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WO2018137091A1 - Système et procédé d'échange d'informations à base de robot - Google Patents

Système et procédé d'échange d'informations à base de robot Download PDF

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Publication number
WO2018137091A1
WO2018137091A1 PCT/CN2017/072362 CN2017072362W WO2018137091A1 WO 2018137091 A1 WO2018137091 A1 WO 2018137091A1 CN 2017072362 W CN2017072362 W CN 2017072362W WO 2018137091 A1 WO2018137091 A1 WO 2018137091A1
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WO
WIPO (PCT)
Prior art keywords
rise building
target
fire
robot
interest rate
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PCT/CN2017/072362
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English (en)
Chinese (zh)
Inventor
熊益冲
Original Assignee
深圳益创信息科技有限公司
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Publication date
Application filed by 深圳益创信息科技有限公司 filed Critical 深圳益创信息科技有限公司
Priority to PCT/CN2017/072362 priority Critical patent/WO2018137091A1/fr
Publication of WO2018137091A1 publication Critical patent/WO2018137091A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/048—Monitoring; Safety

Definitions

  • the present invention relates to the field of Internet of Things technologies, and in particular, to a robot-based information interaction system and method.
  • the embodiment of the invention discloses a robot-based information interaction system and method, which can enable the outside world to know in time that a high-rise building has a fire hazard and prevent major economic losses.
  • a first aspect of the embodiments of the present invention discloses a robot-based information interaction system, including:
  • the smart device is further configured to determine, according to the infrared thermal imaging image inside the high-rise building, whether there is a fire hazard inside the high-rise building for each of the high-rise buildings, and if yes, send a notification message to the monitoring through the Internet of Things.
  • the notification message includes location information and a building name of the high-rise building in which a fire hazard exists, and a street name surrounding the high-rise building in which a fire hazard exists;
  • the monitoring device is configured to determine, according to location information of the monitored vehicle, whether there is a target vehicle located on a street to which the street name belongs, and if present, send fire warning information to the target vehicle through the Internet of Things,
  • the fire warning information includes location information and building name of the high-rise building in which a fire hazard exists;
  • the sending the fire warning information to the target vehicle through the Internet of Things includes:
  • the monitoring device invokes a communication port set by the target vehicle, and determines whether the communication port is provided with an early warning information allowing receiving period, and if the communication port is provided with an early warning information allowing receiving period, determining the current display by the monitoring device Whether the time is within the allowable reception period of the warning information, and if so, sending the fire warning information to the target vehicle through the Internet of Things;
  • the service device is configured to calculate a linear distance between position information of each robot monitored by the service device and position information of the high-rise building;
  • the robot is a transportation robot or a traffic command robot or a patrol robot;
  • the service device is further configured to determine, according to a linear distance between the location information of each of the robots and the location information of the high-rise building, whether a linear distance between the location information of the high-rise building and the location information of the high-rise building is less than a specified threshold.
  • a target robot if present, transmitting the fire warning information to the target robot through the Internet of Things;
  • the service device is further configured to collect a total distance value of the target robot traveling on a day;
  • the service device is further configured to determine that the total distance value is greater than a minimum distance value of the preset allowed wealth management, and if yes, query a target daily interest rate weighting coefficient corresponding to the total distance value; wherein the total distance value In proportion to the magnitude of the target daily interest rate weighting factor;
  • the service device is further configured to report the user identifier corresponding to the target robot and the target daily interest rate weighting coefficient to the computing device;
  • the computing device is further configured to identify, according to the user identifier, a financial account corresponding to the user identifier;
  • the calculating device is further configured to adjust a daily interest rate of the current day according to the target daily interest rate weighting coefficient, and obtain an actual daily interest rate of the current day, where the actual daily interest rate of the current day is greater than the daily interest rate of the current day;
  • the computing device is further configured to calculate, according to the actual daily interest rate of the current day and the immediate amount in the wealth management account, the current day value added corresponding to the wealth management account.
  • the monitoring device is further configured to: when determining that there is no target vehicle located on the street to which the street name belongs, calculate a straight line between the location information of each speaker device registered in the city and the location information of the high-rise building distance;
  • the monitoring device is further configured to determine, according to a linear distance between the location information of each of the speaker devices and the location information of the high-rise building, whether there is a linear distance from the location information of the high-rise building a target speaker device that is less than a specified threshold, if present, transmits a fire warning voice to the target speaker device through the Internet of Things, the fire warning voice including location information and a building name of the high-rise building in which a fire hazard exists;
  • the target speaker device is configured to play the fire warning voice
  • the sending the fire warning voice to the target speaker device through the Internet of things includes:
  • the monitoring device invokes a communication port of the target speaker device, and determines whether the communication port of the target speaker device is set with an early warning voice permission receiving period, and if the communication port of the target speaker device is configured with an early warning voice permission receiving period, Determining whether the current time displayed by the monitoring device is within the early warning voice permission receiving period of the target speaker device, and if so, sending a fire warning voice to the target speaker device through the Internet of Things.
  • the notification message further includes a number of personnel inside the high-rise building in which a fire hazard exists; the fire warning information further includes a number of persons inside the high-rise building where the fire hazard exists; the fire warning voice further includes the The number of people inside the high-rise building where there is a fire hazard.
  • the notification message further includes a fire hazard location of the high-rise building in which the fire hazard exists; the fire warning information further includes a fire hazard location of the high-rise building in which the fire hazard exists; the fire warning voice further includes The fire hazard location of the high-rise building in which there is a fire hazard.
  • the computing device is further configured to: after determining, according to the user identifier, the financial account corresponding to the user identifier, determine whether the instantaneous amount in the financial account exceeds a preset minimum threshold for allowing additional value, if And performing the step of adjusting the daily interest rate of the current day according to the target daily interest rate weighting factor to obtain the actual daily interest rate of the current day; if not, calculating according to the daily interest rate of the current day and the immediate amount in the wealth management account number The value of the current day value corresponding to the financial account.
  • a second aspect of the embodiments of the present invention discloses a robot-based information interaction method, where the method includes:
  • the smart device obtains an infrared thermography image of the interior of the high-rise buildings reported by the Internet of Things in the registered high-rise buildings of the city;
  • the smart device determines, according to the infrared thermal imaging image inside the high-rise building, whether there is a fire hazard inside the high-rise building for each of the high-rise buildings, and if yes, sends a notification message to the monitoring device and the service device through the Internet of Things.
  • the notification message includes location information and building name of the high-rise building in which a fire hazard exists, and a street name surrounding the high-rise building in which a fire hazard exists;
  • the monitoring device is configured to determine, according to location information of the monitored vehicle, whether there is a target vehicle located on a street to which the street name belongs, and if present, send fire warning information to the target vehicle through the Internet of Things,
  • the fire warning information includes location information and building name of the high-rise building in which a fire hazard exists;
  • the sending the fire warning information to the target vehicle through the Internet of Things includes:
  • the monitoring device calls a communication port set by the target vehicle, and determines that the communication port is No setting is provided with the warning information permitting period, if the communication port is provided with the warning information allowing the receiving period, determining whether the current time displayed by the monitoring device is within the allowable receiving period of the warning information, and if so, through the Internet of Things
  • the target vehicle sends fire warning information
  • the service device calculates a linear distance between position information of each robot monitored by the service device and position information of the high-rise building;
  • the robot is a transportation robot or a traffic command robot or a patrol robot;
  • the service device determines, according to a linear distance between the location information of each of the robots and the location information of the high-rise building, whether there is a target robot whose linear distance from the location information of the high-rise building is less than a specified threshold. If present, transmitting the fire warning information to the target robot through the Internet of Things;
  • the service device counts a total distance value of the target robot traveling on a day
  • the service device reports the user identifier corresponding to the target robot and the target daily interest rate weighting coefficient to the computing device;
  • the computing device identifies, according to the user identifier, a financial account corresponding to the user identifier
  • the computing device adjusts the daily interest rate of the current day according to the target daily interest rate weighting coefficient, and obtains the actual daily interest rate of the current day, and the actual daily interest rate of the current day is greater than the daily interest rate of the current day;
  • the computing device calculates the current day value added corresponding to the financial account according to the actual daily interest rate of the current day and the immediate amount in the wealth management account.
  • the method further includes:
  • the monitoring device determines that there is no target vehicle located on the street to which the street name belongs, calculating location information of each speaker device registered in the city and a location letter of the high-rise building The straight line distance between the interest rates;
  • the monitoring device determines, according to a linear distance between the location information of each of the speaker devices and the location information of the high-rise building, whether there is a linear distance between the location information of the high-rise building that is less than a specified threshold.
  • a target speaker device if present, transmitting a fire warning voice to the target speaker device through the Internet of Things, the fire warning voice including location information and a building name of the high-rise building in which a fire hazard exists;
  • the target speaker device plays the fire warning voice
  • the sending the fire warning voice to the target speaker device through the Internet of things includes:
  • the monitoring device invokes a communication port of the target speaker device, and determines whether the communication port of the target speaker device is set with an early warning voice permission receiving period, and if the communication port of the target speaker device is configured with an early warning voice permission receiving period, Determining whether the current time displayed by the monitoring device is within the early warning voice permission receiving period of the target speaker device, and if so, sending a fire warning voice to the target speaker device through the Internet of Things.
  • the notification message further includes a number of personnel inside the high-rise building in which a fire hazard exists; the fire warning information further includes a number of persons inside the high-rise building where the fire hazard exists; the fire warning voice further includes the The number of people inside the high-rise building where there is a fire hazard.
  • the notification message further includes a fire hazard location of the high-rise building in which the fire hazard exists; the fire warning information further includes a fire hazard location of the high-rise building in which the fire hazard exists; the fire warning voice further includes The fire hazard location of the high-rise building in which there is a fire hazard.
  • the method further includes:
  • the computing device determines whether the instant amount in the wealth management account exceeds a preset minimum amount threshold for allowing additional value added, and if so, performing the daily interest rate adjusted according to the target daily interest rate weighting coefficient to obtain the current day's interest rate The step of the actual daily interest rate; if not exceeded, calculating the current day value added corresponding to the wealth management account according to the daily interest rate of the current day and the immediate amount in the wealth management account.
  • the embodiment of the invention has the following beneficial effects:
  • the location information and the building name of the high-rise building where there is a fire hazard and the street name surrounding the high-rise building with a fire hazard may be Sending to the monitoring device and the service device through the Internet of Things, when the monitoring device determines that the target vehicle exists on the street to which the street name belongs, the location information and the building name of the high-rise building including the fire hazard are transmitted to the target vehicle through the Internet of Things.
  • Disaster warning information when there is a fire hazard inside a high-rise building in the city where the smart device is located.
  • the embodiment of the invention can make the outside world know in time that a high-rise building has a fire hazard and prevent a major economic loss; in addition, the target robot can participate in the fire early warning, and the financial account corresponding to the user identifier corresponding to the target robot can be managed and stimulated. The target robot participates in the fire warning.
  • FIG. 1 is a schematic structural diagram of a robot-based information interaction system according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of a robot-based information interaction method disclosed in an embodiment of the present invention.
  • the embodiment of the invention discloses a robot-based information interaction system and method, which can make the outside world know in time that there is a fire hazard inside a high-rise building and prevent the life of the trapped person from being dangerous. The details are described below separately.
  • FIG. 1 is a schematic structural diagram of a robot-based information interaction system according to an embodiment of the present invention.
  • the robot-based information interaction system may include:
  • the smart device 101 is configured to obtain an infrared thermal imaging image of the interior of the high-rise buildings reported by the various high-rise buildings in the city where the city is registered through the Internet of Things;
  • the smart device 101 is further configured to determine, according to an infrared thermography image of the high-rise building, whether there is a fire hazard inside the high-rise building for each of the high-rise buildings, and if yes, send a notification message to the Internet of Things to the Internet of Things Monitoring device 102 and service device 200; the notification message includes location information and building name of the high-rise building in which a fire hazard exists, and a street name surrounding the high-rise building in which a fire hazard exists;
  • the monitoring device 102 is configured to determine, according to location information of the monitored vehicle, whether there is a target vehicle 103 located on a street to which the street name belongs, and if present, send fire warning information to the target vehicle 103 through the Internet of Things.
  • the fire warning information includes location information and a building name of the high-rise building in which a fire hazard exists.
  • the sending the fire warning information to the target vehicle through the Internet of Things includes:
  • the monitoring device calls a communication port set by the target vehicle, and determines that the communication port is No setting is provided with the warning information permitting period, if the communication port is provided with the warning information allowing the receiving period, determining whether the current time displayed by the monitoring device is within the allowable receiving period of the warning information, and if so, through the Internet of Things
  • the target vehicle sends fire warning information.
  • the service device 200 is configured to calculate a linear distance between location information of each robot monitored by the service device and location information of the high-rise building; the robot is a transportation robot or a traffic command robot or a patrol robot ;
  • the service device 200 is further configured to determine, according to a linear distance between the location information of each of the robots and the location information of the high-rise building, whether a linear distance between the location information of the high-rise building and the location information of the high-rise building is less than a specified distance a threshold target robot, if present, transmitting the fire warning information to the target robot through the Internet of Things;
  • the service device 200 is further configured to collect a total distance value of the target robot traveling on a day;
  • the service device 200 is further configured to determine that the total distance value is greater than a minimum distance value of the preset allowed wealth management, and if yes, query a target daily interest rate weighting coefficient corresponding to the total distance value; wherein the total distance The value is proportional to the magnitude of the target daily interest rate weighting factor;
  • the service device 200 is further configured to report the user identifier corresponding to the target robot and the target daily interest rate weighting coefficient to the computing device 300;
  • the computing device 300 is further configured to identify, according to the user identifier, a financial account corresponding to the user identifier;
  • the computing device 300 is further configured to adjust a daily interest rate of the current day according to the target daily interest rate weighting coefficient, and obtain an actual daily interest rate of the current day, where the actual daily interest rate of the current day is greater than the daily interest rate of the current day;
  • the computing device 300 is further configured to calculate, according to the actual daily interest rate of the current day and the immediate amount in the wealth management account, the current day value added corresponding to the financial account.
  • the monitoring device 102 is further configured to calculate, between the location information of each of the registered speaker devices and the location information of the high-rise building, when determining that there is no target vehicle 103 located on the street to which the street name belongs. Straight line distance;
  • the monitoring device 102 is further configured to determine, according to a linear distance between the location information of each of the speaker devices and the location information of the high-rise building, whether there is a line between the location information of the high-rise building.
  • the target speaker device 104 having a distance less than a specified threshold, if present, transmits a fire warning voice to the target speaker device 104 through the Internet of Things, the fire warning voice including location information and a building name of the high-rise building in which a fire hazard exists;
  • the target speaker device 104 is configured to play the fire warning voice.
  • the sending the fire warning voice to the target speaker device through the Internet of things includes:
  • the monitoring device invokes a communication port of the target speaker device, and determines whether the communication port of the target speaker device is set with an early warning voice permission receiving period, and if the communication port of the target speaker device is configured with an early warning voice permission receiving period, Determining whether the current time displayed by the monitoring device is within the early warning voice permission receiving period of the target speaker device, and if so, sending a fire warning voice to the target speaker device through the Internet of Things.
  • the notification message further includes a number of personnel inside the high-rise building in which a fire hazard exists; and the fire warning information further includes a number of personnel inside the high-rise building where the fire hazard exists;
  • the fire warning speech also includes the number of people inside the high-rise building where the fire hazard exists.
  • the notification message further includes a fire hazard location of the high-rise building in which the fire hazard exists; and the fire warning information further includes a fire hazard of the high-rise building in which the fire hazard exists Position: the fire warning voice further includes a fire hazard location of the high-rise building in which the fire hazard exists.
  • the computing device 300 is further configured to: according to the user identifier, After identifying the financial account corresponding to the user identifier, determining whether the instant amount in the wealth management account exceeds a preset minimum amount threshold for allowing additional value increase, and if so, performing the adjustment according to the target daily interest rate weighting coefficient The daily interest rate of the day, the step of obtaining the actual daily interest rate of the current day; if not, the daily value added corresponding to the wealth management account is calculated according to the daily interest rate of the current day and the immediate amount in the wealth management account.
  • a smart device when a smart device has a fire hazard inside a high-rise building in its city, the location information and the building name and the presence of the high-rise building with a fire hazard may be present.
  • the name of the street around the high-rise building that is involved in the fire is sent to the monitoring equipment and the service equipment through the Internet of Things.
  • the monitoring equipment determines that the target vehicle exists on the street to which the street name belongs, it sends the target vehicle through the Internet of Things to include the fire hazard.
  • the location information of the high-rise building and the disaster warning information of the building name when a smart device has a fire hazard inside a high-rise building in its city, the location information and the building name and the presence of the high-rise building with a fire hazard may be present.
  • the name of the street around the high-rise building that is involved in the fire is sent to the monitoring equipment and the service equipment through the Internet of Things.
  • the monitoring equipment determines that the target vehicle exists on the street to which the street
  • the embodiment of the invention can make the outside world know in time that a high-rise building has a fire hazard and prevent a major economic loss; in addition, the target robot can participate in the fire early warning, and the financial account corresponding to the user identifier corresponding to the target robot can be managed and stimulated. The target robot participates in the fire warning.
  • FIG. 2 is a schematic flowchart diagram of a robot-based information interaction method according to an embodiment of the present invention.
  • the robot-based information interaction method may include:
  • the smart device obtains an infrared thermal imaging image of the interior of the high-rise buildings reported by the Internet of Things in the registered high-rise buildings of the city in which the city is located.
  • the smart device determines, according to an infrared thermal imaging image of the high-rise building, whether there is a fire hazard inside the high-rise building for each of the high-rise buildings, and if yes, sending a notification message to the monitoring device through the Internet of Things and The service device; the notification message includes location information and a building name of the high-rise building in which a fire hazard exists, and a street name surrounding the high-rise building in which a fire hazard exists.
  • the monitoring device determines, according to the location information of the monitored vehicle, whether the presence exists.
  • the target vehicle on the street to which the street name belongs if present, sends fire warning information to the target vehicle through the Internet of Things, the fire warning information including location information and building name of the high-rise building in which a fire hazard exists.
  • the sending the fire warning information to the target vehicle through the Internet of Things includes:
  • the monitoring device invokes a communication port set by the target vehicle, and determines whether the communication port is provided with an early warning information allowing receiving period, and if the communication port is provided with an early warning information allowing receiving period, determining the current display by the monitoring device Whether the time is within the allowable reception time period of the warning information, and if so, the fire warning information is transmitted to the target vehicle through the Internet of Things.
  • the service device calculates a linear distance between location information of each robot monitored by the service device and location information of the high-rise building; the robot is a transportation robot or a traffic command robot or a patrol robot; Determining, according to a linear distance between the location information of each of the robots and the location information of the high-rise building, whether there is a target robot whose linear distance from the location information of the high-rise building is less than a specified threshold, if There is, the fire warning information is sent to the target robot through the Internet of Things.
  • the service device collects a total distance value of the target robot traveling on a day; the service device determines that the total distance value is greater than a minimum distance value of the preset allowed wealth management, and if yes, queries the total distance value to correspond to a target daily interest rate weighting coefficient; wherein the total distance value is proportional to the size of the target daily interest rate weighting coefficient; the service device reports the user identifier corresponding to the target robot and the target daily interest rate weighting coefficient To the computing device.
  • the computing device identifies, according to the user identifier, a financial account corresponding to the user identifier; the computing device adjusts a daily interest rate of the current day according to the target daily interest rate weighting coefficient, and obtains an actual daily interest rate of the current day.
  • the actual daily interest rate of the current day is greater than the daily interest rate of the current day; the computing device calculates the current day value added corresponding to the wealth management account according to the actual daily interest rate of the current day and the immediate amount in the wealth management account.
  • the method further includes:
  • the monitoring device calculates a linear distance between the location information of each speaker device registered in the city and the location information of the high-rise building when determining that there is no target vehicle located on the street to which the street name belongs;
  • the monitoring device determines, according to a linear distance between the location information of each of the speaker devices and the location information of the high-rise building, whether there is a linear distance between the location information of the high-rise building that is less than a specified threshold.
  • a target speaker device if present, transmitting a fire warning voice to the target speaker device through the Internet of Things, the fire warning voice including location information and a building name of the high-rise building in which a fire hazard exists;
  • the target speaker plays the fire warning voice.
  • the sending the fire warning voice to the target speaker device through the Internet of things includes:
  • the monitoring device invokes a communication port of the target speaker device, and determines whether the communication port of the target speaker device is set with an early warning voice permission receiving period, and if the communication port of the target speaker device is configured with an early warning voice permission receiving period, Determining whether the current time displayed by the monitoring device is within the early warning voice permission receiving period of the target speaker device, and if so, sending a fire warning voice to the target speaker device through the Internet of Things.
  • the notification message further includes a number of personnel inside the high-rise building in which a fire hazard exists; and the fire warning information further includes The number of persons inside the high-rise building in which a fire hazard exists; the fire warning voice further includes the number of persons inside the high-rise building in which the fire hazard exists.
  • the notification message further includes a fire hazard location of the high-rise building in which the fire hazard exists; the fire warning information is further Included in the fire hazard location of the tall building in which the fire hazard exists;
  • the fire warning voice also includes a fire hazard location of the high-rise building in which the fire hazard exists.
  • the computing device identifies the financial account corresponding to the user identifier according to the user identifier, and the computing device And determining, according to the target daily interest rate weighting factor, the daily interest rate of the current day, and obtaining the actual daily interest rate of the current day, determining whether the instantaneous amount in the wealth management account exceeds a preset minimum amount threshold for allowing additional value added, and if so, performing the Adjusting the daily interest rate of the current day according to the target daily interest rate weighting factor, and obtaining the actual daily interest rate of the current day; if not, calculating the financial account according to the daily interest rate of the current day and the immediate amount in the wealth management account number The corresponding value of the day value added.
  • the location information and the building name of the high-rise building with a fire hazard and the fire hazard may exist.
  • the street name around the high-rise building is sent to the monitoring device and the service device through the Internet of Things.
  • the monitoring device determines that the target vehicle exists on the street to which the street name belongs, the utility device transmits the hidden danger to the target vehicle through the Internet of Things.
  • the embodiment of the invention can make the outside world know in time that a high-rise building has a fire hazard and prevent a major economic loss; in addition, the target robot can participate in the fire early warning, and the financial account corresponding to the user identifier corresponding to the target robot can be managed and stimulated. The target robot participates in the fire warning.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • PROM Programmable Read-Only Memory
  • EPROM Erasable Programmable Read Only Memory
  • OTPROM One-time Programmable Read-Only Memory
  • EEPROM electronically erasable rewritable read-only memory
  • CD-ROM Compact Disc Read-Only Memory
  • CD-ROM Compact Disc Read-Only Memory

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  • Engineering & Computer Science (AREA)
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Abstract

Selon l'invention, un système et un procédé d'échange d'informations basés sur un robot sont caractérisés comme suit : lorsque l'intérieur d'un immeuble de grande hauteur d'une ville où se trouve un dispositif intelligent présente un risque d'incendie caché, le dispositif intelligent envoie des informations de localisation et un nom de bâtiment de l'immeuble de grande hauteur présentant un risque d'incendie caché et un nom d'une rue autour de l'immeuble de grande hauteur présentant un risque d'incendie caché à un dispositif de surveillance et à un dispositif de desserte par l'intermédiaire de l'Internet des objets; et lorsqu'il est déterminé qu'un véhicule cible existe sur une rue à laquelle appartient le nom de la rue, le dispositif de surveillance envoie des informations d'avertissement d'incendie comprenant les informations de position et le nom de bâtiment de l'immeuble de grande hauteur présentant un risque d'incendie caché au véhicule cible par l'Internet des objets. Dans des modes de réalisation de la présente invention, le monde extérieur peut connaître le risque d'incendie caché de l'immeuble de grande hauteur à temps, de façon à éviter de lourdes pertes économiques; en outre, un robot cible peut participer à un avertissement d'incendie, et une gestion financière est effectuée sur un compte de gestion financière correspondant à un identifiant d'utilisateur correspondant au robot cible, de façon à motiver le robot cible pour participer à l'avertissement d'incendie.
PCT/CN2017/072362 2017-01-24 2017-01-24 Système et procédé d'échange d'informations à base de robot WO2018137091A1 (fr)

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