CN106210511A - A kind of method and apparatus positioning user - Google Patents
A kind of method and apparatus positioning user Download PDFInfo
- Publication number
- CN106210511A CN106210511A CN201610509282.7A CN201610509282A CN106210511A CN 106210511 A CN106210511 A CN 106210511A CN 201610509282 A CN201610509282 A CN 201610509282A CN 106210511 A CN106210511 A CN 106210511A
- Authority
- CN
- China
- Prior art keywords
- audio
- targeted customer
- image acquisition
- information
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F40/00—Handling natural language data
- G06F40/30—Semantic analysis
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Artificial Intelligence (AREA)
- Health & Medical Sciences (AREA)
- Computational Linguistics (AREA)
- General Health & Medical Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention provides a kind of method and apparatus positioning user.Described method includes: obtains the first audio-frequency information collected by described audio collection unit, and is analyzed described first audio-frequency information, it is thus achieved that analysis result；When described analysis result described first audio-frequency information of sign is used for indicating described movable equipment to navigate to targeted customer, calculate the primary importance information between described targeted customer and described movable equipment according to described first audio-frequency information；Control parameter according to described primary importance information acquisition first, and control movable equipment entrance tracking mode described in state modulator according to described first；The described movable equipment being in described tracking mode gathers image by described image acquisition units, and obtains the second position information between described targeted customer and described movable equipment and/or described image acquisition units based on the image collected.
Description
Technical field
The present invention relates to electronic technology field, particularly relate to a kind of method and apparatus positioning user.
Background technology
Along with the fast development of electronic technology, mobile robot has begun to occur in daily life for people
Service.The local environment uncertainty of mobile robot is very strong, and therefore, this just requires that moving machine device people is accurately positioned out use
The position at family, and user and self distance.
In prior art, mobile robot has multiple for the solution positioning user, but mostly there is locating accuracy
The highest problem.
Summary of the invention
Embodiments provide a kind of method and apparatus positioning user, for improving the accuracy rate of location user.
First aspect, the invention provides a kind of method positioning user, is applied to movable equipment, and described may move sets
For including the audio collection unit that microphone array forms, and image acquisition units, the method for stating includes:
Obtain the first audio-frequency information collected by described audio collection unit, and described first audio-frequency information is carried out
Analyze, it is thus achieved that analysis result；
Characterize described first audio-frequency information in described analysis result to be used for indicating described movable equipment to navigate to target use
During family, calculate the primary importance information between described targeted customer and described movable equipment according to described first audio-frequency information；
Control parameter according to described primary importance information acquisition first, and control according to described first can described in state modulator
Mobile device enters tracking mode；
The described movable equipment being in described tracking mode gathers image by described image acquisition units, and based on adopting
The image that collection arrives obtains the second position between described targeted customer and described movable equipment and/or described image acquisition units
Information.
Optionally, described first audio-frequency information is analyzed, it is thus achieved that analysis result, including:
Extract the vocal print of described first audio-frequency information, and described vocal print is mated with default vocal print, described to judge
Whether targeted customer is validated user；
When described vocal print and described default voice print matching, described first audio-frequency information is carried out semantic analysis；
When analyzing semanteme and the preset instructions semantic matches of described first audio-frequency information, it is thus achieved that characterizing can described in instruction
Positioning of mobile equipment is to the described analysis result of described targeted customer.
Optionally, control parameter according to described primary importance information acquisition first, including:
According to described primary importance information, determine the current acquisition range of described image acquisition units and described targeted customer it
Between the first angle value, and based on described first angle value generate described first control information；
Control movable equipment described in state modulator according to described first and enter tracking mode, including:
Control information according to described first, control described image acquisition units and rotate described first angle value, or control
The first angle value described in the drive finite element rotation that described image acquisition units rotates can be driven；Described image acquisition units rotates
Control described image acquisition units after described first angle value and enter described tracking mode, or control described in rotary course
Image acquisition units enters described tracking mode.
Optionally, described method also includes:
When described image acquisition units is acquired in rotary course, if collecting described targeted customer, then control
Make described image acquisition units or described band moving cell stops the rotation.
Optionally, described destination object and described movable equipment and/or described image are obtained based on the image collected
Second position information between collecting unit, including:
Based on the default head portrait prestored, it is identified in the described image collected, it is thus achieved that recognition result；
When there is described targeted customer during described recognition result characterizes the image of described collection, determine that described target is used
The family second position in the described image collected；
According to the described second position, determine the second folder between the predeterminated position of the described second position and described acquisition range
Angle value.
Optionally, the second angle value between the predeterminated position determining the described second position and described acquisition range it
After, also include:
Generate the second control information according to described second angle value, and control the information described image of control according to described second
Collecting unit or the second angle value described in the drive finite element rotation that described image acquisition units rotates can be driven.
Optionally, the primary importance letter between described targeted customer and described equipment is calculated according to described first audio-frequency information
Breath, including:
According to the position that arranges of mike each in described microphone array, and in described first audio-frequency information at least three
The audio-frequency information of the collection of individual mike, calculates the described primary importance letter between described targeted customer and described movable equipment
Breath.
Second aspect, the invention provides a kind of device positioning user, is applied to movable equipment, and described may move sets
For including the audio collection unit that microphone array forms, and image acquisition units, described device includes:
First obtains and analyzes module, for obtaining the first audio-frequency information collected by described audio collection unit,
And described first audio-frequency information is analyzed, it is thus achieved that analysis result；
First computing module, is used for indicating described may move for characterizing described first audio-frequency information in described analysis result
When equipment navigates to targeted customer, calculate between described targeted customer and described movable equipment according to described first audio-frequency information
Primary importance information；
First obtains and control module, for controlling parameter according to described primary importance information acquisition first, and according to institute
State movable equipment described in the first control state modulator and enter tracking mode；
First gathers and obtains module, is adopted by described image for being in the described movable equipment of described tracking mode
Collection unit gathers image, and obtains described targeted customer and described movable equipment and/or described figure based on the image collected
As the second position information between collecting unit.
Optionally, described first obtains and analyze module is used for extracting the vocal print of described first audio-frequency information, and by described
Vocal print mates with default vocal print, to judge that whether described targeted customer is as validated user；When described vocal print is preset with described
During voice print matching, described first audio-frequency information is carried out semantic analysis；When analyzing the semanteme of described first audio-frequency information with pre-
If during instruction semantic coupling, it is thus achieved that characterize the described analysis result indicating described movable equipment to navigate to described targeted customer.
Optionally, described first acquisition and control module, for according to described primary importance information, determine that described image is adopted
First angle value between the collection current acquisition range of unit and described targeted customer, and generate described the based on described first angle value
One controls information；Control information according to described first, control described image acquisition units and rotate described first angle value, or control
System can drive the first angle value described in the drive finite element rotation that described image acquisition units rotates；Described image acquisition units is revolved
Control described image acquisition units after turning described first angle value and enter described tracking mode, or in rotary course, control institute
State image acquisition units and enter described tracking mode.
Optionally, described first acquisition and control module are additionally operable to when described image acquisition units is carried out in rotary course
During collection, if collecting described targeted customer, then control described image acquisition units or described band moving cell stops the rotation.
Optionally, described first gathers and obtain module is used for based on the default head portrait prestored, and collects described
Image in be identified, it is thus achieved that recognition result；Described target is there is in described recognition result characterizes the image of described collection
During user, determine the described targeted customer second position in the described image collected；According to the described second position, determine
The second angle value between the predeterminated position of the described second position and described acquisition range.
Optionally, described device also includes:
Second generates and control module, between the predeterminated position determining the described second position and described acquisition range
The second angle value after, according to described second angle value generate second control information, and according to described second control information control
Make described image acquisition units or described image acquisition units can be driven to rotate drive finite element rotation described in the second angle
Value.
Optionally, described first computing module for arranging position according to mike each in described microphone array,
And the audio-frequency information of the collection of at least three mike in described first audio-frequency information, calculate described targeted customer with described can
Described primary importance information between mobile device.
Beneficial effects of the present invention is as follows:
In embodiments of the present invention, it is thus achieved that the first audio-frequency information collected by audio collection unit, and to the first sound
Frequently information is analyzed, it is thus achieved that analysis result, characterizes the first audio-frequency information for indicating movable equipment to position in analysis result
During to targeted customer, calculate the primary importance information between targeted customer and equipment according to the first audio-frequency information, then according to the
One positional information obtains the first control parameter, and controls state modulator movable equipment entrance tracking mode according to first, is in
The movable equipment of tracking mode gathers image by image acquisition units, and based on the image that collects obtain destination object with
Second position information between movable equipment and/or image acquisition units.Visible, it is used for indicating can move at the first audio-frequency information
Primary importance information is first determined, the most again based on the image collected under tracking mode when dynamic equipment navigates to targeted customer
Obtain the second position information between targeted customer and movable equipment and/or image acquisition units, and then solve existing skill
The technical problem that Intraoperative position accuracy rate is the highest, it is achieved that improve the technique effect of location user's accuracy rate.
Accompanying drawing explanation
Fig. 1 is the method flow diagram positioning user in the embodiment of the present invention；
Fig. 2 is the principle schematic calculating primary importance information in the embodiment of the present invention；
Fig. 3 is the principle schematic calculating second position information in the embodiment of the present invention；
Fig. 4 a-Fig. 4 b is the schematic diagram of balance car location user in the embodiment of the present invention；
Fig. 5 is the device schematic diagram positioning user in the embodiment of the present invention.
Detailed description of the invention
Embodiments provide a kind of method and apparatus positioning user, for improving the accuracy rate of location user.
In order to solve the technical problem of the present invention,
In embodiments of the present invention, it is thus achieved that the first audio-frequency information collected by audio collection unit, and to the first sound
Frequently information is analyzed, it is thus achieved that analysis result, characterizes the first audio-frequency information for indicating movable equipment to position in analysis result
During to targeted customer, calculate the primary importance information between targeted customer and equipment according to the first audio-frequency information, then according to the
One positional information obtains the first control parameter, and controls state modulator movable equipment entrance tracking mode according to first, is in
The movable equipment of tracking mode gathers image by image acquisition units, and based on the image that collects obtain destination object with
Second position information between movable equipment and/or image acquisition units.Visible, it is used for indicating can move at the first audio-frequency information
Primary importance information is first determined, the most again based on the image collected under tracking mode when dynamic equipment navigates to targeted customer
Obtain the second position information between targeted customer and movable equipment and/or image acquisition units, and then solve existing skill
The technical problem that Intraoperative position accuracy rate is the highest, it is achieved that improve the technique effect of location user's accuracy rate.
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
It addition, the terms "and/or", a kind of incidence relation describing affiliated partner, expression can exist
Three kinds of relations, such as, A and/or B, can represent: individualism A, there is A and B, individualism B these three situation simultaneously.Separately
Outward, character "/" herein, typically represent the forward-backward correlation relation to liking a kind of "or".
The method of the location user in the embodiment of the present invention is applied to movable equipment, such as, move robot, mobile intelligence
Energy home equipment, balance car etc., the present invention is not particularly limited.Wherein, movable equipment includes being made up of microphone array
Audio collection unit.Multiple mikes in microphone array according to certain regularly arranged setting, such as, connect equilateral triangle interior
Three summits one mike is respectively set, two mikes are respectively set at midpoint, rectangle four limit, or as in figure 2 it is shown, in Fig. 2
Each round dot represent a mike.The present invention is not particularly limited for quantity and the concrete set-up mode of mike, institute
The those of ordinary skill in genus field can select according to actual.It addition, movable equipment also includes image acquisition units.
Refer to Fig. 1, for positioning the method flow diagram of user in the embodiment of the present invention, the method includes:
S101: obtain the first audio-frequency information collected by described audio collection unit, and to described first audio frequency letter
Breath is analyzed, it is thus achieved that analysis result；
S102: characterize described first audio-frequency information in described analysis result and be used for indicating described movable equipment to navigate to mesh
During mark user, calculate the primary importance information between described targeted customer and described equipment according to described first audio-frequency information；
S103: control parameter according to described primary importance information acquisition first, and control state modulator according to described first
Described movable equipment enters tracking mode；
S104: the described movable equipment being in described tracking mode gathers image by described image acquisition units, and
The between described targeted customer and described movable equipment and/or described image acquisition units is obtained based on the image that collects
Two positional informationes.
Specifically, in S101, audio collection unit the first audio-frequency information collected, refer mainly to by microphone array
The targeted customer that row collect sends the audio-frequency information of sound.Wherein, the first audio-frequency information include but not limited to vocal print, semanteme,
Frequency, reach time, gain etc..
After obtaining the first audio-frequency information, in order to determine whether to respond the first audio-frequency information and how to respond the first audio frequency letter
Breath, also will be analyzed the first audio-frequency information.In embodiments of the present invention, the first audio-frequency information is analyzed, it is thus achieved that point
Analysis is as a result, it is possible to be accomplished in that
Extract the vocal print of described first audio-frequency information, and described vocal print is mated with default vocal print, described to judge
Whether targeted customer is validated user；
When described vocal print and described default voice print matching, described first audio-frequency information is carried out semantic analysis；
When analyzing semanteme and the preset instructions semantic matches of described first audio-frequency information, it is thus achieved that characterizing can described in instruction
Positioning of mobile equipment is to the described analysis result of described targeted customer.
Specifically, it is contemplated that safety, when analyzing the first audio-frequency information, first extraction sound from the first audio-frequency information
Stricture of vagina.Then, this vocal print is mated with the default vocal print in movable equipment, and then judge whether targeted customer is legal use
Family.Wherein, movable equipment is previously stored with one or more default vocal print, the corresponding validated user of each default vocal print.
So, if the vocal print extracted from the first audio-frequency information and default voice print matching, then judge that the first audio-frequency information is corresponding
Targeted customer is validated user；Whereas if the vocal print extracted does not mates with all default vocal prints, it is judged that targeted customer is not
For validated user.
During implementing, if it is judged that targeted customer is not validated user, the most no longer respond the first audio frequency letter
Breath, does not the most perform the control that the first audio-frequency information to be realized.Can also export warning message etc. further, the present invention does not do specifically
Limit.
When vocal print and default voice print matching, then, the first audio-frequency information is carried out semantic analysis, to determine targeted customer
Produce the first audio-frequency information is to how control movable equipment.Specifically, movable equipment has semantic base, semantic
Storehouse at least includes the preset instructions semanteme navigating to user for controlling movable equipment, could be included for further controlling
Movable equipment is play the instruction semantic of music, is stopped the instruction semantic that moves ahead and for controlling for controlling movable equipment
The instruction semantic etc. that movable equipment rotates, the present invention is not particularly limited.
When carrying out semantic analysis, the semanteme of the first audio-frequency information is carried out with at least one instruction semantic in semantic base
Coupling, if the semanteme of the first audio-frequency information and preset instructions semantic matches, it is thus achieved that would characterize instruction movable equipment and navigate to mesh
The analysis result of mark user.If the semanteme of the first audio-frequency information not with preset instructions semantic matches, and with other instruction semantics
Coupling, then obtain and characterize the analysis result that matching instruction is semantic, and perform the instruction that this matching instruction semanteme is corresponding further.And
If the first audio-frequency information instruction semantic all with semantic base does not mates, the most no longer respond the first audio-frequency information.The most also
Can export and re-enter prompting etc., the present invention is not particularly limited.
Seen from the above description, when the vocal print extracted is with default voice print matching, then carry out semantic analysis, be possible not only to
Determine the instruction that the first audio-frequency information is corresponding, and ensure that the audio-frequency information of illegal user is not rung by movable equipment
Should, improve safety.
It follows that when analysis result characterizes the first audio-frequency information for indicating movable equipment to navigate to targeted customer,
In S102, calculate the primary importance relation between targeted customer and movable equipment according to the first audio-frequency information.
In embodiments of the present invention, primary importance information can be calculated to be achieved by mode:
According to the seated position that sets up separately of mike each in described microphone array, and in described first audio-frequency information at least
The audio-frequency information of the collection of three mikes, calculates the described primary importance between described targeted customer and described movable equipment
Information.
Specifically, the first audio-frequency information includes the audio-frequency information that at least three mike gathers.Due to each Mike
Wind to arrange position different, it is different that the sound that the most same sound source sends arrives the time of each mike.So, according to
The time of advent of at least three mike, and each mike position is set, calculate primary importance by geometrical relationship
Information.
Below the principle calculating primary importance information is introduced.Refer to Fig. 2, for calculating the former of primary importance information
Reason schematic diagram.For convenience of description, it is assumed that at least three mike is tri-mikes of A, B and C in Fig. 1.The sound that sound source sends
The time of sound arrival mike A is T1, and the time arriving mike B is T2, and the time arriving mike C is T3.Therefore, sound source with
Distance between above three mike is
L1=T1/v,
L2=T2/v,
L3=T3/v.
Wherein, L1 is the distance between sound source and mike A, and L2 is the distance between sound source and mike B, and L3 is sound source
And the distance between mike C, v is the aerial spread speed of sound.
It follows that obtain with mike A for the center of circle L1 circle as radius, with mike B for the center of circle L2 circle as radius, with
And with mike C for the center of circle L3 circle as radius.Above three circle represents the position at the possible place of sound source, then, shade in Fig. 2
The position of three circle overlaps of region representation is exactly the position at sound source place.
In embodiments of the present invention, targeted customer is considered as sound source, then, if microphone array is arranged on removable setting
Standby upper, then the sound source position calculated is exactly the primary importance information between targeted customer and movable equipment；If mike
Array is not disposed on movable equipment, then further according to relative position known between microphone array with movable equipment
Calculate primary importance information, be not described in detail.
It follows that in S103, control parameter according to primary importance information acquisition first, and control parameter control according to first
Movable equipment processed enters tracking mode.Wherein, in embodiments of the present invention, ginseng is controlled according to primary importance information acquisition first
Number, including:
According to described primary importance information, determine the current acquisition range of described image acquisition units and described targeted customer it
Between the first angle value, and based on described first angle value generate described first control information；
Control state modulator movable equipment according to first and enter tracking mode, including:
Control information according to described first, control described image acquisition units and rotate described first angle value, or control
The first angle value described in the drive finite element rotation that described image acquisition units rotates can be driven；Described image acquisition units rotates
Control described image acquisition units after described first angle value and enter described tracking mode, or control described in rotary course
Image acquisition units enters described tracking mode.
Specifically, first according to primary importance information, determine that the current acquisition range of image acquisition units is used with target
After the angle of difference between family, namely image acquisition units rotation how many angles, acquisition range can comprise targeted customer.By image
The angle differed between current acquisition range and the targeted customer of collecting unit is as the first angle value.Then, based on the first folder
Angle value generates the first control information, to adjust the acquisition range of image acquisition units to the scope that can comprise targeted customer.
When adjusting acquisition range, if image acquisition units self can rotate, then control image acquisition units and rotate the
One angle value；If image acquisition units self can not rotate, then control the drive list that image acquisition units can be driven to rotate
Unit, the such as mobile chassis etc. of The Cloud Terrace, mobile device, rotate the first angle value.
Enter tracking mode for controlling image acquisition units, in embodiments of the present invention, then have two kinds of implementations.
The first, use unit self to rotate or after the first angle value that is driven to rotate at image, control image acquisition
Unit enters tracking mode, starts to gather image.The second, it is contemplated that targeted customer, it may happen that move, is therefore rotating through
Journey just controls image acquisition units and enters tracking mode, gather image.
If entering the second implementation of tracking mode in conjunction with above-mentioned control image acquisition units, then can also wrap
Include:
When described image acquisition units is acquired in rotary course, if collecting described targeted customer, then control
Make described image acquisition units or described band moving cell stops the rotation.
Owing to having collected targeted customer in rotary course, then it represents that movable equipment has navigated to targeted customer,
In order to save device resource, control image acquisition units is stopped the rotation or band moving cell stops the rotation.
In conjunction with any one in above-mentioned multiple embodiments, in S104 based on the image collected obtain destination object with
Second position information between movable equipment and/or image acquisition units, can specifically include following process:
Based on the default head portrait prestored, it is identified in the described image collected, it is thus achieved that recognition result；
When there is described targeted customer during described recognition result characterizes the image of described collection, determine that described target is used
The family second position in the described image collected；
According to the described second position, determine the second folder between the predeterminated position of the described second position and described acquisition range
Angle value.
Specifically, movable equipment is previously stored with the default head portrait of same user corresponding with presetting vocal print.Can move
First dynamic equipment carry out head portrait identification in the image collected, to extract the head portrait occurred in the image collected.Then,
The head portrait that will identify that and default head portrait carry out Characteristic Contrast, and calculate similarity.If similarity is not less than threshold value, then give birth to
Become to characterize the recognition result that there is targeted customer in the image gathered；If similarity is less than threshold value, or from the figure collected
In Xiang unidentified go out any head portrait, then generate to characterize the image gathered do not exist the recognition result of targeted customer.Threshold value is such as
It is 90%, 95% etc..
If the recognition result obtained characterizes to gather in image there is targeted customer, the most further from the image collected
In determine the second position of targeted customer.Then, it is determined that the angle differed between the second position and the predeterminated position of acquisition range
Degree, and using the angle that differs between the second position with predeterminated position as the second angle value.Default position in the embodiment of the present invention
Putting can be the optimal acquisition position in acquisition range, or centric acquisition position etc., the present invention is not particularly limited.
For example, refer to Fig. 3, for obtaining the principle schematic of second position information.Fig. 3 shows that a frame includes mesh
The image of mark user, targeted customer position in the images is exactly the second position.The predeterminated position assuming acquisition range is Fig. 3
The position that dashed rectangle is surrounded.Being calculated, the angle differed between the second position with predeterminated position is θ, therefore the second angle value
For θ.
Further, the first controls image acquisition units and enters the implementation of tracking mode, is to use unit at image
Dynamic rotate the first angle value after start to gather image, yet with calculating the error of the first angle value, or targeted customer exists
There occurs movement after producing the first audio-frequency information, all may be such that image acquisition units gathers not after rotating the first angle value
To the image comprising targeted customer.So, in conjunction with above-mentioned embodiment, based on the default head portrait prestored, adopt described
Collect to image in be identified, it is thus achieved that after recognition result, it is also possible to farther include:
When there is not described targeted customer during described recognition result characterizes the image of described collection, controlling described image and adopting
Collection unit or described band moving cell drive described image acquisition units to rotate the 3rd angle value.
Specifically, if after rotating the first angle value, from the image collected, identify fall short user, even know
Time not less than any user, then can finely tune the acquisition range of image acquisition units.Specifically, in embodiments of the present invention,
Control image acquisition units or drive finite element rotation the 3rd angle value, being specially and control image acquisition units or band moving cell
Forward and/or reverse rotation the 3rd angle value on reference rotational direction.
Reference rotational direction is one or more direction that collecting unit can rotate, and is for example, equilibrated at the earth
Direction, and/or be perpendicular to the earth direction etc..Forward and being reversed on reference rotational direction, two contrary rotation sides
To.For example, movable equipment is balance car, the image acquisition units of balance car can around wobble shaft, pitch axis and
Three sides of yaw axis are rotated up, and reference rotational direction is the rotation direction around yaw axis, and forward is for observe from top to bottom
During balance car yaw rotation, clockwise rotation direction, the most then be rotation direction counterclockwise.
It addition, in embodiments of the present invention, technical staff can select less angle value to be the 3rd angle value, such as
10 °, 5 ° etc., the present invention is not particularly limited.
The brightest control image acquisition units or band moving cell forward and/or reversely revolve on reference rotational direction
Turn the 3rd angle value.When there is not targeted customer in the image collected, control image acquisition units or band moving cell are just
To yaw rotation 5 °, or reversely yaw rotation 5 °, or forward yaw rotation 5 ° the most reversely yaw rotation 5 °.
If it can be seen that do not collect targeted customer after rotating the first angle value, then by rotating image acquisition list
Unit's the 3rd angle value finely tunes acquisition range, can improve the probability tracing into targeted customer.
Further, in conjunction with above-mentioned embodiment, after determining the second angle value, it is also possible to including:
Generate the second control information according to described second angle value, and control the information described image of control according to described second
Collecting unit or the second angle value described in the drive finite element rotation that described image acquisition units rotates can be driven.
Specifically, movable equipment, according to the second angle value, controls image acquisition units and rotates the second angle value, or
Band moving cell drives image acquisition units to rotate the second angle value, so that targeted customer is positioned at predeterminated position, in order to preferably
Follow the tracks of targeted customer.
Seen from the above description, generate the second control information according to the second angle value, and control information by figure based on second
As collecting unit rotates the second angle value, so that targeted customer can be positioned on predeterminated position, thus preferably follow the tracks of mesh
Mark user, improves and follows the tracks of efficiency.
In embodiments of the present invention, any number of in above-mentioned numerous embodiments can be combined with each other, and the most all ties
Closing, those skilled in the art can select according to actual, and the present invention is not particularly limited.For side
Just clearly demonstrating the technical scheme after numerous embodiments combines, movable equipment assumed below is specially balance car, enumerates
One detailed example illustrates.
Balance car in Fig. 4 a is said " coming " in position as shown in fig. 4 a by targeted customer.The microphone array of balance car
Collect first audio-frequency information of " coming ".Balance car judges the vocal print of the first audio-frequency information and default voice print matching, then enter one
Step analyzes semanteme, and then determines that targeted customer needs balance car to position user.So, further according in the first audio-frequency information
The primary importance information that the audio-frequency information that five mikes collect calculates between targeted customer and balance car is that Fig. 4 a illustrates
Dashed circle.According to primary importance information, determine between the acquisition range of targeted customer and present image collecting unit
One angle value is 120 °.Then, balance car controls The Cloud Terrace and rotates 120 °, and rotates 120 ° in image acquisition units, i.e. rotates to
Start behind position shown in Fig. 4 b to gather.
Then, balance car identifies targeted customer from the image collected, and according to targeted customer at the figure collected
The second position in Xiang, determines that targeted customer is 3 ° with the second angle value of the middle position of acquisition range.Therefore, control further
The Cloud Terrace processed rotates 3 °, so that targeted customer can be in middle position.
Based on inventive concept same with said method, present invention also offers a kind of device positioning user.Refer to figure
5, for positioning the apparatus structure schematic diagram of user in the embodiment of the present invention, this device includes:
First obtains and analyzes module 101, for obtaining the first audio frequency letter collected by described audio collection unit
Breath, and described first audio-frequency information is analyzed, it is thus achieved that analysis result；
First computing module 102, for described analysis result characterize described first audio-frequency information be used for indicating described can
When positioning of mobile equipment is to targeted customer, calculate described targeted customer and described movable equipment according to described first audio-frequency information
Between primary importance information；
First obtains and control module 103, for controlling parameter according to described primary importance information acquisition first, and according to
Described first controls movable equipment described in state modulator enters tracking mode；
First gathers and obtains module 104, for being in the described movable equipment of described tracking mode by described figure
As collecting unit gathers image, and obtain described targeted customer and described movable equipment and/or institute based on the image collected
State the second position information between image acquisition units.
Specifically, described first obtains and analyze module 101 is used for extracting the vocal print of described first audio-frequency information, and will
Described vocal print mates with default vocal print, to judge that whether described targeted customer is as validated user；When described vocal print is with described
When presetting voice print matching, described first audio-frequency information is carried out semantic analysis；When the semanteme analyzing described first audio-frequency information
During with preset instructions semantic matches, it is thus achieved that characterize the described analysis knot indicating described movable equipment to navigate to described targeted customer
Really.
Described first acquisition and control module 103, for according to described primary importance information, determine described image acquisition list
The current first angle value between acquisition range and described targeted customer of unit, and generate described first control based on described first angle value
Information processed；Control information according to described first, control described image acquisition units and rotate described first angle value, or control energy
Enough drive the first angle value described in the drive finite element rotation that described image acquisition units rotates；Described image acquisition units rotates institute
Control described image acquisition units after stating the first angle value and enter described tracking mode, or in rotary course, control described figure
As collecting unit enters described tracking mode.
Further, described first acquisition and control module 103 are additionally operable to when described image acquisition units is in rotary course
When being acquired, if collecting described targeted customer, then control described image acquisition units or described band moving cell stops
Rotate.
In conjunction with any one in above-mentioned embodiment, described first gathers and obtains module 104 for based on depositing in advance
The default head portrait of storage, is identified, it is thus achieved that recognition result in the described image collected；When described recognition result characterizes described
When the image gathered exists described targeted customer, determine described targeted customer second in the described image collected
Put；According to the described second position, determine the second angle value between the predeterminated position of the described second position and described acquisition range.
Further, the device of the location user in the embodiment of the present invention also includes:
Second generates and control module, between the predeterminated position determining the described second position and described acquisition range
The second angle value after, according to described second angle value generate second control information, and according to described second control information control
Make described image acquisition units or described image acquisition units can be driven to rotate drive finite element rotation described in the second angle
Value.
It addition, described first computing module 102 is for arranging position according to mike each in described microphone array,
And the audio-frequency information of the collection of at least three mike in described first audio-frequency information, calculate described targeted customer with described can
Described primary importance information between mobile device.
Beneficial effects of the present invention is as follows:
In embodiments of the present invention, it is thus achieved that the first audio-frequency information collected by audio collection unit, and to the first sound
Frequently information is analyzed, it is thus achieved that analysis result, characterizes the first audio-frequency information for indicating movable equipment to position in analysis result
During to targeted customer, calculate the primary importance information between targeted customer and equipment according to the first audio-frequency information, then according to the
One positional information obtains the first control parameter, and controls state modulator movable equipment entrance tracking mode according to first, is in
The movable equipment of tracking mode gathers image by image acquisition units, and based on the image that collects obtain destination object with
Second position information between movable equipment and/or image acquisition units.Visible, it is used for indicating can move at the first audio-frequency information
Primary importance information is first determined, the most again based on the image collected under tracking mode when dynamic equipment navigates to targeted customer
Obtain the second position information between targeted customer and movable equipment and/or image acquisition units, and then solve existing skill
The technical problem that Intraoperative position accuracy rate is the highest, it is achieved that improve the technique effect of location user's accuracy rate.
Obviously, those skilled in the art can carry out various change and the modification essence without deviating from the present invention to the present invention
God and scope.So, if these amendments of the present invention and modification belong to the scope of the claims in the present invention and equivalent technologies thereof
Within, then the present invention is also intended to comprise these change and modification.
Claims (14)
1. the method positioning user, is applied to movable equipment, and described movable equipment includes what microphone array formed
Audio collection unit, and image acquisition units, it is characterised in that described method includes:
Obtain the first audio-frequency information of being collected by described audio collection unit, and described first audio-frequency information is carried out point
Analysis, it is thus achieved that analysis result；
When described analysis result described first audio-frequency information of sign is used for indicating described movable equipment to navigate to targeted customer,
The primary importance information between described targeted customer and described movable equipment is calculated according to described first audio-frequency information；
Control parameter according to described primary importance information acquisition first, and control described in state modulator according to described first removable
Equipment enters tracking mode；
The described movable equipment being in described tracking mode gathers image by described image acquisition units, and based on collecting
Image obtain the second confidence between described targeted customer and described movable equipment and/or described image acquisition units
Breath.
2. the method for claim 1, it is characterised in that described first audio-frequency information is analyzed, it is thus achieved that analyze knot
Really, including:
Extract the vocal print of described first audio-frequency information, and described vocal print is mated with default vocal print, to judge described target
Whether user is validated user；
When described vocal print and described default voice print matching, described first audio-frequency information is carried out semantic analysis；
When analyzing semanteme and the preset instructions semantic matches of described first audio-frequency information, it is thus achieved that characterize instruction described removable
Equipment navigates to the described analysis result of described targeted customer.
3. the method for claim 1, it is characterised in that control parameter according to described primary importance information acquisition first,
Including:
According to described primary importance information, determine between the current acquisition range of described image acquisition units and described targeted customer
One angle value, and generate described first control information based on described first angle value；
Control movable equipment described in state modulator according to described first and enter tracking mode, including:
Control information according to described first, control described image acquisition units and rotate described first angle value, or control can
Drive the first angle value described in the drive finite element rotation that described image acquisition units rotates；Described image acquisition units rotates described
Control described image acquisition units after first angle value and enter described tracking mode, or in rotary course, control described image
Collecting unit enters described tracking mode.
4. method as claimed in claim 3, it is characterised in that described method also includes:
When described image acquisition units is acquired in rotary course, if collecting described targeted customer, then control institute
State image acquisition units or described band moving cell stops the rotation.
5. the method as described in any one of claim 1-4, it is characterised in that obtain described target pair based on the image collected
As the second position information between described movable equipment and/or described image acquisition units, including:
Based on the default head portrait prestored, it is identified in the described image collected, it is thus achieved that recognition result；
When there is described targeted customer during described recognition result characterizes the image of described collection, determine that described targeted customer exists
The second position in the described image collected；
According to the described second position, determine the second angle between the predeterminated position of the described second position and described acquisition range
Value.
6. method as claimed in claim 5, it is characterised in that determining presetting of the described second position and described acquisition range
After the second angle value between position, also include:
Generate the second control information according to described second angle value, and control the information described image acquisition of control according to described second
Unit or the second angle value described in the drive finite element rotation that described image acquisition units rotates can be driven.
7. the method for claim 1, it is characterised in that according to described first audio-frequency information calculate described targeted customer with
Primary importance information between described equipment, including:
According to the position that arranges of mike each in described microphone array, and at least three wheat in described first audio-frequency information
The audio-frequency information of the collection of gram wind, calculates the described primary importance information between described targeted customer and described movable equipment.
8. positioning the device of user, be applied to movable equipment, described movable equipment includes what microphone array formed
Audio collection unit, and image acquisition units, it is characterised in that described device includes:
First obtains and analyzes module, for obtaining the first audio-frequency information collected by described audio collection unit and right
Described first audio-frequency information is analyzed, it is thus achieved that analysis result；
First computing module, is used for indicating described movable equipment for characterizing described first audio-frequency information in described analysis result
When navigating to targeted customer, calculate the between described targeted customer and described movable equipment according to described first audio-frequency information
One positional information；
First obtains and control module, for controlling parameter according to described primary importance information acquisition first, and according to described the
One controls movable equipment described in state modulator enters tracking mode；
First gathers and obtains module, for being in the described movable equipment of described tracking mode by described image acquisition list
Unit gathers image, and adopts with described movable equipment and/or described image based on the image described targeted customer of acquisition collected
Second position information between collection unit.
9. device as claimed in claim 8, it is characterised in that described first obtains and analyze module is used for extracting described first
The vocal print of audio-frequency information, and described vocal print is mated with default vocal print, to judge whether described targeted customer is legal use
Family；When described vocal print and described default voice print matching, described first audio-frequency information is carried out semantic analysis；Described when analyzing
When the semanteme of the first audio-frequency information and preset instructions semantic matches, it is thus achieved that characterize and indicate described movable equipment to navigate to described mesh
The described analysis result of mark user.
10. device as claimed in claim 8, it is characterised in that described first obtains and control module is for according to described the
One positional information, determines the first angle value between the current acquisition range of described image acquisition units and described targeted customer, and base
Generate described first in described first angle value and control information；Control information according to described first, control described image acquisition list
Unit rotates described first angle value, or controls to drive described in the drive finite element rotation that described image acquisition units rotates the
One angle value；Described image acquisition units controls described image acquisition units and enters described tracking after rotating described first angle value
State, or in rotary course, control the described image acquisition units described tracking mode of entrance.
11. devices as claimed in claim 10, it is characterised in that described first acquisition and control module are additionally operable to when described figure
When being acquired in rotary course as collecting unit, if collecting described targeted customer, then control described image acquisition list
First or described band moving cell stops the rotation.
12. devices as described in any one of claim 8-11, it is characterised in that described first gathers and obtain module for base
In the default head portrait prestored, it is identified in the described image collected, it is thus achieved that recognition result；When described recognition result
Characterize time the image of described collection exists described targeted customer, determine that described targeted customer is in the described image collected
The second position；According to the described second position, determine between the predeterminated position of the described second position and described acquisition range
Two angle values.
13. devices as claimed in claim 12, it is characterised in that described device also includes:
Second generates and control module, for the between the predeterminated position determining the described second position and described acquisition range
After two angle values, generate the second control information according to described second angle value, and control institute according to described second control information
State image acquisition units or described image acquisition units can be driven to rotate drive finite element rotation described in the second angle value.
14. devices as claimed in claim 8, it is characterised in that described first computing module is for according to described microphone array
The audio frequency letter that the collection of at least three mike in position, and described first audio-frequency information is set of each mike in row
Breath, calculates the described primary importance information between described targeted customer and described movable equipment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610509282.7A CN106210511A (en) | 2016-06-30 | 2016-06-30 | A kind of method and apparatus positioning user |
| PCT/CN2017/089997 WO2018001198A1 (en) | 2016-06-30 | 2017-06-26 | Method and apparatus for positioning user, and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610509282.7A CN106210511A (en) | 2016-06-30 | 2016-06-30 | A kind of method and apparatus positioning user |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106210511A true CN106210511A (en) | 2016-12-07 |
Family
ID=57463848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610509282.7A Pending CN106210511A (en) | 2016-06-30 | 2016-06-30 | A kind of method and apparatus positioning user |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106210511A (en) |
| WO (1) | WO2018001198A1 (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106973160A (en) * | 2017-03-27 | 2017-07-21 | 广东小天才科技有限公司 | A kind of method for secret protection, device and equipment |
| WO2018001198A1 (en) * | 2016-06-30 | 2018-01-04 | 纳恩博（北京）科技有限公司 | Method and apparatus for positioning user, and computer storage medium |
| CN107918726A (en) * | 2017-10-18 | 2018-04-17 | 深圳市汉普电子技术开发有限公司 | Apart from inducing method, equipment and storage medium |
| CN108242007A (en) * | 2016-12-26 | 2018-07-03 | 纳恩博（北京）科技有限公司 | Service providing method and device |
| CN108376060A (en) * | 2018-02-23 | 2018-08-07 | Tcl通力电子（惠州）有限公司 | Voice control terminal rotating localization method, display terminal and readable storage medium storing program for executing |
| CN109065058A (en) * | 2018-09-30 | 2018-12-21 | 合肥鑫晟光电科技有限公司 | Voice communication method, apparatus and system |
| WO2019136808A1 (en) * | 2018-01-15 | 2019-07-18 | 深圳市沃特沃德股份有限公司 | Robot moving method, robot moving device, floor sweeping robot |
| WO2020042992A1 (en) * | 2018-08-29 | 2020-03-05 | 阿里巴巴集团控股有限公司 | Method, device, system and apparatus for voice processing, and medium |
| CN111343330A (en) * | 2019-03-29 | 2020-06-26 | 阿里巴巴集团控股有限公司 | Smart phone |
| CN111783628A (en) * | 2020-06-29 | 2020-10-16 | 珠海格力电器股份有限公司 | Position tracking method and device, electronic equipment and storage medium |
| CN115500740A (en) * | 2022-11-18 | 2022-12-23 | 科大讯飞股份有限公司 | Cleaning robot and cleaning robot control method |
| CN118016102A (en) * | 2024-04-08 | 2024-05-10 | 湖北经济学院 | Positioning method and device based on non-modulated sound signals |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009027626A (en) * | 2007-07-23 | 2009-02-05 | Canon Inc | Microphone device, video capturing device, and remote video capturing system |
| CN103841357A (en) * | 2012-11-21 | 2014-06-04 | 中兴通讯股份有限公司 | Microphone array sound source positioning method, device and system based on video tracking |
| WO2014109422A1 (en) * | 2013-01-09 | 2014-07-17 | 엘지전자 주식회사 | Voice tracking apparatus and control method therefor |
| CN104954673A (en) * | 2015-06-11 | 2015-09-30 | 广东欧珀移动通信有限公司 | Camera rotating control method and user terminal |
| CN104967777A (en) * | 2015-06-11 | 2015-10-07 | 广东欧珀移动通信有限公司 | Method for controlling camera to carry out photographing, and terminal |
| CN105278380A (en) * | 2015-10-30 | 2016-01-27 | 小米科技有限责任公司 | Control method and device of intelligent device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008087140A (en) * | 2006-10-05 | 2008-04-17 | Toyota Motor Corp | Speech recognition robot and control method of speech recognition robot |
| CN103902963B (en) * | 2012-12-28 | 2017-06-20 | 联想(北京)有限公司 | The method and electronic equipment in a kind of identification orientation and identity |
| CN105116920B (en) * | 2015-07-07 | 2018-07-10 | 百度在线网络技术（北京）有限公司 | Intelligent robot method for tracing, device and intelligent robot based on artificial intelligence |
| CN105929827B (en) * | 2016-05-20 | 2020-03-10 | 北京地平线机器人技术研发有限公司 | Mobile robot and positioning method thereof |
| CN106096373A (en) * | 2016-06-27 | 2016-11-09 | 旗瀚科技股份有限公司 | The exchange method of robot and user and device |
| CN106203259A (en) * | 2016-06-27 | 2016-12-07 | 旗瀚科技股份有限公司 | The mutual direction regulating method of robot and device |
| CN106210511A (en) * | 2016-06-30 | 2016-12-07 | 纳恩博（北京）科技有限公司 | A kind of method and apparatus positioning user |
-
2016
- 2016-06-30 CN CN201610509282.7A patent/CN106210511A/en active Pending
-
2017
- 2017-06-26 WO PCT/CN2017/089997 patent/WO2018001198A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009027626A (en) * | 2007-07-23 | 2009-02-05 | Canon Inc | Microphone device, video capturing device, and remote video capturing system |
| CN103841357A (en) * | 2012-11-21 | 2014-06-04 | 中兴通讯股份有限公司 | Microphone array sound source positioning method, device and system based on video tracking |
| WO2014109422A1 (en) * | 2013-01-09 | 2014-07-17 | 엘지전자 주식회사 | Voice tracking apparatus and control method therefor |
| CN104954673A (en) * | 2015-06-11 | 2015-09-30 | 广东欧珀移动通信有限公司 | Camera rotating control method and user terminal |
| CN104967777A (en) * | 2015-06-11 | 2015-10-07 | 广东欧珀移动通信有限公司 | Method for controlling camera to carry out photographing, and terminal |
| CN105278380A (en) * | 2015-10-30 | 2016-01-27 | 小米科技有限责任公司 | Control method and device of intelligent device |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018001198A1 (en) * | 2016-06-30 | 2018-01-04 | 纳恩博（北京）科技有限公司 | Method and apparatus for positioning user, and computer storage medium |
| CN108242007A (en) * | 2016-12-26 | 2018-07-03 | 纳恩博（北京）科技有限公司 | Service providing method and device |
| CN108242007B (en) * | 2016-12-26 | 2022-01-25 | 纳恩博（北京）科技有限公司 | Service providing method and device |
| CN106973160A (en) * | 2017-03-27 | 2017-07-21 | 广东小天才科技有限公司 | A kind of method for secret protection, device and equipment |
| CN107918726A (en) * | 2017-10-18 | 2018-04-17 | 深圳市汉普电子技术开发有限公司 | Apart from inducing method, equipment and storage medium |
| WO2019136808A1 (en) * | 2018-01-15 | 2019-07-18 | 深圳市沃特沃德股份有限公司 | Robot moving method, robot moving device, floor sweeping robot |
| CN108376060A (en) * | 2018-02-23 | 2018-08-07 | Tcl通力电子（惠州）有限公司 | Voice control terminal rotating localization method, display terminal and readable storage medium storing program for executing |
| WO2020042992A1 (en) * | 2018-08-29 | 2020-03-05 | 阿里巴巴集团控股有限公司 | Method, device, system and apparatus for voice processing, and medium |
| CN110875053A (en) * | 2018-08-29 | 2020-03-10 | 阿里巴巴集团控股有限公司 | Method, apparatus, system, device and medium for speech processing |
| US11887605B2 (en) | 2018-08-29 | 2024-01-30 | Alibaba Group Holding Limited | Voice processing |
| US10873661B2 (en) | 2018-09-30 | 2020-12-22 | Hefei Xinsheng Optoelectronics Technology Co., Ltd. | Voice communication method, voice communication apparatus, and voice communication system |
| CN109065058A (en) * | 2018-09-30 | 2018-12-21 | 合肥鑫晟光电科技有限公司 | Voice communication method, apparatus and system |
| CN109065058B (en) * | 2018-09-30 | 2024-03-15 | 合肥鑫晟光电科技有限公司 | Voice communication method, device and system |
| CN111343330A (en) * | 2019-03-29 | 2020-06-26 | 阿里巴巴集团控股有限公司 | Smart phone |
| CN111783628A (en) * | 2020-06-29 | 2020-10-16 | 珠海格力电器股份有限公司 | Position tracking method and device, electronic equipment and storage medium |
| CN115500740A (en) * | 2022-11-18 | 2022-12-23 | 科大讯飞股份有限公司 | Cleaning robot and cleaning robot control method |
| CN118016102A (en) * | 2024-04-08 | 2024-05-10 | 湖北经济学院 | Positioning method and device based on non-modulated sound signals |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018001198A1 (en) | 2018-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106210511A (en) | A kind of method and apparatus positioning user | |
| CN107121690B (en) | A kind of dwell point recognition methods and device based on parameter of doing more physical exercises | |
| CN107643509B (en) | Localization method, positioning system and terminal device | |
| US20210207974A1 (en) | System and Method Associated with Expedient Determination of Location of One or More Object(s) Within a Bounded Perimeter of 3D Space Based on Mapping and Navigation to a Precise POI Destination Using a Smart Laser Pointer Device | |
| Xiao et al. | Transportation activity analysis using smartphones | |
| CN105979442B (en) | Noise suppressing method, device and movable equipment | |
| US8504288B2 (en) | Quality control of mapping data | |
| CN104240606B (en) | The adjusting method of display device and display device viewing angle | |
| CN103718125B (en) | Finding a called party | |
| CN105806345B (en) | A kind of initialization positioning method for Intelligent Mobile Robot laser navigation | |
| CN104299541B (en) | Intelligent guide system and method based on mobile Internet platform | |
| CN105573498B (en) | A kind of gesture identification method based on Wi-Fi signal | |
| CN104065798A (en) | Sound signal processing method and device | |
| CN105931263A (en) | Target tracking method and electronic equipment | |
| US9591229B2 (en) | Image tracking control method, control device, and control equipment | |
| CN108226862A (en) | A kind of portable equipment, beacon and navigation system | |
| CN107767685A (en) | One kind seeks car system and method | |
| CN105975967A (en) | Target positioning method and system | |
| CN108551619A (en) | Intelligent positioning sound system and its exchange method | |
| CN106125042A (en) | Carry out method and the electronic installation positioned | |
| CN109955248A (en) | A kind of robot and its face follower method | |
| CN106412808A (en) | Positioning search method and apparatus thereof | |
| CN108810802A (en) | A kind of parking garage vehicle positioning method based on iBeacon | |
| CN108363041A (en) | Unmanned plane sound localization method based on K mean cluster iteration | |
| CN106826867A (en) | A kind of method that robot and control robot head are rotated |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161207 |
|
| RJ01 | Rejection of invention patent application after publication |