CN213339149U - Intelligent building system based on Internet of things - Google Patents
Intelligent building system based on Internet of things Download PDFInfo
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- CN213339149U CN213339149U CN202022763470.7U CN202022763470U CN213339149U CN 213339149 U CN213339149 U CN 213339149U CN 202022763470 U CN202022763470 U CN 202022763470U CN 213339149 U CN213339149 U CN 213339149U
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Abstract
The utility model relates to the technical field of the internet of things, in particular to an intelligent building system based on the internet of things, which comprises a mobile end, a main control end, an indoor electric appliance Internet of things end, an elevator Internet of things end and a parking lot Internet of things end, wherein the main control end is used for receiving and processing data transmitted by the indoor electric appliance Internet of things end, the elevator Internet of things end and the parking lot Internet of things end; the mobile terminal is used for remotely controlling the main control terminal. The utility model provides a current building system have parking area and elevator intelligent management not enough to cause the extravagant problem of time and the intelligent not enough problem of power control system, easy operation has good market prospect simultaneously.
Description
Technical Field
The utility model relates to an information technology field, it is specific, relate to an intelligent building system based on thing networking.
Background
In recent years, more and more people have the concept of intelligent life style, and buildings are the most places to be waited except for the home, so that the intelligent building system based on the internet of things is selected, and the office work can be more efficient and more intelligent.
For most people driving to work, it is often necessary to park a car in a parking lot below an office building and then to enter the office using an elevator. However, in the process of parking, a driver often needs to repeatedly wind the parking lot for multiple times to find an empty parking space, and a large amount of time is wasted. Meanwhile, the parking lot is generally located on a negative underground floor (in some areas, the parking lot is sometimes located on a negative 10 floors or more underground in the building), and the elevator can be stopped on the ground by default even if no one is in the parking lot, so that when a driver stops a vehicle, the driver needs to press the elevator first and then wait for the elevator to get off, and then can take the vehicle to an office floor, which is very troublesome and consumes the time before working.
Secondly, the control and management system for the power supply of the electric appliances of the office building is not intelligent enough at present, so that the problems of electric energy waste and insufficient safety exist.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problem that the existing building system provided in the background has the defects of time waste problem, insufficient power control system intelligence caused by insufficient intelligent management of a parking lot and an elevator.
In order to achieve the above object, the utility model provides a following technical scheme:
an intelligent building system based on the Internet of things comprises a mobile terminal, a parking lot internet of things terminal and an elevator internet of things terminal;
a mobile network module is arranged in the mobile terminal; the parking lot Internet of things end comprises a parking space detection module, a first wireless module and a first control chip, wherein the parking space detection module is in communication connection with the first wireless module, and the first control chip is electrically connected with the first wireless module; the elevator internet of things end comprises a second wireless module and a lifting controllable elevator, the second wireless module is electrically connected with a control unit of the lifting controllable elevator, and the first wireless module and the second wireless module are in communication connection with the mobile network module;
the mobile terminal is used for sending instructions to the parking lot Internet of things terminal and the elevator Internet of things terminal by a user or receiving data transmitted by the parking lot Internet of things terminal and the elevator Internet of things terminal; the parking lot Internet of things end is used for detecting specified data of vacant parking spaces in a parking lot in a building and sending the detected specified data to the mobile end; the elevator internet of things end is used for controlling the lifting controllable elevator to a specified position according to the instruction of the moving end.
The parking space detection module can detect the parking space condition in the parking lot in real time and transmit the acquired parking space data to the first control chip; the first control chip is used for processing the parking space data and transmitting the processed data to the mobile terminal through the first wireless module; the second wireless module is used for receiving the user instruction sent by the mobile network module and then sending the user instruction to the control unit capable of controlling the elevator to ascend and descend so as to realize remote control of the elevator by the user.
The mobile terminal can be a mobile phone, a vehicle-mounted panel and the like, and is interconnected with the parking lot internet of things terminal and the elevator internet of things terminal through a mobile network module in the mobile terminal.
Further, the first wireless module comprises a first ZigBee communication module, and the parking space detection module comprises a plurality of infrared sensors and a plurality of slave ZigBee communication modules; the infrared sensor is electrically connected with the slave ZigBee communication module;
the infrared sensor is used for being installed on a parking space, detecting whether a vehicle is parked on the parking space or not, and transmitting detected parking space data to the slave ZigBee communication module; the first ZigBee communication module is in communication connection with the slave ZigBee communication module, and the first ZigBee communication module is used for receiving parking space data transmitted by the slave ZigBee communication module.
It can be understood that in this scheme, can be equipped with the infrared ray sensor of a certain quantity according to the certain interval on every parking stall, and the infrared ray sensor on same parking stall can connect a subordinate zigBee communication module altogether, subordinate zigBee communication module is used for giving first zigBee communication module with the data transmission that infrared ray sensor detected, then first control chip makes processing according to the data received, obtains the current situation data of parking stall.
Further, the first wireless module further comprises a first WIFI communication module, and the first WIFI communication module establishes communication connection with the mobile network module; the second wireless module comprises a second WIFI communication module, and the second WIFI communication module is in communication connection with the mobile network module;
the first WIFI communication module is used for communication interconnection between the parking lot Internet of things end and the mobile end; and the second WIFI communication module is used for communication interconnection between the parking lot Internet of things end and the mobile end.
It can be understood that, in this scheme, the mobile network module can establish communication connection with the first WIFI communication module and the second WIFI communication module, and a specific mode may be that the mobile network module accesses a WIFI network inside a building through a cloud server, and simultaneously the first WIFI communication module and the second WIFI communication module both establish connection with the WIFI network inside the building, so that the mobile network module and the first WIFI communication module and the second WIFI communication module establish communication connection.
It is further understood that the first wireless module may include a first WIFI communication module and a first ZigBee communication module. The parking area thing allies oneself with the end with select the higher WIFI protocol of transmission rate, the better WIFI protocol of penetrability among the communication connection of removal end select the consumption in the inside data transmission of parking area thing allies oneself with the end and lower, and can be from the zigBee protocol of network. The design is convenient for ensuring the transmission quality of the system, and simultaneously reduces the overall power consumption of the system.
Further, the elevator internet of things end further comprises a weight sensor, and the weight sensor is electrically connected with the second WIFI communication module; and the weight sensor is used for detecting load data in the elevator capable of being controlled by the elevator and transmitting the detected load data to the second WIFI communication module.
It can be understood that the weight sensor is used for detecting weight data inside the elevator in real time and transmitting the detected weight data to the mobile terminal through the second WIFI communication module, and the mobile terminal can determine whether a person is currently used in the elevator according to the obtained weight data, so as to determine whether the elevator can be directly controlled or must be queued for reservation at present.
Furthermore, the parking space detection module further comprises a plurality of cameras and a subordinate WIFI communication module, the cameras are electrically connected with the subordinate WIFI communication module, and the subordinate WIFI communication module is in communication connection with the first WIFI communication module;
the camera is used for detecting video data of vacant parking spaces in a parking lot in a building, the detected video data are transmitted to the subordinate WIFI communication module, and the subordinate WIFI module is used for transmitting the received video data to the first WIFI communication module.
It can be understood that the first WIFI communication module has communication contact with the mobile network module, so that video data detected by the camera can be directly viewed in the mobile terminal.
It can be further understood that the first control chip can obtain the position data of the vacant parking space through the data transmitted by the infrared sensor, and a driver can call the real-time video data of the appointed parking space through the mobile terminal after knowing the position information of the vacant parking space through the mobile terminal, so as to further confirm the accuracy of the information and observe the condition near the parking space in advance, thereby facilitating the correct parking.
Furthermore, the scheme also comprises an indoor control end and an indoor electric appliance internet of things end;
the indoor control end comprises a display screen, an indoor control chip, an indoor ZigBee communication module and an indoor WIFI communication module, and the display screen, the indoor ZigBee communication module and the indoor WIFI communication module are all electrically connected with the indoor control chip; the indoor electric appliance Internet of things end comprises a relay and an indoor slave ZigBee communication module, and the relay is electrically connected with the indoor slave ZigBee communication module;
the indoor ZigBee communication module is in communication connection with the indoor slave ZigBee communication module, and the mobile network module, the first WIFI communication module and the second WIFI communication module are in communication connection with the indoor WIFI communication module;
the indoor WIFI communication module is used for establishing communication relations among the indoor control end, the mobile end, the parking lot internet of things end and the elevator internet of things end; the indoor ZigBee communication module is used for establishing communication contact between the indoor end and the indoor electric appliance Internet of things end; the indoor control chip is used for making a reaction according to an instruction input by a user, controlling the display to display specified data and controlling the relay to be opened or closed; the relay is used for being connected to the power supply end of an electric appliance in a building and controlling the power supply circuit of the specified electric appliance to be switched on or switched off.
It can be understood that, in this scheme, the indoor control terminal can also be used for the intelligent management of the parking lot thing allies oneself with the end, elevator thing allies oneself with the end and indoor electrical apparatus thing allies oneself with the end inside the building, wherein, the relay can be a plurality of to these relays realize with the networking of indoor control terminal through indoor subordinate zigBee communication module. Meanwhile, the mobile network module and the indoor WIFI communication module are also in communication connection, and the intelligent building system based on the internet of things and capable of controlling the scheme through the mobile terminal and the indoor control terminal is achieved.
Furthermore, the indoor control end still includes a plurality of photosensitive modules, photosensitive module installs respectively in each assigned position of building, just photosensitive module with the indoor control chip electricity is connected.
It can be understood that the photosensitive module is used for collecting light brightness change information and transmitting signal data to the indoor control chip, and the indoor control chip can control the opening and closing condition of the designated relay according to the obtained signal data to realize the automatic opening and extinguishing of light in the designated area.
Furthermore, the indoor electrical appliance Internet of things end also comprises a plurality of leakage sensors, and the leakage sensors are used for being installed on all levels of circuits in the building; and the electric leakage sensors are electrically connected with the indoor control chip.
It can be understood that the electric leakage sensor is used for detecting the electric leakage condition of a circuit in a building, and simultaneously transmits detected data to the indoor control chip, and the indoor control chip can control the disconnection of a specified relay according to acquired signal data, so that the safety of the whole circuit is ensured.
In summary, compared with the prior art, the intelligent building system based on the internet of things provided by the scheme has the following beneficial effects:
(1) the utility model provides an intelligent building system based on the Internet of things, which realizes the intelligent Internet of things for a parking lot and a building elevator; the vacant parking space condition in the parking lot and the intelligent reservation of the elevator can be remotely checked through the application program in the mobile terminal, the time for a user to park and wait for the elevator is saved, and the office efficiency is improved.
(2) The utility model provides a pair of intelligent building system based on thing networking has realized the intelligent management to electrical apparatus power supply in the building, simultaneously, what this scheme was taken is that relay group adds the wireless control mode of zigBee module, even be ordinary electrical apparatus, as long as its power supply line is connected with relay line, all can carry out power supply control to it through the mobile terminal pair, and application scope is wide, and the realization condition is simple.
(3) The utility model provides a pair of intelligent building system based on thing networking can utilize indoor control end to carry out whole intelligent building system's based on thing networking control in the building, also can utilize to remove the end and realize the remote control to this system, accords with actual demand, and easy operation has good market prospect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural view of an intelligent building system based on the internet of things disclosed by the utility model;
FIG. 2 is a schematic diagram of a position relationship between an infrared sensor and a slave ZigBee communication module in the embodiment;
in the figure: 1-a mobile terminal, 2-a parking lot things-connection terminal, 3-an elevator things-connection terminal, 4-an indoor control terminal and 5-an indoor electric appliance things-connection terminal;
11-a mobile network module, 21-a parking space detection module, 22-a first wireless module, 23-a first control chip, 31-a second WIFI communication module, 32-a lifting controllable elevator, 33-a weight sensor, 41-a display screen, 42-an indoor control chip, 43-an indoor ZigBee communication module, 44-an indoor WIFI communication module, 45-a photosensitive module, 46-a leakage sensor, 51-a relay, 52-an indoor slave ZigBee communication module;
211-an infrared sensor, 212-a slave ZigBee communication module, 213-a camera, 214-a slave WIFI communication module, 221-a first ZigBee communication module, and 222-a first WIFI communication module.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, an intelligent building system based on the internet of things comprises a mobile terminal 1, a parking lot internet of things terminal 2 and an elevator internet of things terminal 3;
a mobile network module 11 is arranged in the mobile terminal 1;
the parking lot internet of things end 2 comprises a parking space detection module 21, a first wireless module 22 and a first control chip 23.
The first wireless module 22 includes a first ZigBee communication module 221 and a first WIFI communication module 222, and the parking space detection module 21 includes a plurality of infrared sensors 211 and a plurality of slave ZigBee communication modules 212.
As shown in fig. 2, a slave ZigBee communication module 212 is arranged at a diagonal intersection of each parking space, four infrared sensors 211 are arranged on the diagonal of each parking space at intervals near the diagonal intersection, and the four infrared sensors 211 of the same parking space are electrically connected to the slave ZigBee communication module 212.
In this embodiment, the slave ZigBee communication modules 212 each establish a communication connection with the first ZigBee communication module 221; the first ZigBee communication module 221 and the first WIFI communication module 222 are both electrically connected to the first control chip 23; the first WIFI communication module 222 establishes a communication connection with the mobile network module 11, and the specific manner of establishing the communication connection may be: the first WIFI communication module 222 is connected to a WIFI network inside a building, and the mobile network module 11 can access the WIFI network inside the building through a cloud server to realize remote connection.
Further, the parking space detection module 21 further includes a plurality of cameras 213 and a plurality of subordinate WIFI communication modules 214; the camera 213 is installed above the parking space, the camera 213 is electrically connected to the slave WIFI communication module 214, and the slave WIFI communication module 214 establishes a communication connection with the first WIFI communication module 222.
It can be understood that, the first control chip 23 of the present solution can determine the condition of the vacant parking space in the parking lot through the signal data transmitted by the infrared sensor 211 (when the infrared ray emitted by the infrared sensor is blocked, an electrical signal is generated); the mobile terminal 1 can check the position data of the vacant parking spaces through an internal application program, and simultaneously call the real-time parking space video of the camera 213 to confirm and observe, so that the function of the system for searching the parking spaces is realized.
Further, in this scheme, the elevator internet of things terminal 3 is further included, the elevator internet of things terminal 3 includes a second WIFI communication module 31, a controllable elevator 32 for lifting and a weight sensor 33, the second WIFI communication module 31 and the weight sensor 33 are both installed in the controllable elevator 32 for lifting, the second WIFI communication module 31 is electrically connected with a control unit of the controllable elevator 32 for lifting, the weight sensor 33 is electrically connected with the second WIFI communication module 31, the second WIFI communication module 31 is in communication connection with the mobile network module 11, and the communication connection establishment mode of the second WIFI communication module 31 is the same as the communication connection establishment mode of the first WIFI communication module 222 and the mobile network module 222.
It can be understood that the mobile terminal 1 can send a control command to the elevator 32 controllable to ascend and descend through the mobile network module 11 and the second WIFI communication module 31, so as to implement the control or reservation function of the elevator, and meanwhile, the mobile terminal 1 can also obtain whether a person is using the elevator according to the weight data transmitted by the weight sensor 33, so as to determine whether the elevator can be directly controlled or must be queued for reservation at present.
Further, in the scheme, the system also comprises an indoor control end 4 and an indoor electric appliance internet of things end 5; the indoor control terminal 4 comprises a display screen 41, an indoor control chip 42, an indoor ZigBee communication module 43, an indoor WIFI communication module 44, a photosensitive module 45 and a leakage sensor 46; the indoor electric appliance Internet of things terminal 5 comprises a plurality of relays 51 and an indoor slave ZigBee communication module 52.
The display screen 41, the indoor ZigBee communication module 43 and the indoor WIFI communication module 44 are all electrically connected with the indoor control chip 42; photosensitive module 45 and electric leakage sensor 46 all can have a plurality ofly, photosensitive module 45 sets up respectively at each assigned position of building, electric leakage sensor 46 sets up the power supply end at the circuit at each level of building, just photosensitive module 45 and electric leakage sensor 46 also all with indoor control chip 42 is connected electrically.
The relays 51 are respectively installed at power supply terminals of each electrical appliance in the building, and are respectively electrically connected with the indoor slave ZigBee communication module 52.
The indoor ZigBee communication module 43 establishes communication connection with the indoor slave ZigBee communication module 52, and the mobile network module 11, the first WIFI communication module 222, and the second WIFI communication module 31 all establish communication connection with the indoor WIFI communication module 44.
It can be understood that the indoor control terminal 4 of the present solution can realize the control of the relay 51 through the indoor ZigBee communication module 43 and the indoor slave ZigBee communication module 52, thereby realizing the power supply control of the electrical appliances in the building; the photosensitive module 45 can detect the change of ambient light and transmit a signal to the indoor control chip 42, and then the indoor control chip 42 controls the specified relay 51 to be switched off or switched on, so that the light of the specified area is turned on or turned off; the leakage sensor 46 can detect the leakage condition of the circuits in the building, and when the leakage is detected, the indoor control chip 42 controls the specified relay 51 to open the circuit, so that the electricity utilization safety in the building is ensured.
Meanwhile, the mobile network module 11, the first WIFI communication module 222 and the second WIFI communication module 31 are all in communication connection with the indoor WIFI communication module 44; the interconnection of the mobile terminal 1 and the indoor control terminal 4 is realized, and the interconnection of the indoor control terminal 4, the parking lot internet of things terminal 2 and the elevator internet of things terminal 3 is realized; and further realizes the dual control mode of indoor control and remote control of the system.
Further, in this embodiment, the mobile terminal 1 may be an intelligent mobile device such as a mobile phone and a vehicle-mounted tablet; the first control chip 23 and the indoor control chip 43 can be both the existing programmable single chip microcomputer or EM chip; the first WIFI communication module 222, the second WIFI communication module 31, the subordinate WIFI communication module 214 and the indoor WIFI communication module 44 may all be existing intelligent WIFI chips; the first ZigBee communication module 221, the slave ZigBee communication module 212, the indoor ZigBee communication module 43, and the indoor slave ZigBee communication module group 52 may all adopt a common ZigBee communication module (CC 2530).
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. An intelligent building system based on the Internet of things is characterized by comprising a mobile terminal, a parking lot Internet of things terminal and an elevator Internet of things terminal;
a mobile network module is arranged in the mobile terminal; the parking lot Internet of things end comprises a parking space detection module, a first wireless module and a first control chip, wherein the parking space detection module is in communication connection with the first wireless module, and the first control chip is electrically connected with the first wireless module; the elevator internet of things end comprises a second wireless module and a lifting controllable elevator, the second wireless module is electrically connected with a control unit of the lifting controllable elevator, and the first wireless module and the second wireless module are in communication connection with the mobile network module;
the mobile terminal is used for sending instructions to the parking lot Internet of things terminal and the elevator Internet of things terminal by a user or receiving data transmitted by the parking lot Internet of things terminal and the elevator Internet of things terminal; the parking lot Internet of things end is used for detecting specified data of vacant parking spaces in a parking lot in a building and sending the detected specified data to the mobile end; the elevator internet of things end is used for controlling the lifting controllable elevator to a specified position according to the instruction of the moving end.
2. The intelligent building system based on the internet of things as claimed in claim 1, wherein the first wireless module comprises a first ZigBee communication module, and the parking space detection module comprises a plurality of infrared sensors and a plurality of slave ZigBee communication modules; the infrared sensor is electrically connected with the slave ZigBee communication module;
the infrared sensor is used for being installed on a parking space, detecting whether a vehicle is parked on the parking space or not, and transmitting detected parking space data to the slave ZigBee communication module; the first ZigBee communication module is in communication connection with the slave ZigBee communication module, and the first ZigBee communication module is used for receiving parking space data transmitted by the slave ZigBee communication module.
3. The internet of things-based intelligent building system of claim 2, wherein the first wireless module further comprises a first WIFI communication module, and the first WIFI communication module is in communication connection with the mobile network module; the second wireless module comprises a second WIFI communication module, and the second WIFI communication module is in communication connection with the mobile network module;
the first WIFI communication module is used for communication interconnection between the parking lot Internet of things end and the mobile end; and the second WIFI communication module is used for communication interconnection between the parking lot Internet of things end and the mobile end.
4. The intelligent building system based on the internet of things as claimed in claim 3, wherein the elevator internet of things end further comprises a weight sensor, and the weight sensor is electrically connected with the second WIFI communication module; and the weight sensor is used for detecting load data in the elevator capable of being controlled by the elevator and transmitting the detected load data to the second WIFI communication module.
5. The intelligent building system based on the internet of things as claimed in claim 4, wherein the parking space detection module further comprises a plurality of cameras and an auxiliary WIFI communication module, the cameras are electrically connected with the auxiliary WIFI communication module, and the auxiliary WIFI communication module is in communication connection with the first WIFI communication module;
the camera is used for detecting video data of vacant parking spaces in a parking lot in a building, the detected video data are transmitted to the subordinate WIFI communication module, and the subordinate WIFI module is used for transmitting the received video data to the first WIFI communication module.
6. The intelligent building system based on the internet of things as claimed in claim 3, further comprising an indoor control terminal and an indoor electric appliance internet of things terminal;
the indoor control end comprises a display screen, an indoor control chip, an indoor ZigBee communication module and an indoor WIFI communication module, and the display screen, the indoor ZigBee communication module and the indoor WIFI communication module are all electrically connected with the indoor control chip; the indoor electric appliance Internet of things end comprises a relay and an indoor slave ZigBee communication module, and the relay is electrically connected with the indoor slave ZigBee communication module;
the indoor ZigBee communication module is in communication connection with the indoor slave ZigBee communication module, and the mobile network module, the first WIFI communication module and the second WIFI communication module are in communication connection with the indoor WIFI communication module;
the indoor WIFI communication module is used for establishing communication relations among the indoor control end, the mobile end, the parking lot internet of things end and the elevator internet of things end; the indoor ZigBee communication module is used for establishing communication contact between the indoor end and the indoor electric appliance Internet of things end; the indoor control chip is used for making a reaction according to an instruction input by a user, controlling the display to display specified data and controlling the relay to be opened or closed; the relay is used for being connected to the power supply end of an electric appliance in a building and controlling the power supply circuit of the specified electric appliance to be switched on or switched off.
7. The intelligent building system based on the internet of things as claimed in claim 6, wherein the indoor control terminal further comprises a plurality of photosensitive modules, the photosensitive modules are respectively installed at each designated position of the building, and the photosensitive modules are electrically connected with the indoor control chip.
8. The intelligent building system based on the internet of things as claimed in claim 7, wherein the indoor electrical equipment internet of things terminal further comprises a plurality of leakage sensors, and the leakage sensors are used for being installed on all levels of circuits in a building; and the electric leakage sensors are electrically connected with the indoor control chip.
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| CN202022763470.7U CN213339149U (en) | 2020-11-25 | 2020-11-25 | Intelligent building system based on Internet of things |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117361259A (en) * | 2023-12-07 | 2024-01-09 | 成都越凡创新科技有限公司 | Method for detecting abnormal movement of robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117361259A (en) * | 2023-12-07 | 2024-01-09 | 成都越凡创新科技有限公司 | Method for detecting abnormal movement of robot |
| CN117361259B (en) * | 2023-12-07 | 2024-04-26 | 成都越凡创新科技有限公司 | Method for detecting abnormal movement of robot |
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Granted publication date: 20210601 Termination date: 20211125 |