KR20110095531A - Method for search for person using moving robot - Google Patents

Method for search for person using moving robot Download PDF

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Publication number
KR20110095531A
KR20110095531A KR1020100015053A KR20100015053A KR20110095531A KR 20110095531 A KR20110095531 A KR 20110095531A KR 1020100015053 A KR1020100015053 A KR 1020100015053A KR 20100015053 A KR20100015053 A KR 20100015053A KR 20110095531 A KR20110095531 A KR 20110095531A
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South Korea
Prior art keywords
mobile robot
lost
missing
information
control server
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KR1020100015053A
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Korean (ko)
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KR101260879B1 (en
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홍승우
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모빌토크(주)
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • G06F17/30—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Business, Economics & Management (AREA)
  • Manipulator (AREA)
  • Telephonic Communication Services (AREA)
  • Tourism & Hospitality (AREA)
  • Strategic Management (AREA)
  • Marketing (AREA)
  • Primary Health Care (AREA)
  • Human Resources & Organizations (AREA)
  • Physics & Mathematics (AREA)
  • General Business, Economics & Management (AREA)
  • General Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Economics (AREA)
  • Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)

Abstract

PURPOSE: While the mobile robot moves, the photograph about the lost child, image, and the personal information [personal information] is outputted to the voice. It can fast and the lost child can be found effectively. CONSTITUTION: A person searching method of a mobile robot(10) comprises the following steps. The lost child information is downloaded from a control server(111) in the mobile robot. The control server commands the execution of vision recognition of the mobile robot. The movement route of the mobile robot is instituted in the control server. The control server commands the execution of a missing children search function in the mobile robot. The mobile robot is proceed the searching for a missing child function while moving according to 'the fixed movement route by the searching for a missing child command'. If the lost child in which the mobile robot registered is found, it stops upon the current position. The mobile robot transmits recognition result data with the designated contact number. Among the searching for a missing child performance, a plurality of lost child information is downloaded from the control server in the mobile robot. The mobile robot at the same time finds a plurality of lost children.

Description

How to search for a person in a mobile robot {Method for Search for Person using Moving Robot}

The present invention relates to a method of searching for a person using vision recognition of a mobile robot, and more specifically, to register a lost child or person to be searched in a database of a control server, and downloads it from a mobile robot and uses the vision recognition function to identify the person. The present invention relates to a method of searching for a person of a mobile robot to search.

In general, the search for a lost person or a main person extracts a face image of people passing by using a surveillance camera fixed to a wall or a ceiling to determine whether the person is a registered person. If it is determined to be a registered person, it alerts the administrator.

Recently, a camera is mounted on a mobile robot that moves beyond the limits of a fixed camera for searching for a general person.

The image transmission apparatus of a mobile robot according to the prior art is a lost child or a mobile robot mounted with a camera using a mobile robot, instead of searching for a person using the fixed camera, as disclosed in the following prior art document. After searching and identifying the main characters, the mobile robot provides an image transmitting apparatus for notifying the manager.

[Patent Document 1]

Patent Publication 10-2004-0086758, Image transmission apparatus of a mobile robot.

[Patent Document 2]

Patent Publication 10-2004-0086759, Image transmission apparatus of a mobile robot.

An object of the present invention is to download the image data registered in the control server to the mobile robot in order to find the lost or main characters in indoor and outdoor event venues, amusement parks, animal and vegetable gardens, museums, etc. And the purpose of providing a voice search method of the mobile robot to output the announcement and to alert the control server or the administrator of the recognition result of the searched person.

Another object of the present invention is to provide a method of searching for a person of a mobile robot to find a parent by registering the image and personal information of the lost child through the image communication function of the mobile robot when the missing child occurs.

The character search process of the mobile robot to achieve the object of the present invention consists of a mobile robot equipped with a screen display window, a camera and a voice signal input and output unit, and a control server for registering the missing information including the image and personal information of the missing child. In the method of searching for a person of a mobile robot, the mobile robot downloads the missing information from the control server and searches for the lost child, wherein the control server downloads the missing information to the mobile robot and executes vision recognition of the mobile robot. A first step of commanding; A second step of setting a moving path of a mobile robot in the control server; A third step of instructing a mobile robot to perform a missing function in the control server; A fourth step of performing, by the mobile robot, a lost child function while moving in a movement path set by a lost child command; And a fifth step of transmitting the recognition result data to a designated contact by stopping at the current location when the registered missing child is found during the fourth step. However, the control server is performing the lost search in the fourth step. It is characterized by downloading a plurality of missing information to the mobile robot to perform a plurality of lost search at the same time.

Here, in the fourth step, the Mia finder function displays the missing image and the personal information on the screen display window of the mobile robot, outputs the information of the missing child, and recognizes the image inputted by the vision function and compares the lost image. Characterized in that.

The recognition result data of the fifth process is to transmit the photo matching rate of the missing child, the found position and the current position of the missing child's photo data to the control server, and the name of the missing child, the found position and the corresponding mobile robot information checked by the mobile robot. Characterized in that the transmission to the designated contact.

The character search process of the mobile robot to achieve another object of the present invention comprises a mobile robot equipped with a screen display window, a camera and a voice signal input and output unit, and a control server for registering the missing information including the image and personal information of the missing child. In the method of searching for a person of a mobile robot that finds a parent by registering a lost child to a control server through a mobile robot when a child is lost, the mobile robot moves in a path designated by the control server. A first step of automatically connecting to a video call mode with the control server when an emergency call video call key provided in the robot is selected; A second step of transmitting and registering the image and personal information of the lost child through a video call with the control server; A third step of transmitting parental information registered in the control server to another mobile robot to perform a parent search command; And a fourth process of automatically connecting to the video call mode by connecting to the video call mode as the emergency call video call key of the mobile robot is selected by the parent of the lost child during the third process. However, in the third process, performing the parent search function of the mobile robot is characterized by displaying a lost image through the screen display window of the mobile robot, and outputs the lost information through a voice output device.

Here, in addition to the first process, if the guide desk call key of the mobile robot is selected, further comprising the step of connecting the guide of the guide desk and the video call.

According to the present invention, a method of searching for a person in a mobile robot downloads image data registered in a control server to a mobile robot to find a missing person or a main character in an event hall, and then moves the event site to a designated path, as well as photographic images and personal information. By outputting a voice to alert people around you, you can quickly and effectively find the missing person or key person.

In addition, the parent who lost the child not only registers the missing child through the mobile robot, control room or information desk to find the missing child, and when the child is lost, the control server or the video call function of the mobile robot by the surrounding people. It is effective to find a parent by registering a lost child by connecting to the guide desk.

1 is a schematic network configuration diagram of a person search system of a mobile robot for implementing the present invention,
2 is a flowchart of a person searching process of a mobile robot according to an embodiment of the present invention;
3 is a diagram showing an example of displaying a time on the screen to perform the vision recognition function according to an embodiment of the present invention,
4 is a flowchart of a person searching process of a mobile robot according to another embodiment of the present invention;
5 is a screen display diagram for a video call mounted on the front of the mobile robot.

A person searching method of the mobile robot according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a network diagram of a person searching system of a mobile robot for implementing the present invention, the mobile robot 101 communicates with the control room 110 and the information desk 120, and performs a download of missing information and a missing child command. It is equipped with a display unit for displaying lost or missing information or video information, a voice signal input / output unit for outputting voice calls and lost information, and a video call key for video calls with a control room, an information desk, and a mobile phone. It is composed of a plurality of mobile robot 101 to perform a command of the control room while moving.

The control room 110 transmits a command to the control server 111 through the control terminal 112 to perform the task set in the mobile robot 101, received from the information desk 120, mobile robot 101 or mobile phone It is configured to register the missing information in the database, transmit the moving path information and the missing information to each mobile robot 101, and connect the video call with the information desk 120, the mobile robot 101 or the mobile phone.

The guide desk 120 performs the MIA registration to the control server 111 through the mobile terminal 101, the control terminal 112 or the mobile phone 101 and the video / voice call through the guide desk 121.

The mobile robot 101 communicates with the control room 110 or the information desk 120 in a wireless communication method such as W-CDMA, WiFi, or Wibro.

Using the person search system of the mobile robot configured as described above, the MIA or the main person is registered, and the registered robot is moved to the designated path according to the command of the control server 111. Use the to find a missing person or key person.

Referring to Figures 1 and 2 of the mobile robot search process according to the present invention in detail as follows.

2 is a flowchart of a person searching process of a mobile robot according to a first embodiment of the present invention, from a parent of a lost child visiting the information desk 120, a picture image of a lost child and a name, age, and height of a lost child stored in a mobile phone or a camera; Registered in the control server 111 receives the lost information, including personal information such as weight, address, parent's name, appearance specifics, the location of the lost child and the situation.

The control server 111 receives the missing information and registers in the database, designates one or more mobile robots 101, transmits and stores the missing information including the lost image, and designates a moving path. Command to perform a function.

Here, the movement route may be designated in consideration of the missing information such as the location of the lost child and the situation of the lost child.

In addition, the control server 111 may transmit the missing information even in the case of the mobile robot 101 moving to a designated path to perform another task, and may perform a missing function, and is currently performing a missing function. In the case of the mobile robot 101, other missing information may be transmitted to instruct the execution of the lost child function.

For example, by designating a mobile robot 101 that is performing a mission at a location close to the location of the missing child, the missing information is transmitted and then the missing child function is performed.

The mobile robot 101 that receives the missing information and the missing information command performs a matching analysis by comparing and analyzing the stored image of the missing person image and the image of the surrounding person captured by the mounted camera using the vision recognition function to perform the missing information function. Determining whether or not lost or not according to the rate, or display the missing pictures and information information through the display unit mounted on the front of the mobile robot 101, and outputs the missing and lost information through the voice output to the people around Get help finding a lost child.

The audio output of the voice output unit for example, the voice output outputs "I am looking for Hong Gil-dong children from Myeong-dong," and the screen display to display the missing information on the side of the mia picture or missing information, Be alert to those around you.

3 is a diagram showing a temporary example of performing a vision recognition function according to an embodiment of the present invention on the screen, the left image displays the photographic image and the missing information on the left screen, the right screen, the result of vision recognition, that is, the captured image It displays the matching rate, current mobile robot ID, search time, location, and whether to match the person image and the lost image.

When the mobile robot 101 is determined to be a lost child, the mobile robot 101 stops at that position, outputs a lost child discovery message through a voice output unit, and drives a warning light.

In addition, the vision recognition result data is transmitted to the designated contact and the control server 111. If necessary, the parent mobile phone and the mobile robot 101 is connected to the video call mode, the parent directly checks the missing child step.

When the discovery of the lost child is confirmed through the above process, the security guard calls the mobile robot 101 to the spot where the lost child is found so that the lost child can be guided to the parents.

 As such, when the missing child search registered in the control server 111 is completed, the corresponding missing child search command is released to end the lost child search of the mobile robot 101, and if there is another registered missing child search command Continue to perform the find function.

On the other hand, listening to the screen display unit of the mobile robot 101 or the voice output guidance message of the occurrence of the missing child, if a corresponding person is found by the person nearby, the key for the video call of the mobile robot 101 by the person nearby Select and connect the video call with the control room 110 or the information desk 120 to notify the corresponding missing child.

Figure 4 is a flow chart of the character search process of the mobile robot according to another embodiment of the present invention, when the lost by the people around, the person who found the lost after stopping the mobile robot 101 located nearby It connects the control room or the information desk to the video call and acquires the photographic image of the lost child through the attached camera, and provides the missing information such as personal information of the lost child through the video call.

5 is a screen display diagram for a video call mounted on the front of the mobile robot. When an emergency call video call key is selected, the video terminal is connected to the control terminal 112 of the control room 110 and a guide desk call key can be selected. In this case, the video desk call is connected to the guide desk terminal 121 of the guide desk 120.

The information desk terminal 121 or the MIA information received by the video call between the control terminal 112 and the mobile robot 101 is registered in the control server 111 to proceed to the parent search mode.

That is, the control server 111 designates one or more mobile robots 101, transmits lost information, and transmits a command to perform parent search.

The parent search function of the mobile robot 101 displays the registered missing photograph image and the obtained missing information on the screen display unit, and outputs the lost information through the voice output unit.

The parent who checks the guidance message while performing the parent search function of the mobile robot 101 presses the video call key of the mobile robot 101 to connect a call with the corresponding Mia, or the parent of the mobile robot 101 You will be taken to the place where you are guiding you.

When the missing child function is completed through the above process, the mobile robot 101 transmits the parent finding result to the control server 111, thereby releasing the registered missing parent finding command.

In addition, although specific embodiments of the present invention have been described and illustrated above, the method of searching for a person of the mobile robot according to the present invention can be variously made by those skilled in the art, such as registering and searching for a disabled person, a main person, etc. using the mobile robot. It is obvious that it can be modified.

However, such modified embodiments should not be understood individually from the spirit or scope of the present invention, such modified embodiments will be included within the appended claims of the present invention.

101: mobile robot 110: control room
111: control server 112: control terminal
120: information desk 121: information desk terminal

Claims (7)

It consists of a mobile robot equipped with a screen display window, a camera and a voice signal input and output unit, and a control server for registering lost information including images and personal information of the lost child, and the mobile robot downloads and moves the lost information from the control server. In the method of searching for a character of a mobile robot that searches for missing children,
The control server is a first step of instructing the vision recognition execution of the mobile robot after downloading the missing information to the mobile robot;
A second step of setting a moving path of a mobile robot in the control server;
A third step of instructing a mobile robot to perform a missing function in the control server;
A fourth step of performing, by the mobile robot, a lost child function while moving in a movement path set by a lost child command; And
In the fourth process, if the registered missing child is found, the fifth process stops at the current position and transmits the recognition result data to the designated contact.
The control server is a person searching method of the mobile robot, characterized in that to perform a plurality of missing children at the same time by downloading a plurality of missing information to the mobile robot during the lost search in the fourth process.
The method of claim 1,
The lost information includes a person's image data, appearance, age, gender, name, address, parent name and contact information.
The method of claim 1,
In the fourth process, the lost child function displays the missing image and human information on the screen display window of the mobile robot, outputs the information of the lost child, and performs recognition of the human image inputted by the vision function and comparison with the lost image. Character search method of the mobile robot, characterized in that.
The method of claim 1,
The recognition result data of the fifth process is to transmit the photo matching rate of the missing child, the found position and the current position of the missing child's photo data to the control server, and the name of the missing child, the found position and the corresponding mobile robot information checked by the mobile robot. Character search method of the mobile robot, characterized in that the transmission to the specified contact.
The method of claim 1,
And in addition to the fifth process, transmitting the image information of the lost child recognized by the mobile robot to the mobile phone of the parent to connect the video call.
It consists of a mobile robot equipped with a screen display window, a camera and a voice signal input and output unit, and a control server that registers the lost information including the missing image and personal information of the lost child. In the method of searching for a character of a mobile robot that registers an occurrence and finds a parent,
A first step of automatically connecting to the video call mode with the control server as the emergency call video call key provided in the mobile robot is selected while the mobile robot moves along the path designated by the control server;
A second step of transmitting and registering the image and personal information of the lost child through a video call with the control server;
A third step of transmitting parental information registered in the control server to another mobile robot to perform a parent search command; And
The mobile robot performs a fourth process of automatically switching to a video call mode according to the emergency call video call key of the mobile robot selected by the parent of the lost child during the third process and connecting the video call with the lost child. ,
In the third step, performing the parent search function of the mobile robot displays a lost image through the screen display window of the mobile robot, and outputs the lost information through a voice output device.
The method according to claim 6,
In addition to the first process, if the guide desk call key of the mobile robot is selected, connecting the guide and the video call of the guide desk, and then by sending a missing information to the control server by the guide to register the missing Mia Character search method of a mobile robot, characterized in that made.
KR1020100015053A 2010-02-19 2010-02-19 Method for Search for Person using Moving Robot KR101260879B1 (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180038673A (en) * 2016-10-07 2018-04-17 엘지전자 주식회사 Airport robot
CN110163448A (en) * 2018-12-28 2019-08-23 山东浪潮商用***有限公司 A kind of tax intelligent robot based on indoor positioning leads tax method
CN114500900A (en) * 2022-02-24 2022-05-13 北京云迹科技股份有限公司 Method and device for searching lost object

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004126711A (en) * 2002-09-30 2004-04-22 Toshiba Corp Person search system
JP2004302785A (en) * 2003-03-31 2004-10-28 Honda Motor Co Ltd Image transmitting apparatus of mobile robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180038673A (en) * 2016-10-07 2018-04-17 엘지전자 주식회사 Airport robot
CN110163448A (en) * 2018-12-28 2019-08-23 山东浪潮商用***有限公司 A kind of tax intelligent robot based on indoor positioning leads tax method
CN114500900A (en) * 2022-02-24 2022-05-13 北京云迹科技股份有限公司 Method and device for searching lost object

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