CN109710326B - Robot awakening method, device, equipment and medium - Google Patents
Robot awakening method, device, equipment and medium Download PDFInfo
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- CN109710326B CN109710326B CN201811646288.4A CN201811646288A CN109710326B CN 109710326 B CN109710326 B CN 109710326B CN 201811646288 A CN201811646288 A CN 201811646288A CN 109710326 B CN109710326 B CN 109710326B
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Abstract
The embodiment of the invention discloses a robot awakening method which is used for improving the awakening success rate of a robot. The robot awakening method comprises the following steps: acquiring image data of the surrounding environment of the robot; if a face image is detected in the image data and the detected face image does not meet a preset identification standard, and the face image is detected in the acquired image data within a preset time, awakening the robot after the preset time is over.
Description
Technical Field
The invention relates to the field of artificial intelligence, in particular to a robot awakening method, device, equipment and medium.
Background
With the development of artificial intelligence, robots are popularized and used in various fields in people's lives, and with the improvement of the degree of intelligence of robots, the interaction between the robots and users becomes more and more important.
When a user interacts with a robot, the user needs to use a specific awakening word or a human face to awaken the robot, in the prior art, due to the reason that the environment where the user is shot is insufficient, for example, the illumination intensity is insufficient, the shooting user is moving, and the like, the human face image acquired by the robot may not meet the identification standard, so that awakening failure is caused, and normal interaction between the user and the robot is influenced.
Disclosure of Invention
The embodiment of the invention provides a robot awakening method, device, equipment and medium, which are used for improving the awakening success rate of a robot.
In a first aspect, an embodiment of the present invention provides a robot wake-up method, including:
acquiring image data of the surrounding environment of the robot;
if the face image is detected in the image data and the detected face image does not meet the preset identification standard, and the face image is detected in the acquired image data within the preset time, awakening the robot after the preset time is over.
In a possible implementation manner, the method provided by an embodiment of the present invention further includes: and distributing an identifier for the face image, and reporting the identifier to a server.
In a possible implementation manner, the method provided by an embodiment of the present invention further includes: and controlling the robot to output the first voice information.
In a possible implementation manner, the method provided by an embodiment of the present invention further includes:
and if any face image in the acquired image data meets the preset identification standard at any moment in the preset time length, awakening the robot.
In a possible implementation manner, in the above method provided by an embodiment of the present invention, after determining that any face image in the acquired image data meets a preset recognition standard at any time within a preset time length and waking up the robot, the method further includes:
uploading image data meeting a preset identification standard to a server;
receiving a face recognition result of the image data returned by the server;
and controlling the robot to output second voice information according to the face recognition result.
In a possible implementation manner, the method provided by an embodiment of the present invention further includes:
if the face image is detected in the image data, the detected face image does not meet the preset identification standard, and the face image is not detected in the image data acquired at any time within the preset time, the robot is not awakened after the preset time.
In a possible implementation manner, an embodiment of the present invention provides the above method, wherein the detection of the face image in the image data is determined according to the following manner:
inputting the image data into a face detection model, and determining that a face image is detected in the image data according to the output of the face detection model; or
And if at least one face key point is detected in the image data, determining that a face image is detected in the image data.
In a possible implementation manner, in the foregoing method provided by an embodiment of the present invention, the presetting the identification criterion includes: and obtaining a characteristic value corresponding to the face image according to the image data.
In a possible implementation manner, an embodiment of the present invention provides the method, after acquiring image data of an environment around the robot, further including:
adjusting parameter information of the image data;
detecting a face image in the adjusted image data and judging whether the detected face image meets a preset identification standard.
In a second aspect, an embodiment of the present invention provides a robot wake-up apparatus, including:
an acquisition unit configured to acquire image data of an environment around the robot;
and the processing unit is used for detecting the face image in the image data, wherein the detected face image does not meet the preset identification standard, and the face image is detected in the acquired image data within the preset time length later, and awakening the robot after the preset time length is finished.
In a possible implementation manner, in the above apparatus provided by an embodiment of the present invention, the apparatus further includes:
the identification distribution unit is used for distributing identifications for the face images;
and the first sending unit is used for reporting the identifier to the server.
In a possible implementation manner, in the above apparatus provided by an embodiment of the present invention, the apparatus further includes:
and the first control unit is used for controlling the robot to output the first voice information.
In a possible implementation manner, an embodiment of the present invention provides the apparatus, wherein the processing unit is further configured to:
and if any face image in the acquired image data meets the preset identification standard at any moment in the preset time length, awakening the robot.
In a possible implementation manner, in the above apparatus provided by an embodiment of the present invention, the apparatus further includes:
the second sending unit is used for uploading the image data meeting the preset identification standard to the server;
the receiving unit is used for receiving a face recognition result of the image data returned by the server;
and the second control unit is used for controlling the robot to output second voice information according to the face recognition result.
In a possible implementation manner, an embodiment of the present invention provides the apparatus, wherein the processing unit is further configured to:
if the face image is detected in the image data, the detected face image does not meet the preset identification standard, and the face image is not detected in the image data acquired at any time within the preset time, the robot is not awakened after the preset time.
In a possible implementation manner, an embodiment of the present invention provides the apparatus, wherein the processing unit determines that a face image is detected in the image data according to the following manner:
inputting the image data into a face detection model, and determining that a face image is detected in the image data according to the output of the face detection model; or
And if at least one face key point is detected in the image data, determining that a face image is detected in the image data.
In a possible implementation manner, in the apparatus provided by an embodiment of the present invention, the presetting of the identification criterion includes: and obtaining a characteristic value corresponding to the face image according to the image data.
In a possible implementation manner, in the above apparatus provided by an embodiment of the present invention, the apparatus further includes:
a parameter adjusting unit for adjusting parameter information of the image data;
the processing unit is specifically configured to: detecting a face image in the adjusted image data and judging whether the detected face image meets a preset identification standard.
In a third aspect, an embodiment of the present invention provides an electronic device, including: at least one processor, at least one memory, and computer program instructions stored in the memory, which when executed by the processor, implement the method provided by the first aspect of an embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions are stored, which, when executed by a processor, implement the method provided by the first aspect of the embodiment of the present invention.
The embodiment of the invention provides a robot awakening method, a device, equipment and a medium, wherein image data of a surrounding environment is obtained, a human face image is detected in the image data, the detected human face image does not meet a preset identification standard, and the human face image is detected in the image data obtained within a preset time, after the preset time is over, the robot is awakened, namely, even if the human face image detected in the image data does not meet the preset identification standard, if the image data obtained within the preset time comprises the human face image, the object to which the human face image belongs has an interaction intention, the robot is still awakened, compared with the awakening failure caused by the fact that the human face image does not meet the identification standard in the prior art, the robot is still awakened when the image data acquired due to light and the like does not meet the preset identification standard, the awakening success rate of the robot is improved.
Drawings
Fig. 1 is a schematic flowchart of a robot wake-up method according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a specific flow of a robot wake-up method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a robot wake-up apparatus according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The following describes specific embodiments of a robot wake-up method, device, apparatus, and medium according to embodiments of the present invention in detail with reference to the accompanying drawings.
As shown in fig. 1, a robot wake-up method provided in an embodiment of the present invention may include the following steps:
In specific implementation, when image data of an environment around the robot is acquired, the image data may be acquired in real time by a camera configured on the robot, the image data in one direction may be acquired all the time, and the image data in multiple directions may also be acquired by adjusting the direction or the elevation angle of the camera.
Specifically, when image data of the environment around the robot is acquired, the image data may be acquired in real time or may be acquired periodically (for example, acquired every 10 milliseconds), which is not limited in the embodiment of the present invention.
And 102, if a face image is detected in the image data and the detected face image does not meet a preset identification standard and the face image is detected in the acquired image data within a preset time, waking up the robot after the preset time.
In specific implementation, whether the image data comprises the face image or not is determined, if the image data comprises the face image and the detected face image does not meet the preset identification standard, whether the acquired image data comprises the face image or not and whether the face image meets the preset identification standard or not are continuously detected within the preset time.
Continuously detecting whether the acquired image data all contain the face image and whether the face image meets a preset identification standard within a preset time length, the following three conditions may occur:
firstly, if the face image is detected in the image data obtained by continuous detection within the preset time length, but the detected face image does not meet the preset identification standard all the time, the robot is awakened after the preset time length is over.
In this case, after the face image is detected in the acquired image data, since the face image does not satisfy the preset recognition standard, for example, is far away, the feature value of the face image cannot be calculated, in order to further determine whether the object corresponding to the face image has an interaction intention, it is necessary to determine whether the face image can be detected all the time within a preset time period, if the face image of the object can be detected all the time, although the face image of the object in the preset time period does not satisfy the preset recognition standard all the time, it is indicated that the user has the possible interaction intention, how to interact is unknown, and any face image satisfying the preset recognition standard is not detected from the acquired image data within the preset time period, in this case, the robot is also woken up even though no face image satisfying the preset recognition standard is detected, thereby increasing the interaction probability.
Secondly, if the human face images are detected in the image data obtained by continuous detection within the preset time length, and any human face image in the obtained image data is determined to meet the preset identification standard at any moment within the preset time length, the robot is directly awakened.
In this case, the face image meeting the preset identification standard may be a previously detected face image that does not meet the preset identification standard, that is, the previously detected face image that does not meet the preset identification standard meets the preset identification standard at any time within the preset duration, or may be another face image detected from the image data, which is not limited in the embodiment of the present invention. In this case, the robot is awakened normally.
If the human face image is not detected in the image data acquired at any time within the preset time, the robot is not awakened after the preset time.
In this case, after the face image of a certain user is detected, the user may leave quickly, and at this time, the face image of the user cannot be detected, which indicates that the user does not have an interactive intention, so that the robot is not awakened in the scene, so as to avoid mistaken awakening.
The preset time length may be set according to a requirement or an empirical value of an actual application scenario, which is not limited in the embodiment of the present invention, for example, the preset time length is 3 seconds(s).
Of course, it should be noted that, when determining whether the image data includes a face image, if the image data includes a face image of any object and the detected face image meets the preset identification standard, the robot is directly awakened.
It should be noted that, when a plurality of face images are detected in the image data, if any one of the face images in the plurality of face images meets a preset identification standard, the robot is directly awakened; if the plurality of face images do not meet the preset identification standard, continuously detecting whether the acquired image data comprises the detected face images and whether each face image meets the preset identification standard within a preset time (the detected face images individually count the preset time), and if any face image in the detected face images meets the preset identification standard within the preset time or a newly detected face image in the image data meets the preset identification standard, awakening the robot. Of course, if none of the detected face images satisfies the preset recognition standard in the image data acquired within the preset time length and no face image meeting the preset recognition standard is newly detected from the image data, the robot is awakened after the preset time length is over.
In specific implementation, when determining whether the image data includes a face image, the determination may be performed based on pre-configured face key points (such as feature points of five sense organs, etc.), specifically: if at least one face key point can be determined in the image data according to the face key points configured in advance, the image data can be determined to comprise a face image; if no face key point is detected in the image data, it may be determined that the image data does not include a face image. The face key points may be flexibly set according to actual needs, which is not limited in the embodiments of the present invention, for example, the face key points include: eyes, nose, ears, mouth, etc.
In one example, it is assumed that the preconfigured face key points include a forehead, eyes, ears and a chin, it is determined that the image data includes a face image if at least one face key point of the forehead, the eyes, the ears and the chin is detected in the acquired image data, and it is determined that the image data does not include the face image if any face key point of the forehead, the eyes, the ears and the chin is not included in the acquired image data.
It should be noted that, in other embodiments of the present invention, whether the image data includes the face image may also be detected based on other manners, for example, the image data is input into a face detection model, and whether the image data includes the face image is detected by the face detection model, that is, whether the face image is detected in the image data is determined according to the output of the face detection model.
In specific implementation, the quality of the acquired image data is poor under dim light or backlight, so that the accuracy of face image detection can be reduced, in order to improve the recognition rate of the face image recognized from the image data, after the image data of the surrounding environment of the robot is acquired, the face image is detected in the image data and before whether the face image meets the preset recognition standard is determined, the parameter information of the image data can be adjusted, and then the face image is detected in the image data after the parameter information is adjusted and whether the face image meets the preset recognition standard is determined. Wherein, the parameter information of the image data includes but is not limited to one or more of the following: brightness, saturation, exposure, contrast, etc.
In specific implementation, when determining whether the detected face image meets the preset identification standard, the determination can be performed according to whether the feature value corresponding to the face image can be obtained from the image data, that is, if the feature value corresponding to the face image can be obtained by calculation according to the image data, the detected face image meets the preset identification standard is determined; and if the characteristic value corresponding to the face image cannot be obtained through calculation according to the image data, determining that the detected face does not meet the preset identification standard. The feature values corresponding to the face image may include face key points, distances between different face key points, and the like, which is not limited in the embodiment of the present invention.
In specific implementation, if a face image is detected in image data and the detected face image does not meet a preset identification standard, and the face image is detected in image data acquired within a preset time, after the robot is awakened after the preset time is over, an identifier can be allocated to the face image and reported to a server to record that a user uses the robot or interacts with the robot. The identifier may be a serial number or a mark generated by the robot according to a preset rule, which is not limited in the embodiment of the present invention.
Of course, after the robot is awakened, the robot may also be controlled to output the first voice message, where the first voice message may be set according to an actual scene, and this is not limited in the embodiment of the present invention, for example, the first voice message is "hello, friend".
In one example, if it is detected that the image data includes a face image, the face image does not meet a preset identification standard, and the face image is detected in the image data acquired within 3 seconds later, and the face image does not meet the preset identification standard all the time and the face image meeting the preset identification standard is not detected in the image data, the robot is awakened after 3 seconds. After waking up the robot, the robot is controlled to generate an object identifier, for example 001, for the face image, and the object identifier "001" is uploaded to the server, and then the voice information "hello, friend" is output.
In specific implementation, if a face image is detected in the image data and the detected face image does not meet a preset identification standard, and it is determined at any moment within a preset time that any face image meeting the preset identification standard is detected in the acquired image data, after the robot is awakened, the image data meeting the preset identification standard can be uploaded to a server to request the server to identify the face image meeting the preset identification standard in the image data, then a face identification result of the image data returned by the server is received, and the robot is controlled to output second voice information according to the face identification result.
The face recognition result returned by the server includes whether the user is a registered user, for example, if the user is a registered user, the user information of the user may be returned; if the user is an unregistered user, the user can be returned as a stranger.
In specific implementation, the second voice message can be flexibly set according to an actual scene, and the second voice message output by the control robot can be different according to different face recognition results returned by the server. For example, when the face recognition result returned by the server indicates that the user is a registered user and returns user information, the robot is controlled to output "hello, zhang san", and the name "zhang san" of the user can be acquired from the user information returned by the server; and when the face recognition result returned by the server shows that the user is an unregistered user, controlling the robot to output 'hello, friend'.
In one example, when it is detected that the image data includes a face image and the face image does not meet a preset identification standard, if it is determined that the face image meets the preset identification standard or other face images meeting the preset identification standard are detected in the image data acquired at any time within 3s later, the robot is awakened, the image data is transmitted to the server, and the server is requested to identify the face image meeting the preset identification standard in the image data so as to identify whether the user corresponding to the face image is a registered user.
The server identifies the face in the image data reported by the robot, if the user is determined to be a registered user, the server returns the information that the user is the registered user and returns the user information of the user, and if the user is determined to be an unregistered user, the server can return that the user is a stranger.
When receiving a face recognition result returned by the server, if it is determined that the user is a registered user, acquiring a name of the user from user information returned by the server, for example: 'Zhang III' and controls the robot to output a voice message 'Nihao Zhang III'; and if the user is determined to be the unregistered user, controlling the robot to output a voice message 'hello, friend'.
The following describes in detail specific steps of the robot wake-up method provided in the embodiment of the present invention with reference to fig. 2, by taking a face image of only one object included in image data as an example.
As shown in fig. 2, the specific steps of the robot wake-up method provided in the embodiment of the present invention may include:
And 204, awakening the robot when the image data is determined to contain the face image and the face image meets the preset identification standard.
In specific implementation, the image data meeting the preset identification standard is uploaded to the server to request the server to identify the face image meeting the preset identification standard in the image data, and whether the user to which the face image belongs is a registered user is determined.
And step 206, receiving a face recognition result returned by the server.
The server identifies the face image in the image data reported by the robot, if the user is determined to be a registered user, the server returns the information that the user is the registered user and returns the user information of the user, and if the user is determined to be an unregistered user, the server returns that the user is a stranger.
And step 208, controlling the robot to output 'hello, XXX' when the face image in the image data is determined to be the registered user based on the face recognition result returned by the server. Wherein XXX is the name of the registered user, and can be obtained from the user information returned by the server.
And step 209, controlling the robot to output 'hello, friend' when the face image in the image data is determined to be the unregistered user based on the face recognition result returned by the server.
And 212, awakening the robot after the preset time length is over, wherein the image data acquired within the preset time length comprises the face images which do not meet the preset identification standard all the time.
And 214, not waking up the robot when the face image is not detected in the image data acquired at any time within the preset time.
Based on the same inventive concept, the embodiment of the invention also provides a robot wake-up device.
As shown in fig. 3, an embodiment of the present invention provides a robot wake-up apparatus, including:
an acquisition unit 301 for acquiring image data of an environment around the robot;
the processing unit 302 is configured to detect a face image in the image data, detect that the detected face image does not meet a preset identification standard, detect a face image in the image data acquired within a preset time period, and wake up the robot after the preset time period ends.
In one possible embodiment, the apparatus further comprises: an identifier assigning unit 303 configured to assign an identifier to the face image; a first sending unit 304, configured to report the identifier to the server.
In one possible embodiment, the apparatus further comprises: a first control unit 305 for controlling the robot to output the first voice information.
In a possible implementation, the processing unit 302 is further configured to: and if any face image in the acquired image data meets the preset identification standard at any moment in the preset time length, awakening the robot.
In one possible embodiment, the apparatus further comprises: a second sending unit 306, configured to upload image data meeting a preset identification standard to a server; a receiving unit 307, configured to receive a face recognition result of the image data returned by the server; and the second control unit 308 is configured to control the robot to output second voice information according to the face recognition result.
In a possible implementation, the processing unit 302 is further configured to: if the human face image detected in the image data does not meet the preset identification standard and the human face image is not detected in the image data acquired at any time within the preset time length, the robot is not awakened after the preset time length is finished.
In one possible implementation, the processing unit 302 determines that a face image is detected in the image data according to the following: inputting the image data into a face detection model, and determining that a face image is detected in the image data according to the output of the face detection model; or if at least one face key point is detected in the image data, determining that a face image is detected in the image data.
In one possible embodiment, the preset identification criteria include: and obtaining a characteristic value corresponding to the face image according to the image data.
In one possible embodiment, the apparatus further comprises: a parameter adjusting unit 309, configured to adjust parameter information of the image data, where the parameter information includes one or more of the following: brightness, exposure, contrast, and saturation; the processing unit 302 is specifically configured to: detecting a face image in the adjusted image data and judging whether the detected face image meets a preset identification standard.
In addition, the robot wake-up method and apparatus described in conjunction with fig. 1 to 3 according to the embodiments of the present invention may be implemented by an electronic device. The electronic device may be an intelligent device (such as a robot) or a controller of the intelligent device, or may be a server. The embodiment of the present invention does not limit the specific implementation form of the electronic device. Fig. 4 shows a hardware structure diagram of an electronic device provided by an embodiment of the present invention.
The electronic device may include a processor 401 and a memory 402 storing computer program instructions.
Specifically, the processor 401 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present invention.
The processor 401 reads and executes the computer program instructions stored in the memory 402 to implement the robot wake-up method in any of the above embodiments.
In one example, the electronic device can also include a communication interface 403 and a bus 410. As shown in fig. 4, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 to complete communication therebetween.
The communication interface 403 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present invention.
The electronic device may execute the robot wake-up method in the embodiment of the present invention based on the image data of the environment around the robot, which is obtained in real time, so as to implement the robot wake-up method and apparatus described in conjunction with fig. 1 to 3.
In addition, in combination with the robot wake-up method in the foregoing embodiments, the embodiments of the present invention may be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement the robot wake-up method of any of the above embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (18)
1. A robot wake-up method, comprising:
acquiring image data of the surrounding environment of the robot;
if a face image is detected in the image data and the detected face image does not meet a preset identification standard, and the face image is detected in the acquired image data within a preset time, awakening the robot after the preset time is over;
wherein the preset identification criteria include: obtaining a characteristic value corresponding to the face image according to the image data; the face image detected according to the following mode does not meet the preset identification standard: and if the characteristic value corresponding to the face image cannot be obtained through calculation according to the image data, determining that the detected face image does not meet the preset identification standard.
2. The method of claim 1, wherein after said waking said robot, said method further comprises: and distributing an identifier for the face image, and reporting the identifier to a server.
3. The method of claim 1, wherein after said waking said robot, said method further comprises: and controlling the robot to output first voice information.
4. The method of claim 1, further comprising:
and if it is determined that any face image in the acquired image data meets the preset identification standard at any moment in the preset time, awakening the robot.
5. The method according to claim 4, wherein after determining that any face image in the acquired image data meets the preset recognition standard at any time within the preset time length and waking up the robot, the method further comprises:
uploading the image data meeting the preset identification standard to a server;
receiving a face recognition result of the image data returned by the server;
and controlling the robot to output second voice information according to the face recognition result.
6. The method of claim 1, further comprising:
if a face image is detected in the image data, the detected face image does not meet a preset identification standard, and the face image is not detected in the image data acquired at any time within a preset time, the robot is not awakened after the preset time.
7. The method according to any of claims 1-6, wherein detecting a face image in the image data is determined according to:
inputting the image data into a face detection model, and determining that a face image is detected in the image data according to the output of the face detection model; or
And if at least one face key point is detected in the image data, determining that a face image is detected in the image data.
8. The method according to any of claims 1-6, further comprising, after said acquiring image data of the robot environment:
adjusting parameter information of the image data;
detecting a face image in the adjusted image data and judging whether the detected face image meets a preset identification standard.
9. A robot wake-up apparatus, comprising:
an acquisition unit configured to acquire image data of an environment around the robot;
the processing unit is used for detecting a face image in the image data, wherein the detected face image does not meet a preset identification standard, and awakening the robot after the preset time length is finished when the face image is detected in the acquired image data within the preset time length;
wherein the preset identification criteria include: obtaining a characteristic value corresponding to the face image according to the image data; the processing unit detects that the face image does not meet the preset identification standard according to the following modes: and if the characteristic value corresponding to the face image cannot be obtained through calculation according to the image data, determining that the detected face image does not meet the preset identification standard.
10. The apparatus of claim 9, further comprising:
the identification distribution unit is used for distributing identifications to the face images;
and the first sending unit is used for reporting the identifier to a server.
11. The apparatus of claim 9, further comprising:
and the first control unit is used for controlling the robot to output first voice information.
12. The apparatus of claim 9, wherein the processing unit is further configured to:
and if it is determined that any face image in the acquired image data meets the preset identification standard at any moment in the preset time, awakening the robot.
13. The apparatus of claim 12, further comprising:
the second sending unit is used for uploading the image data meeting the preset identification standard to a server;
the receiving unit is used for receiving a face recognition result of the image data returned by the server;
and the second control unit is used for controlling the robot to output second voice information according to the face recognition result.
14. The apparatus of claim 9, wherein the processing unit is further configured to:
if a face image is detected in the image data, the detected face image does not meet a preset identification standard, and the face image is not detected in the image data acquired at any time within a preset time, the robot is not awakened after the preset time.
15. The apparatus according to any of claims 9-14, wherein the processing unit determines that a face image is detected in the image data according to:
inputting the image data into a face detection model, and determining that a face image is detected in the image data according to the output of the face detection model; or
And if at least one face key point is detected in the image data, determining that a face image is detected in the image data.
16. The apparatus according to any one of claims 9-14, further comprising:
a parameter adjusting unit for adjusting parameter information of the image data;
the processing unit is specifically configured to: detecting a face image in the adjusted image data and judging whether the detected face image meets a preset identification standard.
17. An electronic device, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory that, when executed by the processor, implement the method of any of claims 1-8.
18. A computer-readable storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1-8.
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