CN201905823U - Monocular household cleaning robot - Google Patents

Monocular household cleaning robot Download PDF

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Publication number
CN201905823U
CN201905823U CN2010206928571U CN201020692857U CN201905823U CN 201905823 U CN201905823 U CN 201905823U CN 2010206928571 U CN2010206928571 U CN 2010206928571U CN 201020692857 U CN201020692857 U CN 201020692857U CN 201905823 U CN201905823 U CN 201905823U
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CN
China
Prior art keywords
sensor
monocular
household cleaning
cleaning robot
processor chips
Prior art date
Application number
CN2010206928571U
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Chinese (zh)
Inventor
何少佳
刘子扬
何湘艳
陈勇钢
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桂林电子科技大学
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Priority to CN2010206928571U priority Critical patent/CN201905823U/en
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Publication of CN201905823U publication Critical patent/CN201905823U/en

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Abstract

The utility model discloses a monocular household cleaning robot, which comprises a shell, a processor chip, a memory, an ultrasonic sensor, an infrared sensor and a collision-preventive sensor. The processor chip is arranged in the shell, and the ultrasonic sensor, the infrared sensor and the collision-preventive sensor are respectively connected with the processor chip. The monocular household cleaning robot is characterized by being additionally provided with a camera, a display screen, an alarm, a group of LED lamps and a photosensitive sensor which are respectively connected with the processor chip. The monocular household cleaning robot has the advantages that the cleaning robot has an excellent obstacle avoidance function, particularly a function of avoiding moving obstacles, by the aid of image processing technology under the condition of failure of the ultrasonic sensor, can automatically shoot image information for garbage or objects which cannot be cleaned by the cleaning robot, and brings convenience for users to check cleaning information and timely clean or pick up the garbage or objects.

Description

Monocular household cleaning machine people
Technical field
The utility model relates to clean robot, particularly realizes household cleaning machine people's barrier avoiding function with image processing techniques, and the monocular household cleaning machine people that can take, store, show special article.
Background technology
Clean robot claims automatic cleaner again, and it has merged multinomial artificial intelligence technology, is widely used in the semi-automatic or full-automatic cleaning under the environment such as family, hotel, office building.
At present, household cleaning machine people's structure comprises control system, sensory perceptual system, dust collecting system etc., wherein control system is the center with processor chips, and sensory perceptual system is made up of inductive probe mostly and is comprised ultrasonic sensor, infrared sensor and anticollision sensor etc.Each sensor of sensory perceptual system is connected with processor chips respectively, and processor chips are connected with drive motors by drive circuit, and drive motors is connected with travel mechanism.
Prior art has possessed good basis to the research of household cleaning machine people's travel mechanism, control system, dust collecting system etc., but also have very big deficiency at aspects such as detection of obstacles, automatic obstacle avoiding and path plannings, this also is the principal element of restriction clean robot automaticity and cleaning efficiency.Most of on the market now household cleaning machine people can make measurement to the room, and wall and stair are hidden in the every nook and cranny in automated cleaning room, the desirable setting of record.Though their major parts are all write the ability with avoiding barrier exactly, actual effect is not fine.Reason is that wherein obstacle avoidance system mostly adopts sensor to keep away barrier, and use maximum still ultrasonic sensor and infrared sensors, they are arranged on preceding half end face of clean robot, and the signal of returning by detection of reflected is differentiated the distance of barrier, thus avoiding barrier.
At first, though ultrasonic sensor has adaptive capacity to environment strong, low price is not easy advantages such as damage, also is widely used in the obstacle avoidance system.But the shortcoming of this sensor also is clearly, and such as field angle is big, directionality is poor, it is very unstable to find range under non-perpendicular reflection, when mobile robot's parallel deviate metope, detection system often is difficult to obtain actual distance; In addition, this divergence characterization of ultrasonic wave is when using and measuring barrier, the range information of target obstacle can only be provided, and can not provide the direction and the boundary information of target, so exist certain limitation, though adopt some other sensor to remedy in actual applications, effect is not fine.Special detection for moving object, problem is just more outstanding, cause clean robot to lack enough ego defense functions, because the environment of cleaning machine man-hour is uncertain, and their stature is generally very little again, be easy to problem with regard to appearance is kicked, quilt is bumped against, particularly the layman walks about frequently, child is arranged, has under the situation of pet, problem is just more outstanding, and clean robot belongs to than accurate device, careless slightly will the damage is so should avoid such thing to take place as far as possible.
In addition, clean robot all will be gone to each place that can clean, so the every nook and cranny to the room is all very familiar, present clean robot fails well to utilize this point to develop its potential value, cause the clean robot function more single, be inconvenient to check the cleaning situation in each corner, will provide bigger development space to this robotlike, also easier ten million common people family that comes into if can develop the more humane function of renewal.
Summary of the invention
The purpose of this utility model is in order to overcome the deficiencies in the prior art, and provides a kind of and have preferably barrier avoiding function, is convenient to the monocular household cleaning machine people that the user checks cleaning information.
The purpose of this utility model is to realize by following technical scheme:
A kind of monocular household cleaning machine people, comprise housing, be arranged on processor chips, memory and the ultrasonic sensor that is connected with processor chips respectively, infrared sensor and anticollision sensor in the housing, unlike the prior art be: have additional the camera and the display screen that are connected with processor chips respectively.
The pixel of described camera is 300,000, and the forward place, top and the housing that are arranged on clean robot are affixed.Described display screen is arranged on the housing.
Described processor chips are ARM9, ARM10 or ARM11 family chip.
Also be provided with the alarm that is connected with processor chips.
Also be provided with the one group of LED lamp and the light sensor that are connected with processor chips respectively.
Front end and housing that described LED lamp and light sensor are arranged on clean robot are connected.
Because relating to image handles, so the processing speed to processor chips has requirements at the higher level, used in the prior artly can't finish this class work as the processor chips in AVR single-chip microcomputer, the PIC single-chip microcomputer, consideration the utility model for price and space adopts ARM9 series processors chip, the perhaps above family chip of ARM9 is as ARM10, ARM11 family chip.The characteristics of these chips are that price is low, low in energy consumption, performance is high, and energy and the fine combination of embedded OS and research in this respect are also ripe.
Consider that for image processing speed camera should not be selected too high pixel for use, pixel is 300,000 just passable.
Display screen is used to the information of Showing Picture.
Alarm is used for reminds people and does not carefully run into clean robot.
Light sensor is used to detect light intensity, opens the LED lamp when insufficient light, makes things convenient for the camera pictures taken.
Aspect obstacle avoidance system, the solution that the utility model adopts ultrasonic wave and camera sensor to merge mutually.Camera sensor on the clean robot is idle at ordinary times, detects barrier and is finished by original ultrasonic sensor.Ultrasonic sensor adopts discontinuous to send the mode of signal and received signal, because the time of being interrupted is very of short duration, gait of march with respect to clean robot, ultrasonic sensor can be regarded as continuous operation, so, also continued presence when fixed obstacle occurring, disappear also is more and more far or more and more nearer, leave the working range of sensor then, the phenomenon that suddenly disappears usually unlikely appears, the disappearance does not here comprise that the barrier first is blocked by barrier second and situation that the barrier first suddenly disappears, but barrier detect suddenly less than.This situation occurs and just may illustrate that barrier exists, just ultrasonic sensor does not detect, at this moment be can not determine that barrier is fixed or motion.So, in case this problem occurs, after processor detects, promptly to control clean robot and halt, processor starts the camera sensor immediately, takes three width of cloth pictures continuously, and the time interval should be short as far as possible, is preferably in about 0.1s.Then preceding two width of cloth pictures are analyzed, handled.The method of handling is earlier two width of cloth pictures to be carried out gray processing to handle, and changes into gray level image, allows last width of cloth picture according to pixels put one by one the back width of cloth picture that deducts, and the pixel less than 0 is taken absolute value.Because the place of two width of cloth picture shootings is identical, time is very short, therefore can think that the bright-dark degree of two width of cloth pictures is the same, if there is no the motion object the time, the picture that obtains after subtracting each other so will be the black full picture of a width of cloth, just pixel is 0 picture, the noise jamming that at this moment may occur picture certainly, can make pixel is not 0 entirely, we set a threshold value at this problem, processor carries out binaryzation to the gray scale picture after subtracting each other, and gives 0 for being lower than the complete of threshold value, gives 1 for being higher than the complete of threshold value, it is very little that this threshold value can be given, but had this threshold value can make in the picture just not to be 0 pixel greatly to reduce, can think has not almost had, and then calculates the number that pixel in this two-value picture is 1 point.At this moment can set a threshold value again, when calculating number, just judge that the variation of two width of cloth pictures can be ignored, judge that the place ahead does not have the object of motion less than this threshold value; When calculating number, illustrate that there is very big variation in two width of cloth pictures, thereby illustrate that also there is the object of motion in the place ahead greater than threshold value.At this moment clean robot slow astern segment distance immediately under the control of processor chips.Here need to prove, just see two width of cloth pictures can not judgment object be near or away from, do so also is for security consideration, because handling, image needs the time, when handling, data just run into the object of motion in order to prevent clean robot, so no matter be near or away from, first slow astern segment distance.After handling preceding two width of cloth pictures, at this moment just needed the 3rd width of cloth picture, carry out identical processing with the 3rd width of cloth picture with second width of cloth picture, same evaluation is 1 number of pixels after handling, with this value with begin the value that 1,2 width of cloth pictures obtain and compare, when the numerical value that obtains as 2,3 width of cloth figure is big with regard to judgment object close, if little just judge away from.Because if away from, change though also can cause pixel, it is more and more littler changing, close then opposite.
The improvement on obstacle avoidance system, the utility model has also been innovated special article picture record function.Household cleaning machine people is because the restriction of volume, cleaning mechanism, the rubbish kind of removing is limited, these rubbish mainly comprise broken and little things such as dust, shredded paper bits, hair, can not remove all rubbish in the room, when bigger or heavier rubbish occurring, clean robot generally can't clean clean.When this situation occurring, the design will take and will preserve rubbish before will controlling clean robot and retreat into rubbish by processor, carry out the cleaning in next piece zone then.Check clean robot at one's leisure again Deng the user, the picture that photograph before will showing of the display screen on the clean robot at this moment, the user just can manually clear up rubbish that those clean robots can't be cleared up.This function also has the another one use, the rubbish that clean robot can't clean may be that rubbish may not be yet, in other words be exactly to drop to the ground accidentally when some pocket-handkerchieves, but when people in time do not pick up again, if clean robot can't clean and totally also can work as rubbish and take, not not to clear up rubbish just when just the user sees, but go to have picked up article.Such as article such as pearl, necklace, earrings, when they drop to the ground, particularly drop under the desk, under the bed time, people are difficult to find for the moment, but clean robot all will clean each corner in room at every turn, be equivalent to an inch-by-inch search, can't clean as valuable object clean robots such as pearl, necklace, earrings, it can come pictures taken as rubbish, the user just can find the position of these article accurately according to pictorial information afterwards, and this will save our a lot of troubles.
The utility model has the advantages that: under the malfunctioning situation of ultrasonic sensor, the utilization image processing techniques makes clean robot have good barrier avoiding function, particularly hides the function of moving obstacle; For rubbish or article that clean robot can't clean, robot can automatically snap pictorial information, makes things convenient for the user to check cleaning information, in time clears up or picks up.
Description of drawings
Fig. 1 connects block diagram for embodiment;
Fig. 2 is an embodiment obstacle avoidance system workflow diagram;
Fig. 3 is embodiment picture record system works flow process figure.
The specific embodiment
Below in conjunction with drawings and Examples the utility model content is further elaborated, but is not qualification of the present utility model.
Embodiment:
With reference to Fig. 1, a kind of monocular household cleaning machine people, comprise housing, be arranged on processor chips 1, memory 10 and the ultrasonic sensor 5 that is connected with processor chips 1 respectively, infrared sensor 6 and anticollision sensor 7 in the housing, in addition, also have additional camera 3 and the display screen 12 that is connected with processor chips 1 respectively.
The pixel of camera 3 is 300,000, and the forward place, top and the housing that are arranged on clean robot are affixed, and this camera adopts USB interface to link to each other with processor chips 1, utilizes driver to drive camera 3, and preserves picture in memory 10.Display screen 12 is arranged on the housing, adopts LCDs.
Processor chips 1 are the S3C2440 chip that ARM9 family chip such as Samsung produce, and dominant frequency arrives 400MHz, reaches as high as 533MHz, and processor chips also can adopt ARM10 or ARM11 family chip.
Also be provided with the alarm 11 that is connected with processor chips 1, be used for reminds people and carefully do not run into clean robot.
Also be provided with the one group of LED lamp 2 and the light sensor 4 that are connected with processor chips 1 respectively.
Front end and housing that LED lamp 2 and light sensor 4 are arranged on clean robot are connected.Light sensor 4 is used to detect light intensity, opens LED lamp 2 when insufficient light, makes things convenient for camera 3 pictures taken.
During work, drive the mobile machinery part that drive motors 9 drives clean robot by processor chips 1 by drive circuit 8, as shown in Figure 2, at step S101, when the ultrasound examination barrier suddenly disappears, setting up procedure S102 then, clean robot halts immediately;
At step S103, start camera, take three width of cloth pictures continuously, carry out above-mentioned image and handle;
At step S104, handle preceding two width of cloth and see whether the result has significant change, when the result demonstration did not have significant change, then setting up procedure S109 got back to the origin-location and works on; When handling preceding two width of cloth pictures, show when altering a great deal, setting up procedure S105 then, the slow astern segment distance is waited for the result of the 3rd width of cloth figure;
Arrive step S106 then, whether the disturbance in judgement thing close, if the result who judges be away from, then setting up procedure S109 gets back to the origin-location and works on; If the result who judges is close, then setting up procedure S107 retreats once more, and the alarm of sounding;
Arrive step S108 then, stop once more behind the slow astern segment distance, continue from step S103, up to two width of cloth images do not change or change very little till.
Bigger or heavier rubbish occurs, as shown in Figure 3, robot cleaner detects by infrared sensor, at step S201, do not clean when clean when detecting ground, and setting up procedure S202 then, clean robot is proceeded cleaning with the slow astern segment distance;
At step S203, whether retreat 3 times, if less than 3 times, whether also cleaning is unclean for rubbish, then arrives step S204, once more rubbish is cleaned, and arrives step S205 then, detect and clean totally, if clean, then arrives step S206, moves on; If also unclean, then get back to step S202 and proceed;
At step S203, if judgement has retreated 3 times, then setting up procedure S207 opens light sensor;
At step S208, whether too secretly detect, if light is enough, then arrive step S210, open camera, take a width of cloth picture and preserve;
Arrive step S206 then, move on;
In step S208, if light is too dark, then arrive step S209, open the LED lamp, proceed from step S210 then.

Claims (7)

1. monocular household cleaning machine people, comprise housing, be arranged on processor chips, memory and the ultrasonic sensor that is connected with processor chips respectively, infrared sensor and anticollision sensor in the housing, it is characterized in that: have additional the camera and the display screen that are connected with processor chips respectively.
2. monocular household cleaning machine people according to claim 1, it is characterized in that: the pixel of described camera is 300,000, the forward place, top and the housing that are arranged on clean robot are affixed.
3. monocular household cleaning machine people according to claim 1, it is characterized in that: described display screen is arranged on the housing.
4. monocular household cleaning machine people according to claim 1 is characterized in that: described processor chips are ARM9, ARM10 or ARM11 family chip.
5. monocular household cleaning machine people according to claim 1 is characterized in that: also be provided with the alarm that is connected with processor chips.
6. monocular household cleaning machine people according to claim 1 is characterized in that: also be provided with the one group of LED lamp and the light sensor that are connected with processor chips respectively.
7. monocular household cleaning machine people according to claim 6, it is characterized in that: front end and housing that described LED lamp and light sensor are arranged on clean robot are connected.
CN2010206928571U 2010-12-31 2010-12-31 Monocular household cleaning robot CN201905823U (en)

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Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102379277A (en) * 2011-07-29 2012-03-21 北京农业智能装备技术研究中心 Intelligent bird expelling robot
CN103065540A (en) * 2012-12-31 2013-04-24 黑龙江大学 Intelligent wrecker
CN103143509A (en) * 2013-03-21 2013-06-12 电子科技大学 Garbage classification robot and garbage identification and classification method
CN103220556A (en) * 2013-04-23 2013-07-24 宋学平 Multifunctional intelligent cleaning robot device
CN103236141A (en) * 2013-04-23 2013-08-07 宋学平 Multifunctional operating method of intelligent cleaning robot device
CN103439973A (en) * 2013-08-12 2013-12-11 桂林电子科技大学 Household cleaning robot capable of establishing map by self and cleaning method
CN104765367A (en) * 2014-11-27 2015-07-08 祝爱莲 Service robot achieving intelligent obstacle surmounting
CN104842358A (en) * 2015-05-22 2015-08-19 上海思岚科技有限公司 Autonomous mobile multifunctional robot
CN105433599A (en) * 2015-12-23 2016-03-30 谢光明 Automatic table top cleaning device and system thereof
CN106154882A (en) * 2016-08-12 2016-11-23 柳州鹏达科技有限责任公司 Remote controller
CN106426198A (en) * 2016-10-10 2017-02-22 山东科技大学 Cleaning robot
CN106575122A (en) * 2014-08-29 2017-04-19 东芝生活电器株式会社 Autonomous traveling body
CN106598046A (en) * 2016-11-29 2017-04-26 北京智能管家科技有限公司 Robot avoidance controlling method and device
CN106662876A (en) * 2014-08-18 2017-05-10 东芝生活电器株式会社 Autonomous moving body
CN107307809A (en) * 2016-12-30 2017-11-03 胡振华 Domestic dust catcher
CN107569181A (en) * 2016-07-04 2018-01-12 九阳股份有限公司 A kind of Intelligent cleaning robot and cleaning method
CN108196553A (en) * 2014-01-21 2018-06-22 苏州宝时得电动工具有限公司 Automatic running device
CN108784541A (en) * 2018-07-05 2018-11-13 池州市若水软件开发有限公司 A kind of sweeping robot
CN109124491A (en) * 2018-09-01 2019-01-04 苏州今园科技创业孵化管理有限公司 A kind of method and device of sweeper avoiding collision
CN109222764A (en) * 2018-10-16 2019-01-18 宁波大学 Bionic soft clean robot

Cited By (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102379277A (en) * 2011-07-29 2012-03-21 北京农业智能装备技术研究中心 Intelligent bird expelling robot
CN103065540B (en) * 2012-12-31 2014-08-20 黑龙江大学 Intelligent wrecker
CN103065540A (en) * 2012-12-31 2013-04-24 黑龙江大学 Intelligent wrecker
CN103143509A (en) * 2013-03-21 2013-06-12 电子科技大学 Garbage classification robot and garbage identification and classification method
CN103143509B (en) * 2013-03-21 2014-10-22 电子科技大学 Garbage classification robot and garbage identification and classification method
CN104867297A (en) * 2013-04-23 2015-08-26 张磊 Multifunctional operation method of intelligent cleaning robot device
CN103236141A (en) * 2013-04-23 2013-08-07 宋学平 Multifunctional operating method of intelligent cleaning robot device
CN103220556A (en) * 2013-04-23 2013-07-24 宋学平 Multifunctional intelligent cleaning robot device
CN104867297B (en) * 2013-04-23 2018-05-22 广州万粤知识产权运营有限公司 Intelligent cleaning robot apparatus multifunction operating method
CN104905736B (en) * 2013-04-23 2017-03-29 宁波市智能制造产业研究院 Multifunctional intellectual clean robot device
CN103236141B (en) * 2013-04-23 2015-08-26 冠明电器(惠州)有限公司 Intelligent cleaning robot apparatus multifunction method of operating
CN104905736A (en) * 2013-04-23 2015-09-16 朱宁生 Multifunctional intelligent cleaning robot device
CN103220556B (en) * 2013-04-23 2015-12-02 张绪伟 Multifunctional intellectual clean robot device
CN103439973A (en) * 2013-08-12 2013-12-11 桂林电子科技大学 Household cleaning robot capable of establishing map by self and cleaning method
CN103439973B (en) * 2013-08-12 2016-06-29 桂林电子科技大学 Self-built map household cleaning machine people and clean method
CN108196553A (en) * 2014-01-21 2018-06-22 苏州宝时得电动工具有限公司 Automatic running device
CN106662876A (en) * 2014-08-18 2017-05-10 东芝生活电器株式会社 Autonomous moving body
US10349794B2 (en) 2014-08-29 2019-07-16 Toshiba Lifestyle Products & Services Corporation Autonomous traveling body
CN106575122A (en) * 2014-08-29 2017-04-19 东芝生活电器株式会社 Autonomous traveling body
CN104765367A (en) * 2014-11-27 2015-07-08 祝爱莲 Service robot achieving intelligent obstacle surmounting
CN104842358A (en) * 2015-05-22 2015-08-19 上海思岚科技有限公司 Autonomous mobile multifunctional robot
CN105433599A (en) * 2015-12-23 2016-03-30 谢光明 Automatic table top cleaning device and system thereof
CN107569181A (en) * 2016-07-04 2018-01-12 九阳股份有限公司 A kind of Intelligent cleaning robot and cleaning method
CN106154882A (en) * 2016-08-12 2016-11-23 柳州鹏达科技有限责任公司 Remote controller
CN106426198A (en) * 2016-10-10 2017-02-22 山东科技大学 Cleaning robot
CN106598046A (en) * 2016-11-29 2017-04-26 北京智能管家科技有限公司 Robot avoidance controlling method and device
CN106598046B (en) * 2016-11-29 2020-07-10 北京儒博科技有限公司 Robot avoidance control method and device
CN107307809A (en) * 2016-12-30 2017-11-03 胡振华 Domestic dust catcher
CN108784541A (en) * 2018-07-05 2018-11-13 池州市若水软件开发有限公司 A kind of sweeping robot
CN109124491A (en) * 2018-09-01 2019-01-04 苏州今园科技创业孵化管理有限公司 A kind of method and device of sweeper avoiding collision
CN109222764A (en) * 2018-10-16 2019-01-18 宁波大学 Bionic soft clean robot

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