CN205290937U - Domestic robot system - Google Patents
Domestic robot system Download PDFInfo
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- CN205290937U CN205290937U CN201520969925.7U CN201520969925U CN205290937U CN 205290937 U CN205290937 U CN 205290937U CN 201520969925 U CN201520969925 U CN 201520969925U CN 205290937 U CN205290937 U CN 205290937U
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Abstract
The utility model relates to a domestic robot system, it is including body sense equipment, industrial personal computer and mobile robot subsystem. Body sense equipment is configured as and the personnel's gesture in family's environment appears through the sighting device monitoring to the personnel attitude data that will monitor sends for industrial personal computer. Industrial personal computer is configured as the personnel attitude data that receiver sense equipment sent, carries out the analysis to received personnel attitude data to discernment personnel's action is and instruct to the action assorted that the robot subsystem sent and recognised according to preset's rule. The mobile robot subsystem is configured as the instruction of sending according to industrial personal computer, operates the operation of mobile robot subsystem and/or the domestic appliance in family's environment. According to the utility model discloses embodiment can operate domestic appliance on more simple and convenient, intelligent ground.
Description
Technical field
The utility model relates to intelligent robot technology field, more specifically, relates to a kind of domestic robotSystem.
Background technology
Along with social development and the progress of technology, comprise the application day of the Smart Home of various intelligent electric appliancesBenefit is popular. Traditional intelligent electric appliance with user's interactivity on substantially with mobile phone, panel computer orThe mode of person's desktop computer operates, and this needs user carry these equipment or can enter it at any timeRow access, it is not too convenient to use, also and do not meet people's daily habits. Publication number is CNThe patent documentation of 104639966A discloses one and has utilized wearable device to make the user can operative intelligenceThe method of electrical equipment, but need user to wear this smart machine, to having relatively high expectations of user. In addition, veryMany intelligent appliances are supported user's voice control, but this is also inconvenient under some occasion, such as, eveningAfter household has fallen asleep, can not control household electrical appliances by voice mode.
Therefore need a kind of more easy method that intelligent appliance is operated.
Utility model content
One of object of the utility model embodiment is to provide a kind of domestic appliance robot system, thus energyEnough more easy, intelligently household electrical appliance or mobile robot's subsystem are operated.
According to embodiment of the present utility model, a kind of domestic appliance robot system is provided, it comprises that body sense establishesStandby, industrial computer system and mobile robot's subsystem. Body sense equipment is configured to monitor by sighting deviceAppear at the personnel's attitude in home environment, and the personnel's attitude data monitoring is sent to industrial computerSystem. Industrial computer system is configured to receive personnel's attitude data that body sense equipment sends, to what receivePersonnel's attitude data is analyzed, to identify personnel's action, and according to predefined rule to machineDevice people subsystem sends the instruction matching with the action identifying. Mobile robot's subsystem is configured toThe instruction sending according to industrial computer system, in operation and/or home environment to mobile robot's subsystemHousehold electrical appliance operate. Predefined rule comprises personnel's action and mobile robot's subsystemOperating instruction or home environment in the corresponding relation of household electrical appliance operational order.
In one embodiment, body sense equipment is also configured to the personnel positioning data of monitoring to send toIndustrial computer system, also comprises personnel positioning number in the included described corresponding relation of predefined ruleAccording to.
In one embodiment, in the included described corresponding relation of predefined rule, also comprise and working asFront time data.
In one embodiment, body sense equipment is also configured to personnel's physical characteristic data of monitoring to send outGive industrial computer system, in the included described corresponding relation of predefined rule, also comprise personnel's buildCharacteristic.
In one embodiment, body sense equipment also comprises microphone array, for to surrounding environmentSound is monitored and sound source is positioned, and described body sense equipment is also configured to monitorVoice data and sound source location data send to industrial computer system. Industrial computer system is also configured to identificationAbnormal sound in described voice data, and send and be urged to abnormal sound to described mobile-robot systemThe instruction of sound source position, described instruction comprises described abnormal sound source position.
In one embodiment, mobile robot's subsystem also comprises sound identification module, for makingUser can control by voice the behavior of described mobile robot's subsystem.
In one embodiment, mobile robot's subsystem also comprises capable of avoiding obstacles by supersonic wave module, for makingObtaining described mobile robot's subsystem can avoiding barrier in moving process.
In one embodiment, mobile robot's subsystem also comprises telephone communication device, described phoneCommunication device is configured such that user can call, or can automatically dial the phone that prestores.
In one embodiment, mobile robot's subsystem also comprises warning device, is configured to connecingReceive under the control of described industrial computer system, send alarm signal.
Further, alarm signal is photo site or the video sending to designated user equipment.
In one embodiment, body sense equipment is Kinect equipment.
According to embodiment of the present utility model, can be by personnel's in body sense equipment collection home environmentBehavior act information, and the limb action information collecting is processed, analyzed and identify, then pinBehavior act control mobile robot to default responds, can realize intelligent appliance control,The functions such as old man and child custody, intrusion alarm.
From the detailed description below made by reference to the accompanying drawings, these and other advantages of the present utility model andFeature, will become obviously together with tissue and the mode of its operation, wherein whole described below some attachedIn figure, similarly element will have similar numbering.
Brief description of the drawings
Fig. 1 diagram is according to the logic knot of the domestic appliance robot system of an embodiment of the present utility modelComposition;
Fig. 2 illustrates according to the logic of the domestic appliance robot system of another embodiment of the present utility modelStructure chart; And
Fig. 3 illustrates according to the logic of mobile robot's subsystem of an embodiment of the present utility modelStructure chart.
Detailed description of the invention
Below more completely describe present disclosure with reference to accompanying drawing, wherein shown in the accompanying drawings the disclosureThe embodiment of content. But these embodiments can multi-formly be realized and should not with manyBe construed as limited to embodiment as herein described. On the contrary, provide these examples to make in the disclosureHolding to be thorough and complete, and will express in the disclosure to those skilled in the art all sidedlyThe scope of holding.
Describe various embodiment of the present utility model below in conjunction with accompanying drawing in detail in the mode of example.
Fig. 1 shows according to the logic of the domestic appliance robot system of an embodiment of the present utility modelStructure chart. As shown in Figure 1, domestic appliance robot system comprises body sense equipment 1, industrial computer system 2 and movesMobile robot subsystem 5. Body sense equipment 1 comprises sighting device, such as camera, camera etc. are variousImaging device, and be configured to monitor by sighting device the attitude of personnel in home environment, andThe personnel's attitude data monitoring and optional personnel positioning data are sent to industrial computer system 2.Industrial computer system 2 is configured to receive personnel's attitude data and the optional personnel that body sense equipment sendsLocator data, and the attitude data receiving is carried out to analyzing and processing, to identify personnel's action, andAnd send with the action identifying and match to mobile robot's subsystem 5 according to predefined ruleInstruction. Described instruction can relate to the operation to household electrical appliance. Mobile robot's subsystem 5 is configuredFor the instruction sending according to industrial computer system, the household electrical appliance in home environment are operated. Moving machineDevice people subsystem 5 is provided with an electric control module 8, and family's electric control module 8 is configured to can be to family expensesElectronic control unit in electrical equipment operates, to control household electrical appliance.
According to an embodiment of the present utility model, it is real that body sense equipment 1 can utilize Kinect equipmentExisting. Kinect equipment is a body sense equipment that Microsoft releases, and it can launch infrared ray, therebyCan carry out solid location to whole room, its built-in camera module can be identified by infrared rayThe motion of human body, and can carry out real-time tracing to each position of human body and skeletal shape. As Fig. 1Shown in, Kinect equipment 1, by the camera module and the image recognition algorithm that carry, is caught human body limbAction message and the locating information of personnel in home environment, and by caught action message, withAnd optional locating information sends to industrial computer system 2. Shown in Fig. 1 in Kinect equipment 1 and workAction message between control machine system 2 and/or the transmission of locating information can be wired mode or nothingsThe mode of line.
Industrial computer system 2 can be configured to receive personnel's attitude data that Kinect equipment 1 sends, withAnd optional personnel positioning data, and the attitude data receiving is carried out to further analyzing and processing,With identification personnel's action. Such as, the personnel's that identify action may be for waving, get up, fall etc.Industrial computer system 2 can pre-storedly have between the personnel's action and corresponding control command that can identifyCorresponding relation, in the time determining that the action that identifies has corresponding control command, to mobile robot'sSystem 5 sends this control command. This control command can be for example control household electrical appliance startup, stop,Or control the operation of mobile robot's subsystem.
In one embodiment, industrial computer system 2 is configured to identify the upper and lower of personnel in home environmentWave to move, and send to mobile robot's subsystem 5 the control life that opens or closes Intelligent lighting lampOrder. For example, the action data of human hands is analyzed, in the time detecting that hand stirs up and down, recognizedFor being the action of waving up and down. Family's electric control module 8 of mobile robot's subsystem 5 and Intelligent lighting lampElectronic control unit communication, controls the opening and closing of Intelligent lighting lamp. As example, at industrial computer beIn system 2, pre-defined upwards wave (lifting wrist) opens Intelligent lighting lamp, and wave downwards (pressure wrist)Close Intelligent lighting lamp.
In one embodiment, industrial computer system 2 is also configured to identify the left side of the personnel in home environmentThe right side action of waving, and the left and right of pre-defined upper limbs is waved to control beating of intelligent curtain and is opened or closedClose. For example, the action data of human hands is analyzed, in the time hand double swerve being detected, recognizedFor the action of waving about being. In a further embodiment, industrial computer system 2 is also configured to identify peopleThe wave speed of action of member's left and right, and the wave speed of action of pre-defined left and right can be controlled intelligenceThe speed opening or closing of curtain. Industrial computer system 2 is identifying after above-mentioned action, to mobile apparatusPeople's subsystem 5 sends corresponding control command, family's electric control module 8 of mobile robot's subsystem 5 withThe electronic control unit communication of intelligent curtain, controls intelligent curtain to realize desired operation.
In one embodiment, industrial computer system 2 is configured to identify personnel in home environment and moves orderRow, and send the control life to intelligent appliance according to this action sequence to mobile robot's subsystem 5Order. For example, can pre-define the action correspondence that personnel stand up, upwards then wave and open the intelligence in bedroomEnergy illuminating lamp, the Intelligent lighting lamp that the action correspondence of then waving downwards after personnel lie down is closed bedroom.
In one embodiment, can also in the predefined rule of industrial computer system 2, introduce temponElement. For example, when industrial computer system 2 determines that current time is night, and establish according to the body sense receivingThe standby 1 personnel's attitude data sending recognizes user lie down after, can be to mobile robot's subsystem 5Family's electric control module 8 send the order of closing bedroom Intelligent lighting lamp; Then, when industrial computer system 2Identify user according to the analysis of personnel's attitude data that body sense equipment 1 is sent and get up when action, canSend with the family's electric control module 8 to mobile robot's subsystem 5 life of opening bedroom Intelligent lighting lampOrder.
In one embodiment, body sense equipment 1 be configured to together with the personnel's attitude data monitoring toIndustrial computer system 2 sends personnel's locator data. Industrial computer system 2 is according to personnel's attitude data identification personnelAction, and send to mobile robot's subsystem 5 in conjunction with the definite personnel positions of personnel positioning dataTo the control command of intelligent appliance. For example, can pre-define and monitor user and carry out the action in parlor,Open the Intelligent lighting lamp in parlor, and/or monitoring user and leave the action in parlor, close visitorThe Intelligent lighting lamp in the Room. In further embodiment, can also be in predefined rule the joining day unitElement, industrial computer system 2 can be configured to only (19:00-8:00 next day) the inner user of monitoring at nightEnter the action in parlor, then send the life of the Intelligent lighting lamp of opening parlor to mobile robot's subsystem 5Order.
In one embodiment, industrial computer system 2 is configured to identify the moving of personnel in home environmentDo, and the operation of robot system 5 is operated, for example, can be pre-in industrial computer system 2First define such rule: when user is when inwardly (to self health direction) receives arm, order robot toUser moves, and when user is outwards when (external to self health) exhibition arm, the principle user of order robot movesMoving, such as moving to its initial position. In the time that industrial computer system 2 identifies the action of receiving arm, exhibition arm,Send mobile instruction to mobile robot's subsystem 5, mobile robot's subsystem 5 is according to this instruction controlDriver module processed moves to assigned address.
Although should be appreciated that in above and following description body sense equipment 1 be described as to Kinect equipment,But the body sense equipment 1 of the utility model embodiment can also have other suitable implementations, such asThe WAVXtion body sense equipment that HuaShuo Co., Ltd releases. Industrial computer system 2 can comprise processing unit andMemory cell, processing unit can utilize any business can obtain CPU, digital signal processor (DSP)Or any other electronic programmable logical device realizes, memory cell can comprise RAM memory,ROM memory, eeprom memory, flash memory, hard disk or its any combining form. Industrial computer systemSystem 2 can also comprise that various hardware controls are (such as hard disk controller, KBC, serial line interfaceController, parallel interface controller, display controller), keyboard, serial interface devices, parallel interfaceThe parts such as equipment, display.
In Fig. 1, body sense equipment 1, industrial computer system 2 and mobile robot's subsystem 5 are implemented asThe parts of an integrated moving equipment, particularly, are integrated in body sense equipment 1 and industrial computer system 2 to moveOn mobile robot subsystem 5. But should be appreciated that they also can realize to split, for example, body senseEquipment 1 is fixed on indoor fixed position, the top of for example wall, the personnel's that are used in monitoring roomAction, industrial computer system 2 is also fixed on indoor fixed position, and by mobile robot be arranged toThe parts of aforementioned the two separation. Fig. 2 shows body sense equipment 1, industrial computer system 2 and mobile apparatusPeople's subsystem 5 is embodied as the schematic configuration diagram that the equipment of split is put.
In the embodiment shown in Figure 2, can adopt multiple body sense equipment 1, different body sense equipment is usedMonitor the different room in home environment, moving between these body sense equipment 1 and industrial computer system 2The transmission of making information and/or locating information can be wired mode or wireless mode. As Fig. 2 instituteShow, industrial computer system 2 is integrated with wireless communication module 3, and passes through wireless communication module 3 to movementRobot subsystems 5 sends user control command. Mobile robot's subsystem 5 is integrated with radio communication moldPiece 4. When receiving industrial computer system 2 by wireless communication module 4, mobile robot's subsystem 5 sendsControl command after, the household electric in operation and/or home environment according to this control command to himselfDevice operates. Communication can adopt the modes such as bluetooth, infrared communication, radio communication. CanSelection of land, the communication between body sense equipment 1, industrial computer system 2 and mobile robot's subsystem 5 also canAdopt wired mode.
Fig. 3 shows patrolling according to mobile robot's subsystem 5 of an embodiment of the present utility modelCollect structure chart. Mobile robot's subsystem 5 can comprise an electric control module 8, ultrasonic wave obstacle module9, sound identification module 12, telephone communication device 10, wireless communication module 6 and alarm module 7. ButShould be appreciated that the logical construction block diagram shown in Fig. 3 illustrates just to the object of example, and notTo restriction of the present utility model. In some cases, can increase as required or reduce whereinSome modules.
As an alternative module, sound identification module 12 is configured such that user can pass through voiceControl mobile robot 5 behavior. Sound identification module 12 is mainly used in people and mobile robot 5Between mutual, preset voice command in mobile-robot system, mobile robot's subsystem 5 can be knownThe behavior of other user's voice command control, for example, mobile robot's subsystem 5 is according to useThe voice command at family moves to user by the side of, or moves to assigned address.
In one embodiment, after sound identification module starts, mobile robot's subsystem can connect simultaneouslyBe subject to the control of user speech and industrial computer system. The priority of user speech control can be set alternatively,Higher than the control of industrial computer system.
As an alternative module, capable of avoiding obstacles by supersonic wave module 9 is configured such that mobile robot's subsystem5 can avoiding barrier in moving process, such as indoor furniture or personnel, can avoid causingMobile robot bumps with it. Capable of avoiding obstacles by supersonic wave module 9 can comprise by certain being distributed inMultiple sonacs of mobile robot's subsystem 5 surroundings. When work, mobile robot's subsystem 5Judge according to sonac feedack, the barrier of keeping away completing in home environment is walked, with mostMove to soon target location.
As an alternative module, telephone communication device 10 is configured such that user can call,Or can automatically dial the phone that prestores. Telephone communication device 10 is provided with dialing button 11, Ke YijinLang sound auto dialing, also can pass through manual dialup push-button dialing. As example, telephone communication device10 can integrated memory, dialing button 11, voice receiver, loudspeaker and communication module. DepositReservoir is for storing contact number, and dialing button is for dialing, and voice receiver is used for receiving userSpeech utterance, loudspeaker is for reporting the voice of the other side call, communication module is mainly used in both sides and is communicated withCommunication, connects on the one hand the other side and the voice of voice receiver reception is sent, and receives on the other handThe other side's voice are also reported out by loudspeaker.
As an alternative module, alarm module 7 is configured to can be at industrial computer system 2 or mobileUnder the control of robot system 5 (such as family's electric control module 8), send alarm signal. Alarm signal canTo be visual signal or voice signal. For example,, according to the domestic appliance of the utility model embodimentRobot system can be for old man or children are nursed, when industrial computer system 2 night according to body sense establishStandby 1 Analysis on monitoring data sending go out this old man or children leave the safety zone delimited in bed orChildren wake up (for example, by waving, kick identifies) or fall down bed, to moving machineThe alarm module 7 of device people subsystem 5 sends alarm command. Alarm module 7 is according to the warning life receivingOrder is reported to the police. Alternatively, alarm module 7 can also trigger telephone communication device 10, automatically dialsThe number that prestores in telephone communication device 10, or send out to default subscriber equipment by telephone communication device 10Send photo site or the video of record, this transmission can adopt WIFI, bluetooth, 3G, 4G, infrared etc.Wireless mode.
In one embodiment, industrial computer system 2 is configured to send according to the body sense equipment 1 receivingPersonnel's attitude data identification personnel's physical characteristic, such as the ratio at height, fat or thin, upper lower part of the body positionDeng, if determine that personnel's physical characteristic of identifying does not meet personnel's build of pre-stored at least oneOne of feature, sends alarm command to the alarm module 7 of mobile robot's subsystem 5. As example,Alarm module 7 can be play the warning recording prestoring, such as tweeting sound, default voice " have identified non-Method is invaded behavior, please leave " or other suitable alarm audio frequency, and/or open warning light.Alternatively, alarm module 7 can also trigger telephone communication device 10, dials local alarm call,Or the automatic poking number of making a phone call to prestore in communication device 10, or by telephone communication device 10 to itIn prestore number subscriber equipment send record photo site or video.
Should be appreciated that mobile robot's subsystem 5 can also comprise the parts such as driver module, electric supply installation,Driver module is for the driving force that provides mobile apparatus human agent to move, can comprise forward-reverse device andTransfer, electric supply installation provides electric power for the work of multiple parts of mobile robot's subsystem 5.But, unnecessary fuzzy for fear of core idea of the present utility model is caused, no longer to these portionsPart is described in detail.
In another embodiment, at body sense equipment 1, industrial computer system 2 and mobile robot's subsystemIn the situation that 5 one of uniting realize. Body sense equipment 1 can also comprise microphone array, for to around ringSound source in border positions, and the voice data monitoring and sound source locator data are sent toIndustrial computer system 2. Industrial computer system 2 is to the data analysis receiving, when finding obvious soundWhen variation, can send the control command that comprises sound source location to mobile robot's subsystem 5, so thatIt moves to sound source location, now, the sighting device (such as camera module) of body sense equipment 1 andMicrophone is observed and is detected this position. Camera module can send to work by image scene dataControl machine system 2 is identified, and industrial computer system 2 can be to receiving view data analysis, identificationHuman behavior wherein. For example, if identify the larceny of entering the room, can be to alarm module 7Send alarm command. This embodiment is particularly suitable for the limited situation of monitoring range of body sense equipment 1.
Should be appreciated that the controlling intelligent household appliances relating in the utility model embodiment includes but not limited to,Intelligent luminaire, intelligent curtain, intelligent dimming switch, intelligent valve, intelligent air condition, intelligent refrigerator,Intelligent electric cooker, intelligent door lock etc. The included family's electric control module 8 of mobile robot's subsystem 5 canThey are controlled by the electronic control unit of controlling these controlling intelligent household appliances.
Provided description of the present utility model for the object illustrating and describe, but it also unexpectedlyBe exhaustive or be limited to the utility model of disclosed form. Those skilled in the art are reading thisAfter disclosure, it will also be appreciated that a lot of amendments and variant. Above-described various embodiment can be singleSolely use or use in various combinations, unless context explicitly points out.
Therefore, embodiment is for principle of the present utility model, practical application being described better and makingOther staff in those skilled in the art can understand following content and select and describe, that is, and and notDepart under the prerequisite of the utility model spirit, all modifications of making and replacement all will fall into appended right and wantAsk in the utility model protection domain of definition.
Claims (10)
1. a domestic appliance robot system, is characterized in that, comprising:
Body sense equipment, comprises sighting device, and described body sense equipment is configured to supervise by described sighting deviceMeasure the attitude of personnel in present home environment, and the personnel's attitude data monitoring is sent to industry controlMachine system;
Industrial computer system, is configured to receive personnel's attitude data that described body sense equipment sends, to receivingTo described personnel's attitude data analyze, to identify personnel's action, and according to predefinedRule sends the instruction matching with the action identifying to robot subsystems; And
Mobile robot's subsystem, is configured to according to the instruction of industrial computer system transmission, to mobile apparatusHousehold electrical appliance in operation and/or the home environment of people's subsystem operate,
Wherein, described predefined rule comprises personnel's action and the operation of mobile robot's subsystemThe corresponding relation of the household electrical appliance operational order in instruction or home environment.
2. domestic appliance robot system according to claim 1, is characterized in that, described body sense is establishedFor being also configured to the personnel positioning data of monitoring to send to industrial computer system, described predefined ruleIn included described corresponding relation, also comprise personnel positioning data.
3. domestic appliance robot system according to claim 2, is characterized in that, describedly establishes in advanceIn the included described corresponding relation of fixed rule, also comprise current time data.
4. domestic appliance robot system according to claim 1, is characterized in that, described body sense is establishedStandby be also configured to personnel's physical characteristic data of monitoring to send to industrial computer system, described in presetThe included described corresponding relation of rule in also comprise personnel's physical characteristic data.
5. according to the domestic appliance robot system described in any one in claim 1-4, it is characterized in that,
Described body sense equipment also comprises microphone array, monitors also for the sound to surrounding environmentAnd sound source is positioned, and described body sense equipment is also configured to the voice data monitoring and soundSource position data send to industrial computer system;
Described industrial computer system is also configured to identify the abnormal sound in described voice data, and to instituteState mobile-robot system and send the instruction that is urged to abnormal sound source position, described instruction comprises described differentNormal sound source location.
6. according to the domestic appliance robot system described in any one in claim 1-4, it is characterized in that instituteState mobile robot's subsystem and also comprise capable of avoiding obstacles by supersonic wave module, for making described mobile robot's subsystemSystem can avoiding barrier in moving process.
7. according to the domestic appliance robot system described in any one in claim 1-4, it is characterized in that instituteState mobile robot's subsystem and also comprise telephone communication device, described telephone communication device is configured such thatUser can call, or can automatically dial the phone that prestores.
8. according to the domestic appliance robot system described in any one in claim 1-4, it is characterized in that instituteState mobile robot's subsystem and also comprise warning device, be configured to receiving described industrial computer systemUnder control, send alarm signal.
9. domestic appliance robot system according to claim 8, is characterized in that, described alarm signalNumber be photo site or the video sending to designated user equipment.
10. according to the domestic appliance robot system described in any one in claim 1-4, it is characterized in that,Described body sense equipment is Kinect equipment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520969925.7U CN205290937U (en) | 2015-11-27 | 2015-11-27 | Domestic robot system |
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| CN201520969925.7U CN205290937U (en) | 2015-11-27 | 2015-11-27 | Domestic robot system |
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| CN205290937U true CN205290937U (en) | 2016-06-08 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514583A (en) * | 2018-12-21 | 2019-03-26 | 深圳科卫机器人服务有限公司 | Abnormal alarm method, night watching robot and storage medium |
| CN110297432A (en) * | 2018-03-21 | 2019-10-01 | 北京猎户星空科技有限公司 | Robot motion sequence generating method, device and system |
-
2015
- 2015-11-27 CN CN201520969925.7U patent/CN205290937U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110297432A (en) * | 2018-03-21 | 2019-10-01 | 北京猎户星空科技有限公司 | Robot motion sequence generating method, device and system |
| CN110297432B (en) * | 2018-03-21 | 2021-07-02 | 北京猎户星空科技有限公司 | Robot action sequence generation method, device and system |
| CN109514583A (en) * | 2018-12-21 | 2019-03-26 | 深圳科卫机器人服务有限公司 | Abnormal alarm method, night watching robot and storage medium |
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