CN108445881A - People's method and robot are looked for by a kind of robot - Google Patents
People's method and robot are looked for by a kind of robot Download PDFInfo
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- CN108445881A CN108445881A CN201810219259.3A CN201810219259A CN108445881A CN 108445881 A CN108445881 A CN 108445881A CN 201810219259 A CN201810219259 A CN 201810219259A CN 108445881 A CN108445881 A CN 108445881A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 238000004458 analytical method Methods 0.000 claims abstract description 3
- 230000001815 facial effect Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 5
- 230000007306 turnover Effects 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 5
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- 238000012545 processing Methods 0.000 description 4
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- 238000013461 design Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present embodiments relate to smart machine field, disclose a kind of robot looks for people's method and robot.In the present invention, people's method is looked for by robot, is applied to a kind of movable machine people, including：Moving area is determined according to predeterminated position；It is moved in moving area, collects image information；The collected image information of analysis；If being found from collected image information and the matched image information of the identification feature of people to be looked for, direction of travel and movement are determined according to the matched image information of institute, the position where reaching the people to be looked for；Position to where people to be looked for described in the user terminal transmission bound with the robot so that user is quickly found out people to be looked under the premise of only knowing approximate location.
Description
Technical field
The present embodiments relate to smart machine field, more particularly to smart machine looks for people's technology.
Background technology
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of advance layout, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.Social now, robot enters family, is
It is trend of the times that household, which carries out service, and robot can provide various types of services in the family, such as vehicle caring service, clothes of running errands
It is engaged in, the service of cooking etc., and due to the rapid development of artificial intelligence, robot is able to carry out more and more complex works.
In modern city, the social scope of people is often concentrated in a few a regions, when being met with people, it is often found that,
Although meeting place, possible position can not be refined instruction, may pedestrian it is excessive, may site environment it is complicated,
It causes meeting place even if simultaneously, it is also possible to it is difficult to encounter.The especially places such as station, market, these are particularly problematic,
Even if at the scene by telephonic communication, it also is difficult to describe sometimes clear.
Invention content
Embodiment of the present invention be designed to provide a kind of robot look for people's method and robot so that user is only
Under the premise of knowing approximate location, it is quickly found out people to be looked for.
In order to solve the above technical problems, embodiments of the present invention provide a kind of robot look for people's method, be applied to
A kind of movable machine people, including：Moving area is determined according to predeterminated position；It is moved in moving area, collects image letter
Breath；The collected image information of analysis；If being found from collected image information and the identification feature of people to be looked for
The image information matched then determines direction of travel and movement according to the matched image information of institute, where reaching the people to be looked for
Position；Position to where people to be looked for described in the user terminal transmission bound with the robot.
Embodiments of the present invention additionally provide a kind of robot, including：At least one processor；And with it is described extremely
The memory of few processor communication connection；Wherein, the memory, which is stored with, to be executed by least one processor
Instruction, described instruction is executed by least one processor, so that at least one processor is able to carry out as above-mentioned
Robot look for people's method.
Embodiments of the present invention additionally provide a kind of computer readable storage medium, are stored with computer program, described
That above-mentioned robot is realized when computer program is executed by processor looks for people's method.
In terms of existing technologies, the main distinction and its effect are embodiment of the present invention：Movable machine people
It is moved in moving area, and collects surrounding image information in the process of moving, then the information being collected into is analyzed
Processing, therefrom matches the information for meeting people's identification feature to be looked for, once it is matched to the information met, you can know people's to be looked for
Orientation, as the moving direction of robot, until reaching the position where people to be looked for.The position of people to be looked for can be sent later
To user, people to be looked for is found as early as possible thereby using family.As it can be seen that embodiment of the present invention makes user only know approximate location
Under the premise of, it is quickly found out people to be looked for.
As a further improvement, it is described to the user terminal bound with robot send described in position where people to be looked for it
Afterwards, further include：Position where people to be looked for described in planning and the route between the user terminal position.Further limit machine
Device people is obtaining behind the position for looking for people, can obtain the route between user, is sought convenient for people to be looked for or the mutual of user
It looks for.
As a further improvement, the position planned where people to be looked for and the route between the user terminal position
Later, further include：Voice guidance message is sent according to the route.Also transmittable voice guidance message is limited, then people to be looked for
It can be according to voice guide so that user further easily finds people to be looked for.
As a further improvement, determining moving area according to predeterminated position, specially：Receive look for people to instruct when, with
Position is starting point, and the region for being determined for compliance with preset condition is the moving area.Further limit moving area really
Determine method, meet actual demand, method of determination is flexible.
As a further improvement, the preset condition is to be less than or equal to preset value at a distance from the starting point.With
Small range searching is carried out around the position of family, since the nigh probability of people to be looked for is higher, so small range searching is more easy to
It is quickly obtained the image information of people to be looked for.
As a further improvement, further including：If continue preset duration do not found from collected image information with
The matched image information of identification feature of people to be looked for, then be moved to predeterminated position.Further limiting can not look for after the duration
To when looking for people, being returned to preset position.
As a further improvement, the predeterminated position is the position where the user terminal bound with the robot
It sets.The position for further limiting robot return is the position where user.
As a further improvement, the identification feature is：Facial image.It can be fast using facial image as identification feature
Speed is efficiently matched to people to be looked for according to the image information being collected into.
Description of the drawings
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element with same reference numbers label is expressed as similar element in attached drawing, removes
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is to look for people's method flow diagram according to the robot in first embodiment of the invention；
Fig. 2 is the position for looking for robot and people to be looked in people's method according to the robot in first embodiment of the invention
Relational graph；
Fig. 3 is to look for people's method flow diagram according to the robot in third embodiment of the invention；
Fig. 4 is the structural schematic diagram according to the smart machine in four embodiment of the invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, in order to make the reader understand this application better, many technical details are proposed.But even if without these technical details
And various changes and modifications based on the following respective embodiments, it can also realize the application technical solution claimed.
People's method is looked for the first embodiment of the present invention is related to a kind of robot.
Robot in present embodiment looks for people's method to be applied to a kind of movable machine people, robot and a user
Terminal is bound, which can be the user terminal of affiliated robot owner, and user terminal can be mobile phone, remote controler
Deng.Robot in present embodiment looks for the flow of people's method as shown in Figure 1, specific as follows：
Step 101, moving area is determined according to predeterminated position.
Specifically, predeterminated position can be a specific position, the position where such as starting point or user terminal.
More specifically, during looking for people, user can also move, then according to the position where user terminal, robot can
To understand the accurate location where user.
In present embodiment can receive look for people to instruct when, using position as starting point, be determined for compliance with default item
The region of part is moving area.Wherein, the region for meeting preset condition can be to be less than or equal to preset at a distance from starting point
The region of value.
In practical application, user can find with robot in the same area, accelerate hunting speed, acceptable and robot
It is found in different zones, expands and find region, hunting speed can also be accelerated.
Step 102, it is moved in moving area, collects image information.
Specifically, robot can utilize various traveling forms, such as straight line travelling, spiral in moving process
Travelling can be arranged according to user's actual need.Furtherly, image information is collected while mobile by robot, can be with
Image information is collected using the camera module of built in machine people, when moving, robot can also rotate simultaneously, in the same of rotation
When collect image information, to expand search area as far as possible.
Step 103, collected image information is analyzed.
Specifically, mobile phone to image information can be single frames still image, can also be video image, it is specific right
Image carries out analyzing processing, and details are not described herein.
Step 104, judge from collected image information, if find and the identification feature of people to be looked for is matched
Image information；If so, thening follow the steps 105；If it is not, then returning to step 104.
Specifically, it is searched in the image information being collected into, it is determined whether exist and matched with the identification feature of people to be looked for
Image information, the identification feature in present embodiment can be facial image, due to looking in the environment of people, it is understood that there may be more
Passerby can quickly identify people to be looked for, quick and precisely using facial image from crowd at this time.
Step 105, direction of travel and movement are determined according to the matched image information of institute, the position where reaching people to be looked for
It sets.
Specifically, when the camera module of robot shoots front, once in the image 21 taken
People to be looked for is identified, as long as then position according to people to be looked in the picture, you can determine that the orientation of people to be looked for and robot is closed
System, the orientation that the left margin and right margin of image correspond to robot respectively can determine according to the shooting angle of camera module, such as
30 degree etc., so the different direction that different location on the image can correspond to robot occurs in people to be looked for, which is machine
Direction of travel after device people.As shown in Fig. 2, the image of people such as to be looked for is located at 230 position, then people to be looked for is opposite in machine
The front of people, so direction of travel is the straight line where 220, the image of people such as to be looked for is located at 231 position, then waiting looking for
People is opposite in the left front of robot, so direction of travel is the straight line where 221, if the image of people to be looked for is positioned at 232
Position, then people to be looked for is opposite in the right front of robot, so direction of travel is the straight line where 222, other are not another
One enumerates.
More specifically, once identifying people to be looked for, the moving direction of robot is just moved according to determining direction of travel,
It is equivalent to the pattern for entering proximal to people to be looked for.
It should also be noted that, after determining direction of travel, still carries out image information and be collected and analyze, determine row
Into direction, the position where reaching people to be looked for.When robot is constantly close to when looking for people, the facial image of people to be looked for is being received
The accounting in image information collected can be increasing, can be with according to the movement speed of robot and the variation of the accounting of facial image
The distance of robot and people to be looked for is determined, so that it is determined that whether robot has come to the position where people to be looked for, specific algorithm
It repeats no more.
Step 106, to the position sent with the user terminal that robot is bound where people to be looked for.
Specifically, the position where robot reaches people to be looked for, so that it may using by the position where its own as waiting for
The position where people is looked for, and the position is sent to user, the position of people to be looked for is confirmed for user.In practical application, in user
Understand after the accurate location for looking for people, can actively go to the position of people to be looked for, it is convenient and efficient.
In terms of existing technologies, the main distinction and its effect are present embodiment：Movable machine people is moving
It is moved in dynamic region, and collects surrounding image information in the process of moving, analyzing processing then is carried out to the information being collected into,
The information for meeting people's identification feature to be looked for therefrom is matched, once it is matched to the information met, you can know the orientation of people to be looked for,
As the moving direction of robot, until reaching the position where people to be looked for.The position of people to be looked for can be sent to use later
People to be looked for is found at family thereby using family as early as possible.As it can be seen that present embodiment makes user under the premise of only knowing approximate location,
It is quickly found out people to be looked for.In addition, using position when people being looked for instruct is being received as starting point, turnover zone delimited out
Domain is found by robot emphasis, convenient for faster finding people to be looked for.
What second embodiment of the present invention was related to a kind of robot looks for people's method.Second embodiment is implemented first
It is further improved on the basis of mode, mainly thes improvement is that：In second embodiment of the invention, for user and wait for
The step of looking for people's programme path, convenient for the mutual searching of people to be looked for or user.
People's method flow diagram is looked for as shown in figure 3, specific as follows by robot in present embodiment：
Step 301 is similar to step 106 with step 101 in first embodiment to step 306 in present embodiment,
This is repeated no more.
Step 307, the position where people to be looked for and the route between user terminal position are planned.
Specifically, the map programme path that prestores can be utilized, in practical application, the route cooked up can be by aobvious
Display screen is shown, can also be sent to default terminal of setting, etc..In present embodiment, voice can also be sent according to route
Guidance information helps people to be looked for advance to the position where user.Since during looking for people, user and people to be looked for may
Shift position, it is possible to pass through the updating location information route obtained in real time so that user more quickly finds people to be looked for.
Obtained behind the position for looking for people as it can be seen that present embodiment further limits robot, can obtain with user it
Between route, convenient for the mutual searching of people to be looked for or user.Meanwhile also transmittable voice guidance message is limited, then waiting looking for
People can be according to voice guide so that user further easily finds people to be looked for.
What third embodiment of the present invention was related to a kind of robot looks for people's method.Third embodiment is implemented first
It is further improved on the basis of mode, mainly thes improvement is that：In third embodiment of the invention, robot is increased newly
Return mechanisms, more meet the actual demand of user.
Specifically, during judging from collected image information, if do not found, continuation can be returned
It searches, in present embodiment, during returning to lasting judgement, duration can be further judged, if persistently looked into
The overlong time that can not find, it is determined that can not find, return to predeterminated position, no longer need to look for.If that is, continuing preset duration
It does not find from collected image information and the matched image information of the identification feature of people to be looked for, is then moved to default position
It sets.In practical application, the judgment basis for being determined as can not find can also be used as by the number of return, no longer arranged one by one herein
It lifts.
Furtherly, the predeterminated position in present embodiment is the position where the user terminal bound with robot.It is real
In the application of border, predeterminated position can also be a scheduled specific position, such as starting point.
As it can be seen that present embodiment can not be found after being limited to the duration when looking for people, it is returned to preset position.
The step of various methods divide above, be intended merely to describe it is clear, when realization can be merged into a step or
Certain steps are split, multiple steps are decomposed into, as long as including identical logical relation, all in the protection domain of this patent
It is interior；To either adding inessential modification in algorithm in flow or introducing inessential design, but its algorithm is not changed
Core design with flow is all in the protection domain of the patent.
Four embodiment of the invention is related to a kind of robot, as shown in figure 4, including：
At least one processor；And the memory being connect at least one processor communication；Wherein, memory stores
There is the instruction that can be executed by least one processor, instruction is executed by least one processor, so that at least one processor energy
People's method is looked for by any one robot mentioned in enough execution such as first embodiment to third embodiment.
Wherein, memory is connected with processor using bus mode, and bus may include the bus of any number of interconnection
And one or more processors and the various of memory are electrically connected to together by bridge, bus.Bus can also will be such as peripheral
The various other of equipment, voltage-stablizer and management circuit or the like are electrically connected to together, these are all well known in the art
, therefore, it will not be further described herein.Bus interface provides interface between bus and transceiver.Transceiver
Can be an element, can also be multiple element, such as multiple receivers and transmitter, provide for over a transmission medium with
The unit of various other device communications.The data handled through processor are transmitted on the radio medium by antenna, further,
Antenna also receives data and transfers data to processor.
Processor is responsible for bus and common processing, can also provide various functions, including periodically, peripheral interface,
Voltage adjusting, power management and other control functions.And memory can be used to store processor and execute operation when institute
The data used.
Fifth embodiment of the invention is related to a kind of computer readable storage medium, is stored with computer program.Computer
Above method embodiment is realized when program is executed by processor.
That is, it will be understood by those skilled in the art that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program, which is stored in a storage medium, including some instructions are making
It obtains an equipment (can be microcontroller, chip etc.) or processor (processor) executes each embodiment method of the application
All or part of step.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. people's method is looked for by a kind of robot, which is characterized in that it is applied to a kind of movable machine people, including：
Moving area is determined according to predeterminated position；
It is moved in the moving area, collects image information；
The collected image information of analysis；
If being found from collected image information and the matched image information of the identification feature of people to be looked for, according to institute
The image information matched determines direction of travel and movement, the position where people to be looked for described in arrival；
Position to where people to be looked for described in the user terminal transmission bound with the robot.
2. people's method is looked for by robot according to claim 1, which is characterized in that described to the user bound with robot
After position where people to be looked for described in terminal transmission, further include：
Position where people to be looked for described in planning and the route between the user terminal position.
3. people's method is looked for by robot according to claim 2, which is characterized in that the position planned where people to be looked for
After route between the user terminal position, further include：
Voice guidance message is sent according to the route.
4. people's method is looked for by robot according to claim 1, which is characterized in that described determined according to predeterminated position is moved
Region, specially：
Receive look for people to instruct when, using position as starting point, be determined for compliance with preset condition region be the turnover zone
Domain.
5. people's method is looked for by robot according to claim 4, which is characterized in that the preset condition be and the starting
The distance of point is less than or equal to preset value.
6. people's method is looked for by robot according to claim 1, which is characterized in that further include：If continuing preset duration not
It is found from collected image information and the matched image information of the identification feature of people to be looked for, is then moved to default position
It sets.
7. people's method is looked for by robot according to claim 6, which is characterized in that the predeterminated position be and the machine
Position where the user terminal of people's binding.
8. people's method is looked for by robot according to claim 1, which is characterized in that the identification feature is：Facial image.
9. a kind of robot, which is characterized in that including：
At least one processor；And
The memory being connect at least one processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one processor, and described instruction is by least one place
Device is managed to execute so that at least one processor be able to carry out the robot as described in any in claim 1 to 8 look for people
Method.
10. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the computer program is located
That robot described in any item of the claim 1 to 8 is realized when reason device execution looks for people's method.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810219259.3A CN108445881A (en) | 2018-03-16 | 2018-03-16 | People's method and robot are looked for by a kind of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810219259.3A CN108445881A (en) | 2018-03-16 | 2018-03-16 | People's method and robot are looked for by a kind of robot |
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| CN112008735A (en) * | 2020-08-24 | 2020-12-01 | 北京云迹科技有限公司 | Tour robot-based rescue method, device and system |
| CN115709468A (en) * | 2022-11-16 | 2023-02-24 | 京东方科技集团股份有限公司 | Guide control method and device, electronic equipment and readable storage medium |
| CN115963825A (en) * | 2022-12-23 | 2023-04-14 | 美的集团(上海)有限公司 | Intelligent device, control method and device thereof, and computer program product |
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