehouse shelf are placed in disorder can be compared for monitoring, and illegal placement of dangerous chemicals is avoided. The invention replaces the existing manual inspection with the inspection robot, thereby greatly improving the working efficiency and the safety.
Description
Technical Field
The invention relates to the field of inspection robots, in particular to an inspection robot for a hazardous chemical warehouse.
Background
Dangerous chemicals are used as important chemical raw materials or products, and play an irreplaceable role in the development process of economy and society in China. With the increasing amount of dangerous chemicals in China, dangerous chemical warehouses become popular. The safety problem of the dangerous chemical warehouse is gradually paid attention, and accident research shows that 14% to 32% of dangerous chemical leakage, fire and explosion occur in the storage link. Therefore, strengthening the safety management of the storage link is the key point of the control of dangerous chemicals. At present, in order to ensure the safety of the dangerous chemical warehouse, the dangerous chemical warehouse needs to be inspected by patrol, and the current patrol work is finished by manual patrol.
The problem that exists when current artifical inspection dangerous chemicals warehouse has: the inspection intensity is high, the safety risk is high, the inspection personnel have individual difference, some inspection personnel have poor service level, insufficient experience, weak responsibility and the like, so that the potential safety hazard exists in the dangerous chemical warehouse for manual inspection, and meanwhile, the safety of the inspection personnel cannot be effectively guaranteed. Therefore, it is necessary to design a patrol robot instead of manual patrol.
Disclosure of Invention
Aiming at the problems that most of existing hazardous chemical substance warehouses are manually inspected and potential safety hazards exist, the invention provides the inspection robot for the hazardous chemical substance warehouse, the inspection angle of the robot is flexible and adjustable, manual inspection can be replaced, safety and high efficiency are achieved, and the inspection visual angle is comprehensive.
The invention adopts the following technical scheme:
a patrol robot for a hazardous chemical warehouse comprises a moving mechanism, a lifting mechanism, an acquisition platform and a control mechanism;
the moving mechanism comprises a moving vehicle body, a plurality of moving wheels with omnidirectional moving performance are arranged at the bottom of the moving vehicle body, a carrier platform is connected to the moving vehicle body through a telescopic rotating frame, the telescopic rotating frame comprises a lower rotating seat and an upper rotating seat, a telescopic hole is formed in the central shaft of the lower rotating seat, a telescopic rotating shaft is arranged in the telescopic hole, limiting blocks are uniformly distributed on the hole wall of the telescopic hole, the limiting blocks are elastically connected with the hole wall, the upper rotating seat is sleeved on the telescopic rotating shaft, the telescopic rotating shaft and the limiting blocks are electrically connected with a control mechanism, and the control mechanism controls the telescopic rotating shaft to stretch and rotate and controls the limiting;
the lifting mechanism comprises a first vertical sliding rail fixed on the carrier platform, a second vertical sliding rail is connected to the first vertical sliding rail in a sliding manner, and an acquisition platform is connected to the second vertical sliding rail in a sliding manner;
the image acquisition unit is installed on the acquisition platform through a rotating base, the rotating base comprises a cylindrical fixed seat and a rotating seat, a sliding rail is circumferentially arranged on the inner wall of the fixed seat, a sliding block is circumferentially arranged on the outer wall of the rotating seat, the sliding block is embedded into the sliding rail to enable the rotating seat to rotate along the fixed seat, a hinged ball is connected to the top end of the rotating seat and used for adjusting the angle of the image acquisition unit, and the sliding block is electrically connected with a control mechanism;
the control mechanism is arranged on the carrier platform and is respectively and electrically connected with the moving mechanism, the lifting mechanism, the image acquisition unit, the electronic tag reading unit and the environment sensing monitoring unit;
the control mechanism controls the moving mechanism to move based on a map of the hazardous chemical warehouse, the control mechanism controls the lifting mechanism to lift, and the control mechanism collects data of the image acquisition unit, the electronic tag reading unit and the environment sensing monitoring unit.
Preferably, a data processing unit is arranged in the control mechanism, and the data processing unit is connected with a warehouse map unit, a path planning unit, an obstacle avoidance unit, an alarm unit and a communication unit;
the data processing unit processes data acquired by the image acquisition unit, the electronic tag reading unit and the environment perception monitoring unit;
the warehouse map unit contains map data of a hazardous chemical warehouse;
the path planning unit, the warehouse map unit and the obstacle avoidance unit are matched, so that the path from the initial position to each cargo position of the inspection robot can be planned in the process of advancing of the inspection robot hazardous chemical warehouse, and the position of the inspection robot in the hazardous chemical warehouse is provided;
the obstacle avoidance unit is used for detecting and avoiding obstacles by the inspection robot;
the alarm unit is used for alarming for the inspection robot;
the communication unit is used for transmitting the data information, the position information and the alarm information to the master control room by the patrol robot.
Preferably, still include fire extinguishing mechanism, fire extinguishing mechanism includes the fire extinguisher jar, and the fire extinguisher jar is installed on the carrier platform, and the fire extinguisher jar has the fire extinguisher spout through fire extinguisher pipe connection, and the fire extinguisher spout setting is on the lower surface of gathering the platform.
Preferably, the moving wheel is a Mecanum wheel, which has four wheels.
Preferably, the image acquisition unit comprises a camera, the camera is connected to the acquisition platform through a first lifting frame, the camera acquires information of goods labels on a goods shelf of the hazardous chemical substance warehouse, the camera can also acquire distance data of different goods, and the camera sends the acquired data to the data processing unit for processing;
the electronic tag reading unit reads information of an electronic tag on a goods shelf of a hazardous chemical substance warehouse and sends the information to the data processing unit for processing, and the data processing unit compares whether the information of the electronic tag is matched with the information of the goods tag;
the data processing unit judges whether the distance data of different cargos meet the standard requirements or not.
Preferably, the environment sensing and monitoring unit comprises an environment temperature sensor, an infrared sensor, a smoke sensor and a toxic gas sensor;
the data detected by the environmental temperature sensor, the smoke sensor and the toxic gas sensor are sent to the data processing unit for processing;
keep away the barrier unit and keep away the barrier sensor including the ultrasonic wave, the ultrasonic wave keeps away the barrier sensor and installs at the front end of removing the automobile body through the second crane, and the ultrasonic wave keeps away the barrier sensor and can send the ultrasonic wave of certain frequency, reflects back when meetting the barrier, through receiving this back wave, obtains barrier position signal according to the time difference of transmission and receipt again, confirms the barrier position.
Preferably, the height adjustment process of the inspection robot is as follows: if the difference between the image acquisition height and the current height of the camera is large, the height of the vehicle body is adjusted by adopting the telescopic rotating frame, so that coarse adjustment is realized; after the height of the vehicle body is basically adjusted in place, the height of the image acquisition unit is adjusted through the rotating base to achieve fine adjustment, and the angle of the image acquisition unit is adjusted through the hinged ball, so that an image with a proper angle is acquired.
After the fixed seat mechanism rises to a height higher than the second vertical sliding rail, the camera rotates 90 degrees leftwards and rightwards respectively to shoot objects on the left side and the right side respectively, and rising and fine adjustment are achieved.
Preferably, the motion control algorithm of the patrol robot is as follows:
s1: according to the structural appearance of the inspection robot, a direct local coordinate system and a steering global coordinate system of the inspection robot are established by combining a coordinate system establishing method;
s2: according to the traveling route of the inspection robot, the steering motion track of the inspection robot is drawn by combining the structural appearance of the inspection robot, and an ideal pose equation is obtained, wherein the ideal pose equation is as follows:
where Δ α is the heading angle rate of change, VaxIs the reference point velocity, V, in the x-axis directionayThe speed of the gravity center in the y-axis direction is α, the heading angle during steering is α, the distance between the front wheel and the rear wheel on the left side of R and the steering center point P, the distance between the front wheel and the rear wheel on the right side of R inspection robot and the steering center point P, β is the arc radian of a passing arc, L is the distance between the gravity center and a reference point, omegalFor left-hand angular velocity, omega, of the moving wheel on the leftrThe left turning angular velocity of the right moving wheel;
s3: obtaining a motion parameter of the inspection robot at the next moment under an ideal condition by using a discrete summation method;
s4: according to the errors of the expected parameters and the actual parameters of the inspection robot, performing classical PID and incremental PID algorithm analysis and comparison, correcting an ideal pose equation algorithm based on an incremental PID improved algorithm, and eliminating the errors;
the method specifically comprises the following steps: based on the incremental PID improved algorithm, the pose equation after algorithm correction is as follows:
where n is the sampling interval at time t, ωl(n)、ωr(n), α (n) is the angular velocity of the left moving wheel, the angular velocity of the right moving wheel and the heading angle at time n, Vax(n+1)、Vay(n +1) and delta α (n +1) are the pose at the moment n +1, eL(n)、eRAnd (n) and e (n) are respectively the feedback increment of the left moving wheel, the feedback increment of the right moving wheel and the feedback increment of the inner ring between the moving wheels at the time of n.
Preferably, the image processing process of the data acquired by the camera by the data processing unit is as follows:
s1: determining a first visual characteristic of the acquired image, and searching one or more similar images matched with the first visual characteristic from an image database;
the specific process is as follows: the first visual feature comprises the global visual feature or the local visual feature of the image, and the visual words included in the collected image are determined according to the local visual feature in the first visual feature; searching images including visual words of the collected images in the image database according to an inverted index structure of the image database, and determining a candidate image set;
determining a visual feature distance between the acquired image and each candidate image according to the first visual feature of the acquired image and the first visual feature of each candidate image in the candidate image set, wherein the visual feature distance is used for representing similarity;
sequencing each candidate image according to the visual characteristic distance between the collected image and each candidate image;
determining similar images from the candidate images according to the sequencing result;
s2: determining a second visual feature of the acquired image, and matching the second visual feature of the acquired image with a second visual feature of the similar image to form a plurality of groups of visual feature pairs, wherein the second visual feature comprises a local visual feature;
the method specifically comprises the following steps: calculating the distance between each local visual feature of the acquired image and each local visual feature of the similar image, and forming a plurality of groups of local visual feature pairs according to the distances;
s3: verifying a plurality of groups of local visual feature pairs in a Hough voting mode, and removing the local visual feature pairs which are mismatched;
s4: and determining whether the acquired image is successfully matched with the similar image or not, and determining whether the acquired image is successfully matched with the similar image or not according to the number of the remaining local visual feature pairs, thereby determining the goods label information of the acquired image.
Preferably, in the process of acquiring the data image by the camera, the method further comprises the following steps:
the method comprises the following steps: putting all pixel points in a target image into a root node of a plane area decision tree, judging the brightness of a central pixel point and peripheral pixel points, and judging whether the brightness of the peripheral pixel points is greater than that of the central pixel points, if so, putting the central pixel points into child nodes of the plane area decision tree, and if not, putting the central pixel points into the root node of a complex area decision tree until all the pixel points are judged completely, wherein the child nodes of the plane area decision tree form a leaf node set, and the pixel points in the set are characteristic points of the target image;
step two: constructing a feature vector, and randomly comparing every two pixel points in the feature point image block region by adopting a BRIEF algorithm, if the pixel value of the first pixel point in a pair of pixel points is larger than that of the second pixel point, recording as 1, otherwise, recording as 0, and so on, obtaining binary feature vectors of all feature point image block regions, wherein the feature vectors contain information of image block regions around the feature points;
step three: acquiring a contrast image to obtain binary characteristic vectors of all characteristic point image block areas of the contrast image;
step four: and calling a RANSAC algorithm function, and carrying out error matching elimination on the initial matching pair by using the homography matrix to obtain an accurate acquired image.
The invention has the beneficial effects that:
the invention provides a patrol robot for a hazardous chemical substance warehouse, which can compare whether goods on a goods shelf of the warehouse correspond to labels of the goods shelf through an image recognition system, prevent the goods from being stacked in disorder, recognize whether the distance between different goods meets the specified requirements, avoid illegal placement of hazardous chemical substances, alarm the condition of illegal placement and messy stacking, and avoid accidents; the invention detects the environment in the warehouse, avoids the occurrence of abnormal temperature and toxic gas leakage; this robot patrols and examines can in time discover the conflagration to put out a fire, avoid the conflagration to enlarge, initial stage fire control moreover can provide time and very big safety guarantee for follow-up personnel's fire control. The invention replaces the existing manual inspection with the inspection robot, greatly improves the working efficiency and safety, saves the labor cost and ensures the safety of personnel and warehouses.
The height of the vehicle body of the inspection robot is adjustable, the movable vehicle body is connected with a carrier platform through a telescopic rotating frame, the telescopic rotating frame comprises a lower rotating seat and an upper rotating seat, and the height of the upper rotating seat and the height of the lower rotating seat are adjustable and can rotate relatively, so that the height and angle of the vehicle body are adjusted; the image acquisition unit realizes that height and angle are adjustable through rotating base, very big improvement angle and the high scope of patrolling and examining, provide the suitability of patrolling and examining the robot.
Drawings
Fig. 1 is a schematic structural diagram of a patrol robot for a hazardous chemical warehouse.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:
in the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The electronic tag is arranged in the placing area of each kind of goods on the goods shelf of the hazardous chemical substance warehouse, the electronic tag contains various information of the goods, and the electronic tag is fastened on the goods shelf through the binding band.
Referring to fig. 1, a patrol robot for a hazardous chemical warehouse includes a moving mechanism, a lifting mechanism and a control mechanism.
Moving mechanism is including removing automobile body 1, the bottom of removing automobile body 1 is provided with a plurality of removal wheels 3 that possess the performance of qxcomm technology, even there is carrier platform 2 through flexible swivel mount on the removal automobile body, flexible swivel mount is including down rotating seat 14 and last rotating seat 15, the center pin department of lower rotating seat 14 is equipped with flexible hole, be equipped with flexible pivot 16 in the flexible hole, evenly distributed has stopper 17 on the pore wall in flexible hole, stopper 17 and pore wall elastic connection, it is epaxial in flexible pivot to go up the rotating seat cover, flexible pivot and stopper are connected with control mechanism is automatically controlled, the flexible pivot of control mechanism control is flexible and rotatory, the control stopper is flexible, after flexible pivot highly rotatory targets in place, pop out apart from its nearest stopper of terminal surface down, carry out high spacing to flexible pivot, rotatory under the control of spacing flexible pivot mechanism again after control mechanism.
The removal wheel is Mecanum wheel, and Mecanum wheel has four. The load of each Mecanum wheel is 40Kg, the diameter is 127mm, and the requirements of higher load and stability are met.
Each Mecanum wheel is driven by an independent motor, each motor is driven by an independent motor driver, and the control mechanism is connected with each motor driver.
The lifting mechanism comprises a first vertical slide rail 4 fixed on the carrier platform, a second vertical slide rail 5 is connected to the first vertical slide rail in a sliding mode, and a collection platform 6 is connected to the second vertical slide rail in a sliding mode.
The acquisition platform 6 is provided with an image acquisition unit, an electronic tag reading unit and an environment perception monitoring unit. Image acquisition unit passes through rotating base to be installed on gathering the platform, and rotating base includes columniform fixing base 18 and roating seat 19, and the inner wall circumference of fixing base 18 is equipped with the slide rail, and the outer wall circumference of roating seat 19 is equipped with the slider, and slider embedding slide rail makes the roating seat can follow the fixing base rotatory, and the top of roating seat even has articulated ball 13, and articulated ball 13 is used for adjusting image acquisition unit's angle, and the slider is automatically controlled with control mechanism and is connected.
The height adjustment process of the inspection robot comprises the following steps: if the difference between the image acquisition height and the current height of the camera is large, the height of the vehicle body is adjusted by adopting the telescopic rotating frame, so that coarse adjustment is realized; after the height of the vehicle body is basically adjusted in place, the height of the image acquisition unit is adjusted through the rotating base to achieve fine adjustment, and the angle of the image acquisition unit is adjusted through the hinged ball, so that an image with a proper angle is acquired.
The carrier platform and the two vertical sliding rails which can be lifted are arranged, so that the requirement for meeting the detection height of the collecting platform can be met, the collecting platform is enabled to obtain higher height, and image collection is convenient to carry out on goods information. After the fixed seat mechanism 18 rises higher than the second vertical slide rail 5, the cameras respectively rotate 90 degrees leftwards and rightwards to respectively shoot objects on the left side and the right side, so that rising and fine adjustment are realized.
And the control mechanism 7 is arranged on the carrier platform and is respectively and electrically connected with the moving mechanism, the lifting mechanism, the image acquisition unit, the electronic tag reading unit and the environment sensing monitoring unit.
The control mechanism controls the moving mechanism to move based on a map of the hazardous chemical warehouse, the control mechanism controls the lifting mechanism to lift, and the control mechanism collects data of the image acquisition unit, the electronic tag reading unit and the environment sensing monitoring unit.
The control mechanism processes the data so as to perform operations such as moving, alarming, fire extinguishing and the like.
The control mechanism is internally provided with a data processing unit which is connected with a warehouse map unit, a path planning unit, an obstacle avoidance unit, an alarm unit and a communication unit.
The data processing unit processes data collected by the image collecting unit, the electronic tag reading unit and the environment perception monitoring unit.
The warehouse map unit contains map data of a hazardous chemical warehouse.
The path planning unit, the warehouse map unit and the obstacle avoidance unit are matched, so that the path from the initial position to each cargo position of the inspection robot can be planned in the process of advancing of the inspection robot hazardous chemical warehouse, and the position of the inspection robot in the hazardous chemical warehouse is provided.
The motion control algorithm of the inspection robot is as follows:
s1: according to the structural appearance of the inspection robot, a direct local coordinate system and a steering global coordinate system of the inspection robot are established by combining a coordinate system establishing method;
s2: according to the traveling route of the inspection robot, the steering motion track of the inspection robot is drawn by combining the structural appearance of the inspection robot, and an ideal pose equation is obtained, wherein the ideal pose equation is as follows:
where Δ α is the heading angle rate of change, VaxIs the reference point velocity, V, in the x-axis directionayThe speed of the gravity center in the y-axis direction is α, the heading angle during steering is α, the distance between the front wheel and the rear wheel on the left side of R and the steering center point P, the distance between the front wheel and the rear wheel on the right side of R inspection robot and the steering center point P, β is the arc radian of a passing arc, L is the distance between the gravity center and a reference point, omegalFor left-hand angular velocity, omega, of the moving wheel on the leftrThe left turning angular velocity of the right moving wheel;
s3: obtaining a motion parameter of the inspection robot at the next moment under an ideal condition by using a discrete summation method;
s4: according to the errors of the expected parameters and the actual parameters of the inspection robot, performing classical PID and incremental PID algorithm analysis and comparison, correcting an ideal pose equation algorithm based on an incremental PID improved algorithm, and eliminating the errors;
the method specifically comprises the following steps: based on the incremental PID improved algorithm, the pose equation after algorithm correction is as follows:
where n is the sampling interval at time t, ωl(n)、ωr(n), α (n) is the angular velocity of the left moving wheel, the angular velocity of the right moving wheel and the heading angle at time n, Vax(n+1)、Vay(n +1) and delta α (n +1) are the pose at the moment n +1, eL(n)、eRAnd (n) and e (n) are respectively the feedback increment of the left moving wheel, the feedback increment of the right moving wheel and the feedback increment of the inner ring between the moving wheels at the time of n.
The obstacle avoidance unit is used for detecting obstacles and avoiding the obstacles by the inspection robot.
Concretely, keep away the barrier unit and include that the ultrasonic wave keeps away barrier sensor 8, the ultrasonic wave keeps away the barrier sensor and installs at the front end of removing the automobile body through second crane 9, and the ultrasonic wave keeps away the barrier sensor and can send the ultrasonic wave of certain frequency, reflects back when meetting the barrier, through receiving this back wave, obtains barrier position signal according to the time difference of transmission and receipt again, confirms the barrier position.
The alarm unit is used for the patrol robot to alarm. The data processing unit can control the alarm unit to give an alarm.
The communication unit is used for transmitting the data information, the position information and the alarm information to the master control room by the patrol robot. In addition, the communication unit also receives instructions from the overall control room.
This inspection robot still includes fire extinguishing mechanism, and fire extinguishing mechanism includes fire extinguisher jar 10, and the fire extinguisher jar is installed on the carrier platform, and the fire extinguisher jar has fire extinguisher spout 11 through fire extinguisher pipe connection, and the fire extinguisher spout setting is on the lower surface of gathering the platform.
Specifically, the image acquisition unit comprises a camera 12 which is connected with the acquisition platform through a first lifting frame 13,
the camera discernment is gathered goods label information on the goods shelves in danger article warehouse, and the camera can also gather the distance data of different goods, and the data that the camera will gather are sent to the data processing unit and are handled.
The electronic tag reading unit reads information of an electronic tag on a goods shelf of the hazardous chemical substance warehouse and sends the information to the data processing unit for processing, and the data processing unit compares whether the information of the electronic tag is matched with the information of the goods tag;
the data processing unit judges whether the distance data of different cargos meet the standard requirements or not.
The process that the robot patrols and examines danger article warehouse goods does:
the inspection robot inspects goods in a specific area according to instructions, the inspection robot utilizes the path planning unit, the warehouse map unit and the obstacle avoidance unit to cooperate to plan a traveling path and accordingly reaches a specified position, in the process, the obstacle avoidance unit can detect obstacles on the path and automatically avoid the obstacles, after the robot reaches the specified position, the acquisition platform is lifted to a proper position through the lifting mechanism, the electronic tag reading unit reads goods tag information on a goods shelf, meanwhile, the camera identifies and acquires the goods tag information on the goods shelf of the hazardous chemical warehouse, the data processing unit compares whether the electronic tag information is matched with the goods tag information, if the goods are not matched, the situation that the goods are stacked in disorder is proved, the situation is recorded and sent to the main control room, and the main control room performs subsequent processing.
The image processing process of the data acquired by the camera by the data processing unit is as follows:
s1: determining a first visual characteristic of the acquired image, and searching one or more similar images matched with the first visual characteristic from an image database;
the specific process is as follows: the first visual feature comprises the global visual feature or the local visual feature of the image, and the visual words included in the collected image are determined according to the local visual feature in the first visual feature; searching images including visual words of the collected images in the image database according to an inverted index structure of the image database, and determining a candidate image set;
determining a visual feature distance between the acquired image and each candidate image according to the first visual feature of the acquired image and the first visual feature of each candidate image in the candidate image set, wherein the visual feature distance is used for representing similarity;
sequencing each candidate image according to the visual characteristic distance between the collected image and each candidate image;
determining similar images from the candidate images according to the sequencing result;
s2: determining a second visual feature of the acquired image, and matching the second visual feature of the acquired image with a second visual feature of the similar image to form a plurality of groups of visual feature pairs, wherein the second visual feature comprises a local visual feature;
the method specifically comprises the following steps: calculating the distance between each local visual feature of the acquired image and each local visual feature of the similar image, and forming a plurality of groups of local visual feature pairs according to the distances;
s3: verifying a plurality of groups of local visual feature pairs in a Hough voting mode, and removing the local visual feature pairs which are mismatched;
s4: and determining whether the acquired image is successfully matched with the similar image or not, and determining whether the acquired image is successfully matched with the similar image or not according to the number of the remaining local visual feature pairs, thereby determining the goods label information of the acquired image.
In the process of acquiring data images by the camera, the method further comprises the following steps:
the method comprises the following steps: putting all pixel points in a target image into a root node of a plane area decision tree, judging the brightness of a central pixel point and peripheral pixel points, and judging whether the brightness of the peripheral pixel points is greater than that of the central pixel points, if so, putting the central pixel points into child nodes of the plane area decision tree, and if not, putting the central pixel points into the root node of a complex area decision tree until all the pixel points are judged completely, wherein the child nodes of the plane area decision tree form a leaf node set, and the pixel points in the set are characteristic points of the target image;
step two: constructing a feature vector, and randomly comparing every two pixel points in the feature point image block region by adopting a BRIEF algorithm, if the pixel value of the first pixel point in a pair of pixel points is larger than that of the second pixel point, recording as 1, otherwise, recording as 0, and so on, obtaining binary feature vectors of all feature point image block regions, wherein the feature vectors contain information of image block regions around the feature points;
step three: acquiring a contrast image to obtain binary characteristic vectors of all characteristic point image block areas of the contrast image;
step four: and calling a RANSAC algorithm function, and carrying out error matching elimination on the initial matching pair by using the homography matrix to obtain an accurate acquired image.
The first visual Feature comprises global visual features including, but not limited to, any one of, BoW (Bag of Words) features, V L AD (Vector of L global Aggregated Descriptor) features, FV (Fisher Vector) features, and/or SURF (Scale-invariant Feature) features, SURF (accelerated robust Feature).
The local visual features related to the second visual feature may be selected from more lightweight binarized visual features, such as orb (organized FAST and Rotated brief) features, FREAK (FAST Retina Keypoint) features.
When the object distance is detected, whether the distance data of different goods in the image area meet the standard requirements or not is judged through an image recognition technology, if not, the condition is recorded and sent to a master control room, and the master control room carries out subsequent processing.
The principle of distance detection is as follows: the distance in the image has a certain conversion proportion with the actual distance, the article distance value in the image is identified, the actual distance value of the goods can be obtained according to the conversion proportion, and therefore whether the distance of different goods meets the requirements or not is obtained.
Specifically, the environment sensing and monitoring unit monitors the environment of the hazardous chemical warehouse and collects various information of the warehouse in time. The environment perception monitoring unit comprises an environment temperature sensor, an infrared sensor, a smoke sensor, a toxic gas sensor and the like, and data detected by the environment temperature sensor, the smoke sensor and the toxic gas sensor are sent to the data processing unit to be processed. The sensors monitor different positions of the warehouse along with the movement of the robot, and send data to a master control room, and once some data is abnormal, the data processing unit controls the alarm unit to give an alarm
The fire extinguisher tank is a gas fire extinguisher tank, and the data processing unit can control the action of the fire extinguisher tank. When the environmental temperature sensor and the smoke sensor in the environmental perception monitoring unit simultaneously monitor that the area is abnormal, the fire is proved to be on, the infrared sensor detects the fire position, the data processing unit controls the action of the fire extinguisher tank, the fire extinguishing gas is sprayed out from the fire extinguisher nozzle, and the fire is extinguished at the fire position. The expansion of fire is avoided, and the fire control at the initial stage can provide time and great safety guarantee for the fire control of follow-up personnel.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (10)
1. A patrol robot for a hazardous chemical warehouse is characterized by comprising a moving mechanism, a lifting mechanism, a collecting platform and a control mechanism;
the moving mechanism comprises a moving vehicle body, a plurality of moving wheels with omnidirectional moving performance are arranged at the bottom of the moving vehicle body, a carrier platform is connected to the moving vehicle body through a telescopic rotating frame, the telescopic rotating frame comprises a lower rotating seat and an upper rotating seat, a telescopic hole is formed in the central shaft of the lower rotating seat, a telescopic rotating shaft is arranged in the telescopic hole, limiting blocks are uniformly distributed on the hole wall of the telescopic hole, the limiting blocks are elastically connected with the hole wall, the upper rotating seat is sleeved on the telescopic rotating shaft, the telescopic rotating shaft and the limiting blocks are electrically connected with a control mechanism, and the control mechanism controls the telescopic rotating shaft to stretch and rotate and controls the limiting;
the lifting mechanism comprises a first vertical sliding rail fixed on the carrier platform, a second vertical sliding rail is connected to the first vertical sliding rail in a sliding manner, and an acquisition platform is connected to the second vertical sliding rail in a sliding manner;
the image acquisition unit is installed on the acquisition platform through a rotating base, the rotating base comprises a cylindrical fixed seat and a rotating seat, a sliding rail is circumferentially arranged on the inner wall of the fixed seat, a sliding block is circumferentially arranged on the outer wall of the rotating seat, the sliding block is embedded into the sliding rail to enable the rotating seat to rotate along the fixed seat, a hinged ball is connected to the top end of the rotating seat and used for adjusting the angle of the image acquisition unit, and the sliding block is electrically connected with a control mechanism;
the control mechanism is arranged on the carrier platform and is respectively and electrically connected with the moving mechanism, the lifting mechanism, the image acquisition unit, the electronic tag reading unit and the environment sensing monitoring unit;
the control mechanism controls the moving mechanism to move based on a map of the hazardous chemical warehouse, the control mechanism controls the lifting mechanism to lift, and the control mechanism collects data of the image acquisition unit, the electronic tag reading unit and the environment sensing monitoring unit.
2. The inspection robot for the hazardous chemical substance warehouse according to claim 1, wherein a data processing unit is arranged in the control mechanism, and the data processing unit is connected with a warehouse map unit, a path planning unit, an obstacle avoidance unit, an alarm unit and a communication unit;
the data processing unit processes data acquired by the image acquisition unit, the electronic tag reading unit and the environment perception monitoring unit;
the warehouse map unit contains map data of a hazardous chemical warehouse;
the path planning unit, the warehouse map unit and the obstacle avoidance unit are matched, so that the path from the initial position to each cargo position of the inspection robot can be planned in the process of advancing of the inspection robot hazardous chemical warehouse, and the position of the inspection robot in the hazardous chemical warehouse is provided;
the obstacle avoidance unit is used for detecting and avoiding obstacles by the inspection robot;
the alarm unit is used for alarming for the inspection robot;
the communication unit is used for transmitting the data information, the position information and the alarm information to the master control room by the patrol robot.
3. The inspection robot for the hazardous chemical warehouse according to claim 2, further comprising a fire extinguishing mechanism, wherein the fire extinguishing mechanism comprises a fire extinguisher tank, the fire extinguisher tank is mounted on the carrier platform, the fire extinguisher tank is connected with a fire extinguisher nozzle through a fire extinguisher pipeline, and the fire extinguisher nozzle is arranged on the lower surface of the collection platform.
4. A patrol robot for a hazardous chemical storage warehouse according to claim 2, characterized in that the moving wheels are Mecanum wheels, and there are four Mecanum wheels.
5. The inspection robot for the hazardous chemical substance warehouse according to claim 2, wherein the image acquisition unit comprises a camera, the camera is connected to the acquisition platform through a first lifting frame, the camera acquires tag information of goods on a shelf of the hazardous chemical substance warehouse, the camera can also acquire distance data of different goods, and the camera sends the acquired data to the data processing unit for processing;
the electronic tag reading unit reads information of an electronic tag on a goods shelf of a hazardous chemical substance warehouse and sends the information to the data processing unit for processing, and the data processing unit compares whether the information of the electronic tag is matched with the information of the goods tag;
the data processing unit judges whether the distance data of different cargos meet the standard requirements or not.
6. The patrol robot for the hazardous chemical warehouse according to claim 2, wherein the environment sensing and monitoring unit comprises an environment temperature sensor, an infrared sensor, a smoke sensor and a toxic gas sensor;
the data detected by the environmental temperature sensor, the smoke sensor and the toxic gas sensor are sent to the data processing unit for processing;
keep away the barrier unit and keep away the barrier sensor including the ultrasonic wave, the ultrasonic wave keeps away the barrier sensor and installs at the front end of removing the automobile body through the second crane, and the ultrasonic wave keeps away the barrier sensor and can send the ultrasonic wave of certain frequency, reflects back when meetting the barrier, through receiving this back wave, obtains barrier position signal according to the time difference of transmission and receipt again, confirms the barrier position.
7. The patrol robot for the hazardous chemical warehouse according to claim 2, wherein the height adjustment process of the patrol robot is as follows: if the difference between the image acquisition height and the current height of the camera is large, the height of the vehicle body is adjusted by adopting the telescopic rotating frame, so that coarse adjustment is realized; after the height of the vehicle body is adjusted to be basically in place, the height of the image acquisition unit is adjusted through the rotating base to realize fine adjustment, and the angle of the image acquisition unit is adjusted through the hinged ball, so that an image with a proper angle is acquired;
after the fixed seat mechanism rises to a height higher than the second vertical sliding rail, the camera rotates 90 degrees leftwards and rightwards respectively to shoot objects on the left side and the right side respectively, and rising and fine adjustment are achieved.
8. An inspection robot for dangerous chemical storage according to claim 2, wherein the motion control algorithm of the inspection robot is:
s1: according to the structural appearance of the inspection robot, a direct local coordinate system and a steering global coordinate system of the inspection robot are established by combining a coordinate system establishing method;
s2: according to the traveling route of the inspection robot, the steering motion track of the inspection robot is drawn by combining the structural appearance of the inspection robot, and an ideal pose equation is obtained, wherein the ideal pose equation is as follows:
where Δ α is the heading angle rate of change, VaxIs the reference point velocity, V, in the x-axis directionayThe speed of the center of gravity in the y-axis direction, α the heading angle during steering, R the distance between the front and rear wheels on the left side and the steering center point P, R the distance between the front and rear wheels on the right side of the inspection robot and the steering center point P, β the distance between the front and rear wheels on the right side and the steering center point P, and β the distance between the front and rear wheels on theL is the distance between the center of gravity and the reference point, ωlFor left-hand angular velocity, omega, of the moving wheel on the leftrThe left turning angular velocity of the right moving wheel;
s3: obtaining a motion parameter of the inspection robot at the next moment under an ideal condition by using a discrete summation method;
s4: according to the errors of the expected parameters and the actual parameters of the inspection robot, performing classical PID and incremental PID algorithm analysis and comparison, correcting an ideal pose equation algorithm based on an incremental PID improved algorithm, and eliminating the errors;
the method specifically comprises the following steps: based on the incremental PID improved algorithm, the pose equation after algorithm correction is as follows:
where n is the sampling interval at time t, ωl(n)、ωr(n), α (n) is the angular velocity of the left moving wheel, the angular velocity of the right moving wheel and the heading angle at time n, Vax(n+1)、Vay(n +1) and delta α (n +1) are the pose at the moment n +1, eL(n)、eRAnd (n) and e (n) are respectively the feedback increment of the left moving wheel, the feedback increment of the right moving wheel and the feedback increment of the inner ring between the moving wheels at the time of n.
9. The patrol robot for the hazardous chemical substance warehouse according to claim 5, wherein the data processing unit is used for processing the data acquired by the camera in an image processing process of:
s1: determining a first visual characteristic of the acquired image, and searching one or more similar images matched with the first visual characteristic from an image database;
the specific process is as follows: the first visual feature comprises the global visual feature or the local visual feature of the image, and the visual words included in the collected image are determined according to the local visual feature in the first visual feature; searching images including visual words of the collected images in the image database according to an inverted index structure of the image database, and determining a candidate image set;
determining a visual feature distance between the acquired image and each candidate image according to the first visual feature of the acquired image and the first visual feature of each candidate image in the candidate image set, wherein the visual feature distance is used for representing similarity;
sequencing each candidate image according to the visual characteristic distance between the collected image and each candidate image;
determining similar images from the candidate images according to the sequencing result;
s2: determining a second visual feature of the acquired image, and matching the second visual feature of the acquired image with a second visual feature of the similar image to form a plurality of groups of visual feature pairs, wherein the second visual feature comprises a local visual feature;
the method specifically comprises the following steps: calculating the distance between each local visual feature of the acquired image and each local visual feature of the similar image, and forming a plurality of groups of local visual feature pairs according to the distances;
s3: verifying a plurality of groups of local visual feature pairs in a Hough voting mode, and removing the local visual feature pairs which are mismatched;
s4: and determining whether the acquired image is successfully matched with the similar image or not, and determining whether the acquired image is successfully matched with the similar image or not according to the number of the remaining local visual feature pairs, thereby determining the goods label information of the acquired image.
10. The patrol robot for the hazardous chemical substance warehouse according to claim 9, wherein in the process of acquiring data images by the camera, the patrol robot further comprises the following steps:
the method comprises the following steps: putting all pixel points in a target image into a root node of a plane area decision tree, judging the brightness of a central pixel point and peripheral pixel points, and judging whether the brightness of the peripheral pixel points is greater than that of the central pixel points, if so, putting the central pixel points into child nodes of the plane area decision tree, and if not, putting the central pixel points into the root node of a complex area decision tree until all the pixel points are judged completely, wherein the child nodes of the plane area decision tree form a leaf node set, and the pixel points in the set are characteristic points of the target image;
step two: constructing a feature vector, and randomly comparing every two pixel points in the feature point image block region by adopting a BRIEF algorithm, if the pixel value of the first pixel point in a pair of pixel points is larger than that of the second pixel point, recording as 1, otherwise, recording as 0, and so on, obtaining binary feature vectors of all feature point image block regions, wherein the feature vectors contain information of image block regions around the feature points;
step three: acquiring a contrast image to obtain binary characteristic vectors of all characteristic point image block areas of the contrast image;
step four: and calling a RANSAC algorithm function, and carrying out error matching elimination on the initial matching pair by using the homography matrix to obtain an accurate acquired image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010263464.7A CN111390925A (en) | 2020-04-07 | 2020-04-07 | A inspection robot for dangerization article warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010263464.7A CN111390925A (en) | 2020-04-07 | 2020-04-07 | A inspection robot for dangerization article warehouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111390925A true CN111390925A (en) | 2020-07-10 |
Family
ID=71417432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010263464.7A Pending CN111390925A (en) | 2020-04-07 | 2020-04-07 | A inspection robot for dangerization article warehouse |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111390925A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327877A (en) * | 2020-11-23 | 2021-02-05 | 山东建筑大学 | Steel pipe warehouse inspection robot system and steel pipe warehouse management system |
| CN112520299A (en) * | 2020-11-23 | 2021-03-19 | 山东建筑大学 | Steel pipe warehouse in-out management guide system and ground rail type inspection robot |
| CN113587993A (en) * | 2021-07-30 | 2021-11-02 | 华中农业大学 | Chicken coop environment acquisition robot |
| CN114697534A (en) * | 2020-12-30 | 2022-07-01 | 超聚变数字技术有限公司 | Lifting platform and control method thereof |
| CN116714532A (en) * | 2023-08-07 | 2023-09-08 | 福建农林大学 | Blind area monitoring sensor for vehicle |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100076631A1 (en) * | 2008-09-19 | 2010-03-25 | Mian Zahid F | Robotic vehicle for performing rail-related actions |
| CN206154287U (en) * | 2016-11-10 | 2017-05-10 | 杭州欧润科技有限公司 | Camera ware people is taken photograph to intelligence |
| CN207564504U (en) * | 2017-12-11 | 2018-07-03 | 上海朗驰佰特智能技术有限公司 | It is a kind of to make an inspection tour mechanical user tripod head rotational structure |
| CN108334644A (en) * | 2018-03-30 | 2018-07-27 | 百度在线网络技术（北京）有限公司 | Image-recognizing method and device |
| CN208592839U (en) * | 2018-05-31 | 2019-03-12 | 皖西学院 | A kind of intelligent measurement alarming robot |
| CN110244718A (en) * | 2019-06-04 | 2019-09-17 | 淮阴工学院 | It is a kind of can automatic obstacle-avoiding tour intelligent carriage |
| CN110472662A (en) * | 2019-07-10 | 2019-11-19 | 上海理工大学 | Image matching algorithm based on improved ORB algorithm |
| CN110860057A (en) * | 2019-11-18 | 2020-03-06 | 燕山大学 | Fire-fighting reconnaissance robot and reconnaissance method |
| CN210161133U (en) * | 2019-04-17 | 2020-03-20 | 深圳易普森科技股份有限公司 | Dangerous chemical park inspection system |
-
2020
- 2020-04-07 CN CN202010263464.7A patent/CN111390925A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100076631A1 (en) * | 2008-09-19 | 2010-03-25 | Mian Zahid F | Robotic vehicle for performing rail-related actions |
| CN206154287U (en) * | 2016-11-10 | 2017-05-10 | 杭州欧润科技有限公司 | Camera ware people is taken photograph to intelligence |
| CN207564504U (en) * | 2017-12-11 | 2018-07-03 | 上海朗驰佰特智能技术有限公司 | It is a kind of to make an inspection tour mechanical user tripod head rotational structure |
| CN108334644A (en) * | 2018-03-30 | 2018-07-27 | 百度在线网络技术（北京）有限公司 | Image-recognizing method and device |
| CN208592839U (en) * | 2018-05-31 | 2019-03-12 | 皖西学院 | A kind of intelligent measurement alarming robot |
| CN210161133U (en) * | 2019-04-17 | 2020-03-20 | 深圳易普森科技股份有限公司 | Dangerous chemical park inspection system |
| CN110244718A (en) * | 2019-06-04 | 2019-09-17 | 淮阴工学院 | It is a kind of can automatic obstacle-avoiding tour intelligent carriage |
| CN110472662A (en) * | 2019-07-10 | 2019-11-19 | 上海理工大学 | Image matching algorithm based on improved ORB algorithm |
| CN110860057A (en) * | 2019-11-18 | 2020-03-06 | 燕山大学 | Fire-fighting reconnaissance robot and reconnaissance method |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327877A (en) * | 2020-11-23 | 2021-02-05 | 山东建筑大学 | Steel pipe warehouse inspection robot system and steel pipe warehouse management system |
| CN112520299A (en) * | 2020-11-23 | 2021-03-19 | 山东建筑大学 | Steel pipe warehouse in-out management guide system and ground rail type inspection robot |
| WO2022105371A1 (en) * | 2020-11-23 | 2022-05-27 | 山东建筑大学 | Steel pipe warehouse inspection robot system and steel pipe warehouse management system |
| CN114697534A (en) * | 2020-12-30 | 2022-07-01 | 超聚变数字技术有限公司 | Lifting platform and control method thereof |
| CN113587993A (en) * | 2021-07-30 | 2021-11-02 | 华中农业大学 | Chicken coop environment acquisition robot |
| CN116714532A (en) * | 2023-08-07 | 2023-09-08 | 福建农林大学 | Blind area monitoring sensor for vehicle |
| CN116714532B (en) * | 2023-08-07 | 2023-10-20 | 福建农林大学 | Blind area monitoring sensor for vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111390925A (en) | A inspection robot for dangerization article warehouse | |
| US10233021B1 (en) | Autonomous vehicles for delivery and safety | |
| US11195011B2 (en) | Object detection and avoidance for aerial vehicles | |
| EP3803734B1 (en) | Tracking vehicles in a warehouse environment | |
| US11565881B1 (en) | Mobile sortation and delivery of multiple items | |
| US10613533B1 (en) | Autonomous delivery and retrieval of inventory holders at transfer locations | |
| US20210209543A1 (en) | Directing secondary delivery vehicles using primary delivery vehicles | |
| CN114604761B (en) | Control safety warning system and method for realizing intelligent tower crane assistance | |
| CN110619276B (en) | Anomaly and violence detection system and method based on unmanned aerial vehicle mobile monitoring | |
| CN112784814B (en) | Gesture recognition method for reversing and warehousing of vehicle and reversing and warehousing guiding system of conveying vehicle | |
| CN106052695A (en) | Flight inspection tour system and method performing navigation by utilizing 360-degree laser scanner | |
| CN114104653A (en) | Intelligent inspection detection method for coal belt conveyor in coal conveying bin area | |
| CN114115296A (en) | Intelligent inspection and early warning system and method for key area | |
| CN113240881A (en) | Fire identification system based on multi-feature fusion | |
| CN114604773B (en) | Safety warning auxiliary system and method for intelligent tower crane | |
| CN114348887A (en) | Intelligent monitoring and early warning system and method based on tower crane rotation action model | |
| CN114604787A (en) | Automatic material characteristic identification method and device for unmanned intelligent tower crane | |
| CN103218914A (en) | Intelligent detection device and detection method for container port vehicles | |
| CN114926773A (en) | Target detection method and device based on monocular vision | |
| CN112393617B (en) | Method, device, equipment and medium for detecting wheels of trolley of annular cooler | |
| CN114604756A (en) | Cloud information system and method for intelligent tower crane operation data | |
| Kubota et al. | Dependable visual servo control of a small-scale helicopter with a wireless camera | |
| CN110497331A (en) | Hidden danger is assisted to identify crusing robot | |
| CN113984163B (en) | Visual auxiliary studying and judging method and system for weighing of truck without stopping | |
| CN114604765B (en) | Intelligent tower crane material positioning auxiliary device and method based on Internet of things communication |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |