WO2018148874A1 - Smart robot based on camera navigation and control method therefor - Google Patents
Smart robot based on camera navigation and control method therefor Download PDFInfo
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- the invention relates to the field of robot control, and in particular to an intelligent robot based on camera navigation and a control method thereof.
- robots are becoming more and more popular. With the miniaturization and cost reduction of robots, they have gradually entered the family life of ordinary users. For example, depending on the function of the robot, it can be generally divided into a cleaning robot, a window cleaning robot, a service robot, a care robot, and the like.
- robots may lack effective interaction with users. For example, the robot cannot get back to the user in time.
- the present invention provides an intelligent robot based on camera navigation, comprising: a communication module, configured to communicate with a user's mobile terminal, receive a user instruction, and feed back a corresponding instruction result to the mobile terminal, wherein
- the user instruction includes returning a user position from the current location of the intelligent robot to the mobile terminal, the user instruction further including a current environment image of the user; and a camera navigation module configured to locate by using the captured image of the camera a current location of the intelligent robot, and using the current environment image to locate a current location of the user; a control module configured to perform navigation processing according to a current location of the smart robot and a current location of the user, and Generating a motor control signal and the command result; and a motor module for walking in accordance with the navigation route in accordance with the motor control signal.
- the communication module is a Bluetooth communication module.
- the communication module is an infrared communication module.
- the camera navigation module includes: an image acquisition unit configured to acquire an image by using a camera; a positioning unit configured to match the acquired image and map data and perform positioning of a current location; and a map storage unit, Used to store the map data and form a map.
- control module includes: a user instruction receiving unit, configured to receive the user instruction from the mobile terminal; a navigation processing unit, configured to be based on a current location of the smart robot and the user a current position for performing navigation processing; an underlying motor control unit for generating the motor control signal; and an instruction result generating unit for generating the instruction result accordingly.
- the present invention also provides an intelligent robot control method based on camera navigation, comprising: communicating with a user's mobile terminal to receive a user instruction, wherein the user instruction includes returning from the current location of the intelligent robot to the mobile terminal a user location, the user instruction further including a current environment image of the user; using a captured image of the camera to locate a current location of the smart robot, and using the current environment image to locate a current location of the user; Performing navigation processing on the current position of the intelligent robot and the current position of the user, and generating a motor control signal and the command result; and walking according to the navigation route according to the motor control signal, and feeding back corresponding command results The mobile terminal.
- the step of communicating with the user's mobile terminal includes communicating using a Bluetooth module.
- the step of communicating with the user's mobile terminal includes communicating using an infrared module.
- the step of locating the current location of the smart robot with the captured image of the camera, and locating the current location of the user using the current environment image comprises: capturing an image with a camera; matching the Acquiring images and map data and performing local location positioning; and storing the map data and forming a map.
- the intelligent robot based on camera navigation provided by the invention and the control method thereof can effectively realize the interaction operation between the user and the robot, and the current position of the intelligent robot is fast in response to the user instruction. Quickly and accurately return to the user location of the mobile terminal.
- FIG. 1 is a block diagram of an intelligent robot based on camera navigation in accordance with an embodiment of the present invention.
- FIG. 2 is a block diagram of the control module of Figure 1.
- FIG. 3 is a block diagram of the camera navigation module of FIG. 1.
- FIG. 4 is a flow chart showing a method for controlling an intelligent robot based on camera navigation according to an embodiment of the present invention.
- FIG. 1 is a block diagram of a smart camera 100 based on camera navigation in accordance with an embodiment of the present invention.
- the camera-based intelligent robot 100 may include a communication module 102 for communicating with a user's mobile terminal (not shown), receiving user instructions, and feeding back corresponding instruction results to the mobile terminal.
- the user instructions may include returning a user location from the current location of the intelligent robot to the mobile terminal, the user instructions may further include a current environmental image of the user (eg, a ceiling image including a plurality of location feature points) ).
- the communication module can be a Bluetooth communication module.
- the communication module can be an infrared communication module.
- the camera navigation based intelligent robot 100 may further include a camera navigation module 108 for The current position of the intelligent robot 100 is located using the captured image of the camera, and the current location of the user is located using the current environmental image.
- the intelligent robot 100 based on camera navigation may further include a control module 106 for performing navigation processing according to the current position of the intelligent robot and the current position of the user, and generating a motor control signal and the instruction result.
- a control module 106 for performing navigation processing according to the current position of the intelligent robot and the current position of the user, and generating a motor control signal and the instruction result.
- the intelligent robot 100 based on camera navigation may further include a motor module 104 for walking in accordance with the navigation route according to the motor control signal.
- control module 106 can include a user instruction receiving unit 202 for receiving the user instruction from the mobile terminal, and a navigation processing unit 204 for determining a current location of the smart robot and The current position of the user is used for navigation processing; the bottom motor control unit 206 is configured to generate the motor control signal; and the instruction result generating unit is configured to generate the instruction result accordingly.
- FIG. 3 is a block diagram of the camera navigation module 108 of FIG.
- the camera navigation module 108 may include: an image acquisition unit 302 for acquiring an image by using a camera; a positioning unit 304, configured to match the collected image and map data and perform positioning of a current position;
- the map storage unit 306 is configured to store the map data and form a map.
- FIG. 4 is a flow diagram of a smart robot control method 400 based on camera navigation in accordance with an embodiment of the present invention.
- the intelligent robot control method 400 based on camera navigation may include the following steps:
- Step 410 Communicate with a user's mobile terminal, receiving a user instruction, where the user instruction includes returning a user location from the current location of the intelligent robot to the mobile terminal, the user instruction further including the user's current Environmental image.
- the step 410 of communicating with a user's mobile terminal can include communicating using a Bluetooth module.
- the step 410 of communicating with the user's mobile terminal may include: Communicate with the infrared module.
- Step 420 Locating the current position of the intelligent robot by using the captured image of the camera, and using the current environment image to locate the current location of the user.
- the step of using the captured image of the camera to locate the current location of the intelligent robot and using the current environment image to locate the current location of the user may include: capturing images using a camera; matching The captured image and map data are positioned for current location; and the map data is stored and a map is formed.
- Step 430 Perform navigation processing according to the current location of the intelligent robot and the current location of the user, and generate a motor control signal and the instruction result.
- Step 440 Follow the navigation route according to the motor control signal, and feed back the corresponding command result to the mobile terminal.
- the camera-based intelligent robot and the control method thereof provided by the invention can effectively realize the interaction operation between the user and the robot, and quickly and accurately return from the current position of the intelligent robot to the user position of the mobile terminal in response to the user instruction. .
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Abstract
Provided is a smart robot based on camera navigation. The smart robot comprises: a communication module, used for communicating with a mobile terminal of a user, receiving an instruction of the user, and feeding back the corresponding instruction result to the mobile terminal; a camera navigation module, used for locating the current position of the smart robot by using an image collected by the camera, and locating the current position of the user by using a current environment image; a control module, used for performing navigation processing according to the current position of the smart robot and the current position of the user, and generating a motor control signal and the instruction result; and a motor module, used for walking according to the motor control signal and a navigation route. By means of the provided smart robot based on camera navigation and the provided control method therefor, interactive operations between the user and the robot are effectively implemented, and a return from the current position of the smart robot to the position of the user of the mobile terminal is quickly and accurately implemented in response to the instruction of the user.
Description
本发明涉及机器人控制领域，并且特别涉及一种基于摄像头导航的智能机器人及其控制方法。The invention relates to the field of robot control, and in particular to an intelligent robot based on camera navigation and a control method thereof.
当今，智能机器人越来越普及。随着机器人的小型化和低成本化，也逐渐进入普通用户的家庭生活中。例如，根据机器人的功能，通常可分为清扫机器人、擦窗机器人、服务机器人、看护机器人等。然而，机器人可能缺少与用户之间的有效互动。例如，机器人无法及时准确回到用户身边。Today, smart robots are becoming more and more popular. With the miniaturization and cost reduction of robots, they have gradually entered the family life of ordinary users. For example, depending on the function of the robot, it can be generally divided into a cleaning robot, a window cleaning robot, a service robot, a care robot, and the like. However, robots may lack effective interaction with users. For example, the robot cannot get back to the user in time.
因此，需要一种改进的智能机器人及其控制方法。Therefore, there is a need for an improved intelligent robot and its control method.
发明内容Summary of the invention
为实现本目的，本发明提供一种基于摄像头导航的智能机器人，包括：通信模块，用于与用户的移动终端进行通信，接收用户指令，并将对应的指令结果反馈给所述移动终端，其中所述用户指令包括从所述智能机器人的当前位置返回到所述移动终端的用户位置，所述用户指令还包括所述用户的当前环境图像；摄像头导航模块，用于利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置；控制模块，用于根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理，并且产生电机控制信号和所述指令结果；以及电机模块，用于根据所述电机控制信号而按照导航路线行走。To achieve the object, the present invention provides an intelligent robot based on camera navigation, comprising: a communication module, configured to communicate with a user's mobile terminal, receive a user instruction, and feed back a corresponding instruction result to the mobile terminal, wherein The user instruction includes returning a user position from the current location of the intelligent robot to the mobile terminal, the user instruction further including a current environment image of the user; and a camera navigation module configured to locate by using the captured image of the camera a current location of the intelligent robot, and using the current environment image to locate a current location of the user; a control module configured to perform navigation processing according to a current location of the smart robot and a current location of the user, and Generating a motor control signal and the command result; and a motor module for walking in accordance with the navigation route in accordance with the motor control signal.
在一个实施例中，所述通信模块为蓝牙通信模块。
In one embodiment, the communication module is a Bluetooth communication module.
在一个实施例中，所述通信模块为红外通信模块。In one embodiment, the communication module is an infrared communication module.
在一个实施例中，所述摄像头导航模块包括：图像采集单元，用于利用摄像头采集图像；定位单元，用于匹配所述采集的图像与地图数据并且进行当前位置的定位；以及地图存储单元，用于存储所述地图数据并且形成地图。In one embodiment, the camera navigation module includes: an image acquisition unit configured to acquire an image by using a camera; a positioning unit configured to match the acquired image and map data and perform positioning of a current location; and a map storage unit, Used to store the map data and form a map.
在一个实施例中，所述控制模块包括：用户指令接收单元，用于接收来自所述移动终端的所述用户指令；导航处理单元，用于根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理；底层电机控制单元，用于产生所述电机控制信号；以及指令结果生成单元，用于相应产生所述指令结果。In one embodiment, the control module includes: a user instruction receiving unit, configured to receive the user instruction from the mobile terminal; a navigation processing unit, configured to be based on a current location of the smart robot and the user a current position for performing navigation processing; an underlying motor control unit for generating the motor control signal; and an instruction result generating unit for generating the instruction result accordingly.
本发明还提供一种基于摄像头导航的智能机器人控制方法，包括：与用户的移动终端进行通信，接收用户指令，其中所述用户指令包括从所述智能机器人的当前位置返回到所述移动终端的用户位置，所述用户指令还包括所述用户的当前环境图像；利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置；根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理，并且产生电机控制信号和所述指令结果；以及根据所述电机控制信号而按照导航路线行走，并将对应的指令结果反馈给所述移动终端。The present invention also provides an intelligent robot control method based on camera navigation, comprising: communicating with a user's mobile terminal to receive a user instruction, wherein the user instruction includes returning from the current location of the intelligent robot to the mobile terminal a user location, the user instruction further including a current environment image of the user; using a captured image of the camera to locate a current location of the smart robot, and using the current environment image to locate a current location of the user; Performing navigation processing on the current position of the intelligent robot and the current position of the user, and generating a motor control signal and the command result; and walking according to the navigation route according to the motor control signal, and feeding back corresponding command results The mobile terminal.
在一个实施例中，所述与用户的移动终端进行通信的步骤包括：利用蓝牙模块进行通信。In one embodiment, the step of communicating with the user's mobile terminal includes communicating using a Bluetooth module.
在一个实施例中，所述与用户的移动终端进行通信的步骤包括：利用红外模块进行通信。In one embodiment, the step of communicating with the user's mobile terminal includes communicating using an infrared module.
在一个实施例中，所述利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置的步骤包括：利用摄像头采集图像；匹配所述采集的图像与地图数据并且进行当前位置的定位；以及存储所述地图数据并且形成地图。In one embodiment, the step of locating the current location of the smart robot with the captured image of the camera, and locating the current location of the user using the current environment image comprises: capturing an image with a camera; matching the Acquiring images and map data and performing local location positioning; and storing the map data and forming a map.
本发明所提供的基于摄像头导航的智能机器人及其控制方法能够有效实现用户与机器人之间的互动操作，响应于用户指令而从智能机器人的当前位置快
速准确返回到移动终端的用户位置。The intelligent robot based on camera navigation provided by the invention and the control method thereof can effectively realize the interaction operation between the user and the robot, and the current position of the intelligent robot is fast in response to the user instruction.
Quickly and accurately return to the user location of the mobile terminal.
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.
图1所示是根据本发明实施例的基于摄像头导航的智能机器人的框图。1 is a block diagram of an intelligent robot based on camera navigation in accordance with an embodiment of the present invention.
图2所示是图1中的控制模块的框图。Figure 2 is a block diagram of the control module of Figure 1.
图3所示是图1中的摄像头导航模块的框图。FIG. 3 is a block diagram of the camera navigation module of FIG. 1.
图4所示是根据本发明实施例的基于摄像头导航的智能机器人控制方法的流程图。4 is a flow chart showing a method for controlling an intelligent robot based on camera navigation according to an embodiment of the present invention.
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
图1所示是根据本发明实施例的基于摄像头导航的智能机器人100的框图。1 is a block diagram of a smart camera 100 based on camera navigation in accordance with an embodiment of the present invention.
如图1所示，基于摄像头导航的智能机器人100可包括通信模块102，用于与用户的移动终端(未示出)进行通信，接收用户指令，并将对应的指令结果反馈给所述移动终端。所述用户指令可包括从所述智能机器人的当前位置返回到所述移动终端的用户位置，所述用户指令还可包括所述用户的当前环境图像(例如，包含多个位置特征点的天花板图像)。在一个实施例中，所述通信模块可以是蓝牙通信模块。在另一个实施例中，所述通信模块可以是红外通信模块。As shown in FIG. 1, the camera-based intelligent robot 100 may include a communication module 102 for communicating with a user's mobile terminal (not shown), receiving user instructions, and feeding back corresponding instruction results to the mobile terminal. . The user instructions may include returning a user location from the current location of the intelligent robot to the mobile terminal, the user instructions may further include a current environmental image of the user (eg, a ceiling image including a plurality of location feature points) ). In one embodiment, the communication module can be a Bluetooth communication module. In another embodiment, the communication module can be an infrared communication module.
基于摄像头导航的智能机器人100还可以包括摄像头导航模块108，用于
利用摄像头的采集图像来定位所述智能机器人100的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置。The camera navigation based intelligent robot 100 may further include a camera navigation module 108 for
The current position of the intelligent robot 100 is located using the captured image of the camera, and the current location of the user is located using the current environmental image.
基于摄像头导航的智能机器人100还可以包括控制模块106，用于根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理，并且产生电机控制信号和所述指令结果。The intelligent robot 100 based on camera navigation may further include a control module 106 for performing navigation processing according to the current position of the intelligent robot and the current position of the user, and generating a motor control signal and the instruction result.
基于摄像头导航的智能机器人100还可以包括电机模块104，用于根据所述电机控制信号而按照导航路线行走。The intelligent robot 100 based on camera navigation may further include a motor module 104 for walking in accordance with the navigation route according to the motor control signal.
图2所示是图1中的控制模块106的框图。在一个实施例中，所述控制模块106可包括：用户指令接收单元202，用于接收来自所述移动终端的所述用户指令；导航处理单元204，用于根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理；底层电机控制单元206，用于产生所述电机控制信号；以及指令结果生成单元，用于相应产生所述指令结果。2 is a block diagram of the control module 106 of FIG. In one embodiment, the control module 106 can include a user instruction receiving unit 202 for receiving the user instruction from the mobile terminal, and a navigation processing unit 204 for determining a current location of the smart robot and The current position of the user is used for navigation processing; the bottom motor control unit 206 is configured to generate the motor control signal; and the instruction result generating unit is configured to generate the instruction result accordingly.
图3所示是图1中的摄像头导航模块108的框图。3 is a block diagram of the camera navigation module 108 of FIG.
在一个实施例中，所述摄像头导航模块108可包括：图像采集单元302，用于利用摄像头采集图像；定位单元304，用于匹配所述采集的图像与地图数据并且进行当前位置的定位；以及地图存储单元306，用于存储所述地图数据并且形成地图。In an embodiment, the camera navigation module 108 may include: an image acquisition unit 302 for acquiring an image by using a camera; a positioning unit 304, configured to match the collected image and map data and perform positioning of a current position; The map storage unit 306 is configured to store the map data and form a map.
图4所示是根据本发明实施例的基于摄像头导航的智能机器人控制方法400的流程图。4 is a flow diagram of a smart robot control method 400 based on camera navigation in accordance with an embodiment of the present invention.
如图4所示，基于摄像头导航的智能机器人控制方法400可包括以下步骤：As shown in FIG. 4, the intelligent robot control method 400 based on camera navigation may include the following steps:
步骤410：与用户的移动终端进行通信，接收用户指令，其中所述用户指令包括从所述智能机器人的当前位置返回到所述移动终端的用户位置，所述用户指令还包括所述用户的当前环境图像。Step 410: Communicate with a user's mobile terminal, receiving a user instruction, where the user instruction includes returning a user location from the current location of the intelligent robot to the mobile terminal, the user instruction further including the user's current Environmental image.
在一个实施例中，所述与用户的移动终端进行通信的步骤410可包括：利用蓝牙模块进行通信。In one embodiment, the step 410 of communicating with a user's mobile terminal can include communicating using a Bluetooth module.
在一个实施例中，所述与用户的移动终端进行通信的步骤410可包括：利
用红外模块进行通信。In one embodiment, the step 410 of communicating with the user's mobile terminal may include:
Communicate with the infrared module.
步骤420：利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置。Step 420: Locating the current position of the intelligent robot by using the captured image of the camera, and using the current environment image to locate the current location of the user.
在一个实施例中，所述利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置的步骤420可包括：利用摄像头采集图像；匹配所述采集的图像与地图数据并且进行当前位置的定位；以及存储所述地图数据并且形成地图。In one embodiment, the step of using the captured image of the camera to locate the current location of the intelligent robot and using the current environment image to locate the current location of the user may include: capturing images using a camera; matching The captured image and map data are positioned for current location; and the map data is stored and a map is formed.
步骤430：根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理，并且产生电机控制信号和所述指令结果。Step 430: Perform navigation processing according to the current location of the intelligent robot and the current location of the user, and generate a motor control signal and the instruction result.
步骤440：根据所述电机控制信号而按照导航路线行走，并将对应的指令结果反馈给所述移动终端。Step 440: Follow the navigation route according to the motor control signal, and feed back the corresponding command result to the mobile terminal.
有利地，本发明所提供的基于摄像头导航的智能机器人及其控制方法能够有效实现用户与机器人之间的互动操作，响应于用户指令而从智能机器人的当前位置快速准确返回到移动终端的用户位置。Advantageously, the camera-based intelligent robot and the control method thereof provided by the invention can effectively realize the interaction operation between the user and the robot, and quickly and accurately return from the current position of the intelligent robot to the user position of the mobile terminal in response to the user instruction. .
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。
The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.
Claims (9)
- 一种基于摄像头导航的智能机器人，包括：An intelligent robot based on camera navigation, including:通信模块，用于与用户的移动终端进行通信，接收用户指令，并将对应的指令结果反馈给所述移动终端，其中所述用户指令包括从所述智能机器人的当前位置返回到所述移动终端的用户位置，所述用户指令还包括所述用户的当前环境图像；a communication module, configured to communicate with a user's mobile terminal, receive a user instruction, and feed back a corresponding instruction result to the mobile terminal, wherein the user instruction includes returning from the current location of the intelligent robot to the mobile terminal User location, the user instruction further including a current environment image of the user;摄像头导航模块，用于利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置；a camera navigation module, configured to use a captured image of the camera to locate a current location of the intelligent robot, and use the current environment image to locate a current location of the user;控制模块，用于根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理，并且产生电机控制信号和所述指令结果；以及a control module, configured to perform navigation processing according to a current location of the intelligent robot and a current location of the user, and generate a motor control signal and the instruction result;电机模块，用于根据所述电机控制信号而按照导航路线行走。And a motor module for walking according to the navigation route according to the motor control signal.
- 如权利要求1所述的智能机器人，其特征在于，所述通信模块为蓝牙通信模块。The intelligent robot of claim 1 wherein said communication module is a Bluetooth communication module.
- 如权利要求1所述的智能机器人，其特征在于，所述通信模块为红外通信模块。The intelligent robot of claim 1 wherein said communication module is an infrared communication module.
- 如权利要求1所述的智能机器人，其特征在于，所述摄像头导航模块包括：The intelligent robot according to claim 1, wherein the camera navigation module comprises:图像采集单元，用于利用摄像头采集图像；An image acquisition unit for acquiring an image by using a camera;定位单元，用于匹配所述采集的图像与地图数据并且进行当前位置的定位；以及a positioning unit configured to match the acquired image and map data and perform positioning of a current location;地图存储单元，用于存储所述地图数据并且形成地图。A map storage unit for storing the map data and forming a map.
- 如权利要求1所述的智能机器人，其特征在于，所述控制模块包括： The intelligent robot of claim 1 wherein said control module comprises:用户指令接收单元，用于接收来自所述移动终端的所述用户指令；a user instruction receiving unit, configured to receive the user instruction from the mobile terminal;导航处理单元，用于根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理；a navigation processing unit, configured to perform navigation processing according to a current location of the intelligent robot and a current location of the user;底层电机控制单元，用于产生所述电机控制信号；以及An underlying motor control unit for generating the motor control signal;指令结果生成单元，用于相应产生所述指令结果。The instruction result generating unit is configured to generate the instruction result accordingly.
- 一种基于摄像头导航的智能机器人控制方法，包括：An intelligent robot control method based on camera navigation, comprising:与用户的移动终端进行通信，接收用户指令，其中所述用户指令包括从所述智能机器人的当前位置返回到所述移动终端的用户位置，所述用户指令还包括所述用户的当前环境图像；Communicating with a user's mobile terminal, receiving user instructions, wherein the user instructions include returning to a user location of the mobile terminal from a current location of the intelligent robot, the user instructions further including a current environmental image of the user;利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置；Using a captured image of the camera to locate a current location of the intelligent robot, and utilizing the current environment image to locate a current location of the user;根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理，并且产生电机控制信号和所述指令结果；以及Performing navigation processing according to a current position of the intelligent robot and a current position of the user, and generating a motor control signal and the instruction result;根据所述电机控制信号而按照导航路线行走，并将对应的指令结果反馈给所述移动终端。Walking according to the motor control signal according to the navigation route, and feeding back corresponding command results to the mobile terminal.
- 如权利要求6所述的智能机器人控制方法，其特征在于，所述与用户的移动终端进行通信的步骤包括：利用蓝牙模块进行通信。The intelligent robot control method according to claim 6, wherein said step of communicating with a user's mobile terminal comprises: communicating using a Bluetooth module.
- 如权利要求6所述的智能机器人控制方法，其特征在于，所述与用户的移动终端进行通信的步骤包括：利用红外模块进行通信。The intelligent robot control method according to claim 6, wherein said step of communicating with a user's mobile terminal comprises: communicating using an infrared module.
- 如权利要求6所述的智能机器人控制方法，其特征在于，所述利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置的步骤包括：The intelligent robot control method according to claim 6, wherein the step of locating the current position of the intelligent robot by using the captured image of the camera and the step of locating the current position of the user by using the current environment image include:利用摄像头采集图像； Using the camera to capture images;匹配所述采集的图像与地图数据并且进行当前位置的定位；以及Matching the acquired image with map data and performing local location positioning;存储所述地图数据并且形成地图。 The map data is stored and a map is formed.
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