CN204314631U - A kind of Waiting Lounge intellect service robot - Google Patents
A kind of Waiting Lounge intellect service robot Download PDFInfo
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- CN204314631U CN204314631U CN201420654525.2U CN201420654525U CN204314631U CN 204314631 U CN204314631 U CN 204314631U CN 201420654525 U CN201420654525 U CN 201420654525U CN 204314631 U CN204314631 U CN 204314631U
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Abstract
The utility model discloses a kind of Waiting Lounge intellect service robot, comprising: central control unit, functional unit, positioning unit, detecting unit, information communication unit, power supply unit, mobile unit, man-machine interaction unit, image identification unit, storage unit, heating and cooling unit.Central control unit and functional unit, positioning unit, detecting unit, information communication unit, power supply unit, mobile unit, man-machine interaction unit, image identification unit, storage unit, heating and cooling unit connects, realize information acquisition and the processing controls of unit, complete in Waiting Lounge and take care of the luggage, ticket inquiry is bought, drink self-help selling, lottery ticket is bought, the self-extinguishing of image recognition fire, Waiting Lounge is ensured public security, purification of air, air wetting, hot water service, passenger is accompanied to chat, for passenger provides amusement, contact staff, cleaning floor, Domestic News service function is provided.
Description
Technical field
The present invention relates to a kind of intellect service robot, particularly for a kind of Waiting Lounge intellect service robot.
Background technology
Along with the development and progress of society, the interchange of people is more and more frequent, and traffic is more and more convenient, and living trip problem of going on business, travel, be on home leave, go to school, return to one's native place etc. all has inseparable contacting with traffic.People can select the vehicles trips such as aircraft, train, passenger vehicle usually, and no matter select which kind of vehicles trip, people can run into the problem waited at Waiting Lounge.Waiting Lounge can receive ten hundreds of passengers every day, and provides warm quality service to become an insoluble difficult problem all the time when Waiting Lounge waits for these passengers.Meanwhile, the trouble free service at station is also very important work, and in the face of so many passenger, security work also becomes quite heavy.Therefore, invent a kind of Waiting Lounge intellect service robot and can solve these difficult problems, help station staff a series of services for passenger completes, ensure the safety of station hall simultaneously.
At present, domestic and international service robot is a series of robots such as household service robot, guest-meeting robot, nursing robot, weed-eradicating robot, transfer robot mostly, and the service that these robots can provide all cannot meet the functional requirement of Waiting Lounge service.Therefore, inventing a kind of Waiting Lounge intellect service robot can a Solving Station staff's difficult problem, to take the most warm quality service to passenger simultaneously.
Summary of the invention
The present invention is directed to the problem that prior art cannot meet above-mentioned Waiting Lounge service aspect, provide a kind of Waiting Lounge intellect service robot, people can be replaced to complete the robot served Waiting Lounge.This Waiting Lounge intellect service robot mainly provides following service: take care of the luggage, ticket inquires about purchase, the purchase of drink self-help selling, lottery ticket, the self-extinguishing of image recognition fire, Waiting Lounge security personnel, purification of air, air wetting, hot water service, accompany passenger to chat, provide amusement for passenger, contact staff, cleaning floor, provide Domestic News service function.The complete autonomous intelligence of this Waiting Lounge service robot provides above many services, is not only passenger and provides warm intimate service, to have taken convenience and enjoyment, more improve the service quality at station to the journey of passenger, ensure that the safety of Waiting Lounge and clean and tidy.
In order to complete above-mentioned purpose, the present invention by the following technical solutions.
A kind of Waiting Lounge intellect service robot, it is characterized in that, described robot comprises: central control unit, functional unit, positioning unit, detecting unit, information communication unit, power supply unit, mobile unit, man-machine interaction unit, image identification unit, storage unit, heating and cooling unit.Central control unit and functional unit, positioning unit, detecting unit, information communication unit, power supply unit, mobile unit, man-machine interaction unit, image identification unit, storage unit, heating and cooling unit connects, realize information acquisition and the processing controls of unit, complete in Waiting Lounge and take care of the luggage, ticket inquiry is bought, drink self-help selling, lottery ticket is bought, the self-extinguishing of image recognition fire, Waiting Lounge is ensured public security, purification of air, air wetting, hot water service, passenger is accompanied to chat, for passenger provides amusement, contact staff, cleaning floor, Domestic News service function is provided.
The control mode that described central control unit adopts arm processor and dsp processor to combine, ensures the Information Monitoring of Waiting Lounge service robot and the efficiency of process information, ensures that accurately controlling unit completes correlation function.
Described functional unit comprises: the inquiry of payment transaction module, module of taking care of the luggage, ticket is bought module, drink self-help selling module, lottery ticket purchase module, image recognition fire self-extinguishing module, Waiting Lounge security module, air-purifying module, air wetting module, hot water service's module, accompanied passenger's chat module, provides entertainment modules for passenger, contact staff module, cleaning floor module, provide Domestic News module.
In described functional unit payment transaction module use payment transaction and transaction two kinds of modes of doing business of paying in cash on line carry out taking care of the luggage payments, buy ticket and pay, buy drink and pay, buy lottery ticket and pay and the service needing pays money of other users setting.Whether robot keeper independently can arrange service and charge and toll amount.On line, payment transaction comprises: Quick Response Code scanning payment, bank card payment etc. are by the modes of payments of network.Transaction of paying in cash can identify currency and coins, and carries out small change to transaction money.
Module of taking care of the luggage in described functional unit adopts the heavy luggage kept an eye on of short time domestic demand required for I.D. identification and fingerprint recognition two-layer protection locking passenger, the activity in the short time such as to visit the restroom to facilitate passenger.Luggage is kept an eye on and is pinned luggage by the robot wire rope electronic lock indicating code identification with it.
In described functional unit, ticket inquiry purchase module carries out associative operation by liquid crystal touch display screen prompting in man-machine interaction unit, operation information passes to central control unit, be associated with station ticket system by information communication unit, realize the associative operation that ticket inquiry is bought, paid by the payment transaction model choice modes of payments, pay successfully, ticket can print and eject by the drawing machine device of robot built-in.
In described functional unit, drink self-help selling module can be sold provides three kinds of drinks and hot water.Wherein three kinds of drinks have Soda Water, fruit drink, soaking beverage.These three kinds of beverages can provide hot drink and cool drink.Soaking beverage comprises the pouring type drinks such as fragrant taro milk tea, original flavor coffee.Operate according to prompting in the liquid crystal touch display screen in man-machine interaction unit, paid successfully by payment transaction module, the different drinks of selection is operated according to passenger, the drink of robot built-in makes module and can make corresponding drink, and when confirming that there is a container in drink exit by detecting unit object detection, start to flow out drink in container.
Described functional unit is prized and is bought module and provide lottery ticket self-help bet for passenger, and lottery ticket payment, the lottery ticket service of drawing a bill, can buy for liking the passenger of lottery ticket the lottery ticket oneself admired in time and provide quality service.
In described functional unit, image recognition fire self-extinguishing module carries out image judgement by image identification unit to Initial Stage of Fire, when identifying that fire occurs, to central control unit photos and sending messages, reported to the police to station administrative center by information communication unit, and automatically close to burning things which may cause a fire disaster, by the extinguishing device be arranged in machine human body, burning things which may cause a fire disaster is put out.
Offender's facial characteristics that in described functional unit, Waiting Lounge security module can be absconded by image identification unit identification, by passing through information communication unit in time to the display alarm of station administrative center after central control unit analyzing and processing.Run into Emergency time to implement simple Electronic Control to lawless person and launch out the string bag and carry out net to it and catch, avoid missing and bestly arrest chance.
The metal that Waiting Lounge security module can also complete danger that is that carry passenger and that mail in luggage automatically with it carries out detection identification, metal detection apparatus is installed in this module, detection area is large, sweep velocity is fast, sensitivity is high, detectable be hidden in human body with it with the metal hazards object of all kinds in luggage.
In described functional unit, air-purifying module installs air cleaning unit in machine human body, control this function operation by central control unit and purify air in Waiting Lounge, there is effects such as removing formaldehyde, PM2.5, peculiar smell, flue gas, for passenger provides healthy comfortable air ambient.
In described functional unit, air humidification module adopts in machine human body, installs air purified damping device, according to the ambient humidity situation that humidity sensor gathers, this function is controlled by moisture requirement work by central control unit, for air wetting in Waiting Lounge, this damping device is applicable to all groups, winter influenza germ can also be prevented, for passenger provides comfortable safe air ambient.
In described functional unit, hot water service's module is similar with drink self-help selling module operation, and passenger is without the need to payment transaction, and this service provides free hot water, by hot water outlet for passenger provides hot water.
Accompany passenger's chat module to need passenger to operate according to prompting in the liquid crystal touch display screen in man-machine interaction unit in described functional unit, after having operated, the active of Waiting Lounge intellect service robot and passenger carry out communication.This module comprises speech recognition equipment and sound generating mechanism, by information transmission to central control unit, realizes the language of the identification mankind of robot, and makes corresponding answer by speech player.
For passenger provides entertainment modules to need passenger to operate according to prompting in the liquid crystal touch display screen in man-machine interaction unit in described functional unit, after having operated, Waiting Lounge intellect service robot initiatively can play music, tells a story, humors and jokes etc. comfortable waits environment for passenger provides to loosen.
Contacting staff's module in described functional unit can solve when passenger has an emergency condition and station staff directly converses, and the special requirement of oneself is described, makes the problem of passenger be resolved in time.Such as can contact staff to offer help the companion or child that look for station lost contact, the contact service of getting on the bus in advance or other special circumstances.
In described functional unit, cleaning floor module adopts the small-sized clean floor suction device being placed in robot bottom design, completes simple floor cleaning work.
The large-size screen monitors liquid crystal display providing Domestic News module to be settled by robot in described functional unit is behind displayed by screens to Domestic News.Also the content that station managerial personnel are independently arranged can be play.
The mode that described positioning unit adopts active RFID signal framing and ZigBee wireless network indoor positioning to combine realizes the seamless location of indoor different distance.Active RFID signal framing comprises active rfid interrogator, electronic tag, communication network, and by building RFID location system, gather the RSSI value of active RFID, calculating robot is in the position of indoor.ZigBee wireless network indoor positioning comprises reference mode, location node, communication network, robot sends RSSI as location node to the reference mode set and collects order, collect this RSSI value at once, after the multiple repairing weld of this mode, calculating robot is in the position of indoor.Last central control unit provides the exact position of robot after carrying out analyzing and processing to above locator data.
Described detecting unit realizes the temperature of environment, the detection of humidity, realizes the detection barrier of robot self, identifies direction and oneself state.Comprise humidity sensor, temperature sensor, laser range finder, acceleration transducer, gyroscope, odometer, electronic compass, ultrasonic sensor.By moisturt register and the temperature of humidity sensor, temperature sensor testing environment, and the temperature of the drink of heating and cooling unit; Detect barrier by laser range finder, acceleration transducer, gyroscope, odometer, electronic compass, ultrasonic sensor, identify position, direction and oneself state.
Described information communication unit comprises network communication server, internet, reception of wireless signals and sending module.What complete robot central controller and internet by this unit contacts the structure with multirobot LAN system, and the moment keeps and the communication contacted between robot of station management center server, and this element adopts communication.
Described power supply unit realizes the power supply of robot whole system, Power convert transformation and the detection to dump energy, and completes automatically to specifying charged area charging.Comprise mains charger, electric pressure converter, power detecting controller, power storage battery, charged area identification.Power storage Selection of Battery high energy efficiency Li-ion batteries piles.Charged area identifies and adopts active RFID location technology.
Described mobile unit realizes robot and move and complete a series of robot motion in Waiting Lounge.This module comprises 2 independent driving wheels, 2 speed reduction units, 2 DC servo motor, 2 universal engaged wheels of band buffering, 2 rotary encoders, 2 motor-drive circuits.Motor-drive circuit is by central controller connection control; 2 independent driving wheels, as the trailing wheel of robot, are realized the turning function of robot, realize moving forward and backward of robot when speed is identical by the speed difference of two driving wheels; 2 universal engaged wheels of band buffering, as the front-wheel of robot, coordinate 2 driving wheels to complete advance, retreat, turn to; Every one speed reducer is connected with each driving wheel; Each DC servo motor is connected with a speed reduction unit, rotary encoder, a motor-drive circuit, forms the mobile propulsion system of two covers.
Described man-machine interaction unit realizes the message exchange between human and computer people, comprises liquid crystal touch display screen, speech recognition equipment, liquid crystal display, speech player.People can be operated by liquid crystal touch display screen, various instruction are conveyed to robot to central control unit; By speech recognition equipment, voice messaging is conveyed to central control unit, after central control unit processes information, complete liquid crystal display, speech play and other functions.
Described image identification unit realizes identification to face features, the identification of fire burning things which may cause a fire disaster, and real-time photography is monitored.Comprise high-definition camera, image pick-up card, image procossing identification software.
The data of image, voice, environmental information and unit that described storage unit realizes robot collection record and store.Comprise graphics data saving, speech data stores, detect data storage.
Described heating and cooling unit realizes heating to drink and refrigeration, to provide hot drink and cold drink.Comprise automatically controlled well heater, electric control cooler device.According to actual needs, carry out control by central control unit to it to heat, freeze.
The invention has the beneficial effects as follows: by this Waiting Lounge intellect service robot, solve the problem of service in Waiting Lounge.Take care of the luggage for Waiting Lounge passenger and staff provide, ticket inquires about purchase, the purchase of drink self-help selling, lottery ticket, the self-extinguishing of image recognition fire, Waiting Lounge security personnel, purification of air, air wetting, hot water service, accompany passenger to chat, provide amusement for passenger, contact staff, cleaning floor, provide Domestic News a series of service.Invention increases the quality that Waiting Lounge is passenger facilities, decrease the labor capacity of staff, enhance the safety of Waiting Lounge.Operational efficiency of the present invention is high, automatic intelligent, and operating safety factor is high, uses simple.The present invention not only can adapt to Waiting Lounge environment, may be used for the place of other indoor needs services simultaneously.
Accompanying drawing explanation
Fig. 1 is one-piece construction schematic diagram of the present invention.
Fig. 2 is information communication unit structural representation of the present invention.
Fig. 3 is positioning unit structural representation of the present invention.
Fig. 4 is positioning unit localization method schematic diagram of the present invention.
Fig. 5 is mobile unit structural representation of the present invention.
Fig. 6 is detecting unit structural representation of the present invention.
Fig. 7 is functional unit structural representation of the present invention.
Fig. 8 is man-machine interaction unit structural representation of the present invention.
Fig. 9 is service operations of the present invention main interface schematic diagram.
Figure 10 is image identification unit structural representation of the present invention.
Figure 11 is power supply unit structural representation of the present invention.
Figure 12 is heating and cooling cell operation process flow diagram of the present invention.
In figure, 121.ZigBee radio reference node one, 122.ZigBee radio reference node two, 123.ZigBee radio reference node three, 124.ZigBee radio reference node four, 125.RFID electronic tag one, 126.RFID electronic tag two, 127.RFID electronic tag three, 128.RFID electronic tag four, 129.RFID electronic tag five, 130. charging electronic tag six, 131. robot position, cog region.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated, specifically to set forth technical scheme of the present invention.
As shown in Figure 1, the control mode that a kind of Waiting Lounge intellect service robot of the present invention central control unit 10 adopts arm processor and dsp processor to combine, be connected with functional unit 11, positioning unit 12, detecting unit 13, information communication unit 14, power supply unit 16, mobile unit 15, man-machine interaction unit 17, image identification unit 18, storage unit 19, heating and cooling unit 20, complete information acquisition and the processing controls of unit, ensure carrying out smoothly of Waiting Lounge intellect service robot work.
As shown in Figure 2, robot is connected with internet and station management center server by information communication unit 14, completes writing to each other between robot simultaneously.Robot can collect information and the state position information of self to station administrative center real-time Transmission by information communication unit 14, receives the order from station administrative center simultaneously.By connecting and composing LAN (Local Area Network) between robot, mutually realizing communication, work of working in coordination, the coordinating and unifying, completing the function of Waiting Lounge service more efficiently.
Be illustrated in figure 3 positioning unit 12 structural representation, comprise active rfid interrogator, electronic tag, communication network, ZigBee radio reference node, ZigBee wireless location node.Robot installs active rfid interrogator and ZigBee location node with it.
As shown in Figure 4, robot localization method of the present invention realizes as follows: at the beginning of robot during task, first completes and builds Waiting Lounge map.In Waiting Lounge four corners, ZigBee radio reference node 1, ZigBee radio reference node 2 122, ZigBee radio reference node 3 123, ZigBee radio reference node 4 124 are installed respectively.Middle and the installation of Waiting Lounge middle position RFID 1, RFID 2 126, RFID 3 127, RFID 4 128, RFID 5 129 at Waiting Lounge four edges line.Robot is provided with ZigBee wireless location node and active RFID read write line with it, such as when robot works in robot position 131, ZigBee wireless location node and active RFID read write line send RSSI respectively to all ZigBee radio reference nodes and neighbouring RFID and collect order, by the RSSI value that each reference mode and electronic tag collection are returned, carry out the position of calculating robot, draw the accurate position of robot through software algorithm process, realize the location of robot.
As shown in Figure 5, controlled the advance of robot, retrogressing, left and right turn by mobile unit 15, realized the movement of robot in Waiting Lounge.
As shown in Figure 6, laser range finder, acceleration transducer, gyroscope, odometer, electronic compass, ultrasonic sensor is had to detect barrier, identify position, direction and oneself state in detecting unit 13.By the work of positioning unit 12, mobile unit 15, detecting unit 13 3 unit, robot realizes independently in Waiting Lounge safety, movement accurately.
As shown in Figure 7, robot functional unit 11, by central controller controls, comprises with lower module: the inquiry of payment transaction module, module of taking care of the luggage, ticket is bought module, drink self-help selling module, lottery ticket purchase module, image recognition fire self-extinguishing module, Waiting Lounge security module, air-purifying module, air wetting module, hot water service's module, accompanied passenger's chat module, provides entertainment modules for passenger, contact staff module, cleaning floor module, provide Domestic News module.
When people need robot to serve, as shown in Figure 8, the information interchange between people and robot is completed by man-machine interaction unit 17.By calling out the name of robot or coming in face of robot, robot can find that there is people by speech recognition and image recognition needs service, then stops moving into wait service state.As shown in Figure 9, the service of passenger required for oneself, associative operation is carried out in the prompting at the main interface of service operations of the touch operation display screen display of installing according to robot health front portion, robot can complete taking care of the luggage required for passenger, ticket inquiry purchases, drink self-help selling, lottery ticket purchases, hot water service, accompany passenger to chat, provide amusement for passenger according to the related command of input, contact staff serves.After service completes, robot continues to move in Waiting Lounge.Robot is while work, and the environmental data of central control unit 10 acquisition testing unit 13, controls air-purifying module and air wetting module work completes purification of air, air wetting, keeps the quality of Waiting Lounge air at any time.Robot can in the process of movement timing unlatching cleaning floor module, ground is cleaned.When completing once cleaning task, cleaning floor module is closed.Staff can arrange the number of times on robot cleaner ground according to actual conditions.The robot health back side is provided with the display of large-size screen monitors, by this display, provides up-to-date Domestic News, or the play content that display station managerial personnel are arranged.The metal that the metal detection apparatus installed with it by robot completes the danger carried passenger and mail in luggage in real time automatically with it carries out detection identification.
As shown in Figure 10, robot is while Waiting Lounge work, image recognition is carried out by image identification unit 18, by to the shooting in Waiting Lounge, identify that institute collects the face feature of passenger, and be recorded in storage unit 19, if discovery is absconded during dangerous offender, by information communication unit 14 to the report of station administrative center, after station administrative center receives report, robot is sent and to follow the tracks of or order caught by simple net in time.If when having fire to occur, image identification unit 18 can identify burning things which may cause a fire disaster, after reporting to the police, moves near burning things which may cause a fire disaster in time to station administrative center, and to burning things which may cause a fire disaster spray extinguish material, implements fire extinguishing.
As shown in figure 11, power supply unit 16, in real time for robot powers, ensures the normal electric power supply of robot unit.When Li-ion batteries piles electricity is not enough, power detecting controller can detect that battery electric quantity is low, robot is reported to station administrative center, ask for instructions and charge, after receiving the permission of station administrative center, automatically recognize Waiting Lounge charging cog region electronic tag 6 130 by active RFID identification and carry out electric connector contraposition connection charging.After charging terminates, power detecting controller detects that battery electric quantity is sufficient, and robot, to the report of station administrative center, asks for instructions and carries out work, and after receiving the permission of station administrative center, robot continues to get back to Waiting Lounge and carries out work.
As shown in figure 12, heating and cooling unit 20 works and to be controlled by central control unit 10, according to the temperature of the drink that temperature sensor gathers, judges whether to need to heat drink, freeze, stops heating or refrigerating operation.In hot drink, when temperature is lower than set temperature, well heater work; When temperature is higher than set temperature, well heater quits work.In cold drink, when temperature is higher than set temperature, refrigerator work; When temperature is lower than set temperature, refrigerator quits work.
Claims (3)
1. a Waiting Lounge intellect service robot, it is characterized in that, described robot comprises: central control unit, functional unit, positioning unit, detecting unit, information communication unit, power supply unit, mobile unit, man-machine interaction unit, image identification unit, storage unit, heating and cooling unit; Described central control unit is connected with functional unit, positioning unit, detecting unit, information communication unit, power supply unit, mobile unit, man-machine interaction unit, image identification unit, storage unit, heating and cooling unit respectively; Described power supply unit is connected with central control unit, functional unit, positioning unit, detecting unit, information communication unit, mobile unit, man-machine interaction unit, image identification unit, storage unit, heating and cooling unit respectively.
2. Waiting Lounge intellect service robot according to claim 1, it is characterized in that, described central control unit and functional unit, positioning unit, detecting unit, information communication unit, power supply unit, mobile unit, man-machine interaction unit, image identification unit, storage unit, heating and cooling unit connects, realize information acquisition and the processing controls of unit, complete in Waiting Lounge and take care of the luggage, ticket inquiry is bought, drink self-help selling, lottery ticket is bought, the self-extinguishing of image recognition fire, Waiting Lounge is ensured public security, purification of air, air wetting, hot water service, passenger is accompanied to chat, for passenger provides amusement, contact staff, cleaning floor, Domestic News service function is provided.
3. Waiting Lounge intellect service robot according to claim 1, it is characterized in that, described functional unit comprises: the inquiry of payment transaction module, module of taking care of the luggage, ticket is bought module, drink self-help selling module, lottery ticket purchase module, image recognition fire self-extinguishing module, Waiting Lounge security module, air-purifying module, air wetting module, hot water service's module, accompanied passenger's chat module, provides entertainment modules for passenger, contact staff module, cleaning floor module, provide Domestic News module.
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| CN201420654525.2U CN204314631U (en) | 2014-11-05 | 2014-11-05 | A kind of Waiting Lounge intellect service robot |
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| CN201420654525.2U CN204314631U (en) | 2014-11-05 | 2014-11-05 | A kind of Waiting Lounge intellect service robot |
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| CN204314631U true CN204314631U (en) | 2015-05-06 |
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| CN201420654525.2U Expired - Fee Related CN204314631U (en) | 2014-11-05 | 2014-11-05 | A kind of Waiting Lounge intellect service robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107018126A (en) * | 2017-03-02 | 2017-08-04 | 浙江斯凯瑞机器人股份有限公司 | The method that intelligent domestic service humanoid robot utilizes smart mobile phone remote control |
| CN107053195A (en) * | 2017-03-02 | 2017-08-18 | 浙江斯凯瑞机器人股份有限公司 | Household service robot |
| CN107728152A (en) * | 2017-08-25 | 2018-02-23 | 杭州仁盈科技股份有限公司 | Service response method, electronic equipment, storage medium, system based on ultrasonic wave |
| CN111973925A (en) * | 2020-08-21 | 2020-11-24 | 北京云迹科技有限公司 | Method, device and system for fire extinguishing by robot cooperation |
-
2014
- 2014-11-05 CN CN201420654525.2U patent/CN204314631U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107018126A (en) * | 2017-03-02 | 2017-08-04 | 浙江斯凯瑞机器人股份有限公司 | The method that intelligent domestic service humanoid robot utilizes smart mobile phone remote control |
| CN107053195A (en) * | 2017-03-02 | 2017-08-18 | 浙江斯凯瑞机器人股份有限公司 | Household service robot |
| CN107728152A (en) * | 2017-08-25 | 2018-02-23 | 杭州仁盈科技股份有限公司 | Service response method, electronic equipment, storage medium, system based on ultrasonic wave |
| CN111973925A (en) * | 2020-08-21 | 2020-11-24 | 北京云迹科技有限公司 | Method, device and system for fire extinguishing by robot cooperation |
| CN111973925B (en) * | 2020-08-21 | 2021-11-16 | 北京云迹科技有限公司 | Method, device and system for fire extinguishing by robot cooperation |
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