CN107729813A - A kind of intelligent robot for possessing image processing function - Google Patents
A kind of intelligent robot for possessing image processing function Download PDFInfo
- Publication number
- CN107729813A CN107729813A CN201710847769.0A CN201710847769A CN107729813A CN 107729813 A CN107729813 A CN 107729813A CN 201710847769 A CN201710847769 A CN 201710847769A CN 107729813 A CN107729813 A CN 107729813A
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- China
- Prior art keywords
- image processing
- intelligent robot
- picture
- image
- processing function
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
Abstract
The invention provides a kind of intelligent robot for possessing image processing function.Intelligent robot can interact with cloud platform in the present invention, so as to be controlled by the remote control that cloud platform realizes robot, in terms of image recognition, by establishing image library, classification processing is carried out to the photo of object in all cases, so that in the matching link of image recognition, can only match the picture under the same terms, so as to both accelerate image recognition result, image recognition efficiency is improved.
Description
Technical field
The present invention relates to intelligent robot field of image recognition, more particularly to a kind of intelligent machine for possessing image processing function
Device people.
Background technology
With the continuous development of robot technology, intelligent robot is more and more employed the family life with the mankind
In.
Currently, most intelligent robot possesses vision collecting function, view-based access control model acquisition function, and robot can realize pair
The image recognition of current object to be identified.Common image recognition processes are to pre-save sample image data, are carrying out image
It is corresponding so as to obtain that the view data of object to be identified and all sample image datas preserved are done into matching search during identification
Sample image data, be used as recognition result by the use of iamge description corresponding to sample image data.
In above-mentioned image recognition processes, key point is of sample image data and object image data to be identified
Match somebody with somebody.But because the view data of sample image data and object to be identified is all planar image data, sample image data
The only image record of some angle of object, when carrying out IMAQ to object from another angle, even same object,
The view data of acquisition is also different from the sample image data finally obtained.
Therefore, even if robot was beforehand with the collection of sample image data to current object, in the interference of visual angle change
Under, robot can not smoothly identify the object afterwards；If taken pictures however, considering that visual angle etc. is many when matching
Information certainly will cause matching speed to reduce again, therefore the efficiency of robot graphics' identification is difficult to take into account with performance.
The content of the invention
In order to solve the above problems, the present invention provides a kind of intelligent robot for possessing image processing function.
The present invention is realized with following technical scheme：
A kind of intelligent robot for possessing image processing function：
The intelligent robot includes body, drive mechanism, balanced controls, rotating mechanism and control assembly；The driving
Mechanism, balanced controls and the rotating mechanism electrically connect with the control assembly；
The body includes fuselage and is arranged at the roller of fuselage, and the drive mechanism is fixed on the fuselage and drives institute
Roller rotation is stated, to drive the fuselage to walk；The rotating mechanism is fixed on the top of the fuselage and relative to the machine
Body can 360 degree of rotations, be provided with camera on the rotating mechanism；
The intelligent robot also includes an image processing apparatus and communication component, and described image processing unit is taken the photograph with described
Communicated to connect as head connection, and with communication component；The communication component is used to be connected with cloud platform to transmit to the cloud platform
Processing result image, and receive the cloud platform instruction；The communication component is communicated to connect in order to institute with the control assembly
State control assembly controls the drive mechanism to run according to cloud platform instruction；
The balanced controls include gyroscope, and the gyroscope is installed on the fuselage, described in the control assembly receives
Gyroscope center of gravity induction information, and then control the drive mechanism to drive the roller to rotate according to center of gravity induction information, with flat
Weigh the intelligent robot.
Further, described image processing unit includes：
Image library, described image stock contain the photographic intelligence of the various objects pre-set；
Comparative device, for the image photographed to be compared with the photographic intelligence of the various objects in described image storehouse,
And obtain comparison result；
Analyzer, for obtaining the information of the image photographed according to comparison result；
Processor, for the analysis result according to analyzer and from cloud platform obtain image processing commands to photographing
Image handled, and result is sent to cloud platform.
Further, each object corresponds to multigroup photo, and the visual angle of every group of photo is different, has multiple photographs in every group of photo
Piece, the parameter of taking pictures of every photo are different.
Further, the visual angle includes looking up, overlook, left view, the right side regard, forward sight and/or backsight.
Further, the anglec of rotation and luffing angle when the parameter of taking pictures is taken pictures including camera, and camera
With the distance of object.
Further, the comparative device includes：
Take pictures parameter acquiring unit, for obtaining the parameter of taking pictures taken pictures when preceding camera；
Picture selecting unit to be matched, for selecting the picture to be matched being consistent with the parameter of taking pictures in image library；
Comparing unit, for by the photo of the various objects in the image photographed and the picture selecting unit to be matched
Information is compared, and obtains comparison result.
Further, the selection is taken pictures parameter with working as the picture to be matched that is consistent of parameter of taking pictures of preceding camera for selection
Meet the picture of first condition, second condition and third condition simultaneously；The first condition is that anglec of rotation difference is less than first
Threshold value, the second condition are that luffing angle difference is less than Second Threshold, and the third condition is that distance difference is less than the 3rd threshold
Value.
Further, the rotational difference is when the difference of the anglec of rotation and the anglec of rotation of picture to be matched of preceding camera
The absolute value of value；The luffing angle difference is when the difference of the luffing angle and the luffing angle of picture to be matched of preceding camera
Absolute value；The distance difference is camera and thing when the distance between preceding camera and object are with picture shooting to be matched
The absolute value of the difference of the distance between body.
Further, the intelligent robot obtains parameter of taking pictures from the cloud platform, and according to the parameter control of taking pictures
Robot motion processed and regulation camera.
Further, if not obtaining image processing commands, processor only carries out image recognition and passes image recognition
Transport to cloud platform.
The beneficial effects of the invention are as follows：
Intelligent robot can interact with cloud platform in the present invention, so as to be controlled by the long-range control that cloud platform realizes robot
System, in terms of image recognition, by establishing image library, classification processing is carried out to the photo of object in all cases, so that
The matching link of image recognition, the picture under the same terms can be only matched, so as to both accelerate image recognition result, there is lifting
Image recognition efficiency.
Brief description of the drawings
Fig. 1 is image processing apparatus block diagram provided in an embodiment of the present invention；
Fig. 2 is comparative device block diagram provided in an embodiment of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with accompanying drawing
It is described in detail on step ground.
A kind of intelligent robot for possessing image processing function, the intelligent robot include body, drive mechanism, balance
Mechanism, rotating mechanism and control assembly；The drive mechanism, balanced controls and the rotating mechanism are electric with the control assembly
Connection；
The body includes fuselage and is arranged at the roller of fuselage, and the drive mechanism is fixed on the fuselage and drives institute
Roller rotation is stated, to drive the fuselage to walk；The rotating mechanism is fixed on the top of the fuselage and relative to the machine
Body can 360 degree of rotations, be provided with camera on the rotating mechanism；
The intelligent robot also includes an image processing apparatus and communication component, and described image processing unit is taken the photograph with described
Communicated to connect as head connection, and with the communication component；The communication component is used to be connected with cloud platform with to the cloud platform
Processing result image is transmitted, and receives the cloud platform instruction；The communication component and the control assembly communicate to connect so as to
The drive mechanism is controlled to run according to cloud platform instruction in the control assembly；
The balanced controls include gyroscope, and the gyroscope is installed on the fuselage, described in the control assembly receives
Gyroscope center of gravity induction information, and then control the drive mechanism to drive the roller to rotate according to center of gravity induction information, with flat
Weigh the intelligent robot.
As shown in figure 1, described image processing unit includes：
Image library, described image stock contain the photographic intelligence of the various objects pre-set；
Comparative device, for the image photographed to be compared with the photographic intelligence of the various objects in described image storehouse,
And obtain comparison result；
Analyzer, for obtaining the information of the image photographed according to comparison result；
Processor, for the analysis result according to analyzer and from cloud platform obtain image processing commands to photographing
Image handled, and result is sent to cloud platform.
Specifically, each object corresponds to multigroup photo, and the visual angle of every group of photo is different, has multiple pictures in every group of photo,
The parameter of taking pictures of every photo is different.The visual angle includes looking up, overlook, left view, the right side regard, forward sight and/or backsight.The bat
The anglec of rotation and luffing angle when being taken pictures according to parameter including camera, and the distance of camera and object.
As shown in Fig. 2 the comparative device includes：
Take pictures parameter acquiring unit, for obtaining the parameter of taking pictures taken pictures when preceding camera；
Picture selecting unit to be matched, for selecting the picture to be matched being consistent with the parameter of taking pictures in image library；
Comparing unit, for by the photo of the various objects in the image photographed and the picture selecting unit to be matched
Information is compared, and obtains comparison result.
Specifically, the selection with work as the picture to be matched that is consistent of parameter of taking pictures of preceding camera for selection parameter of taking pictures it is same
The picture of Shi Fuhe first conditions, second condition and third condition；The first condition is that anglec of rotation difference is less than the first threshold
Value, the second condition are that luffing angle difference is less than Second Threshold, and the third condition is that distance difference is less than the 3rd threshold value.
The rotational difference is when the absolute value of the anglec of rotation and the difference of the anglec of rotation of picture to be matched of preceding camera；It is described to bow
It is the luffing angle and the absolute value of the difference of the luffing angle of picture to be matched when preceding camera to face upward angle difference；The distance
Difference is when the distance between preceding camera and object and the difference of the distance between camera during picture shooting to be matched and object
The absolute value of value.
In matching, Edge Gradient Feature is carried out using the smooth laplace transform of Gauss for image to be matched,
Extract the edge feature of image；Using pyramid double sampling, image is repeatedly reduced into half, forms pyramid diagram picture；It will clap
The image taken the photograph is matched after also carrying out same treatment with pyramid diagram picture to be matched, so as to lifted match cognization rate and
Shorten the match cognization time.
The intelligent robot obtains parameter of taking pictures from the cloud platform, and according to the state modulator robot fortune of taking pictures
Dynamic and regulation camera.If not obtaining image processing commands, processor only carries out image recognition and passes image recognition
Transport to cloud platform.
Above disclosure is only preferred embodiment of present invention, can not limit the right model of the present invention with this certainly
Enclose, therefore the equivalent variations made according to the claims in the present invention, still belong to the scope that the present invention is covered.
Claims (8)
- A kind of 1. intelligent robot for possessing image processing function, it is characterised in that：The intelligent robot includes body, drive mechanism, balanced controls, rotating mechanism and control assembly；The drive mechanism, Balanced controls and the rotating mechanism electrically connect with the control assembly；The body includes fuselage and is arranged at the roller of fuselage, and the drive mechanism is fixed on the fuselage and drives the rolling Wheel rotates, to drive the fuselage to walk；The rotating mechanism is fixed on the top of the fuselage and relative to the fuselage energy Enough 360 degree are rotated, and camera is provided with the rotating mechanism；The intelligent robot also includes an image processing apparatus and communication component, described image processing unit and the camera Connection, and communicated to connect with the communication component；The communication component is used to be connected with cloud platform to transmit to the cloud platform Processing result image, and receive the cloud platform instruction；The communication component is communicated to connect in order to institute with the control assembly State control assembly controls the drive mechanism to run according to cloud platform instruction；The balanced controls include gyroscope, and the gyroscope is installed on the fuselage, and the control assembly receives the gyro Instrument center of gravity induction information, and then control the drive mechanism to drive the roller to rotate according to center of gravity induction information, to balance State intelligent robot.
- A kind of 2. intelligent robot for possessing image processing function according to claim 1, it is characterised in that described image Processing unit includes：Image library, described image stock contain the photographic intelligence of the various objects pre-set；Comparative device, for the image photographed to be compared with the photographic intelligence of the various objects in described image storehouse, and To comparison result；Analyzer, for obtaining the information of the image photographed according to comparison result；Processor, for the analysis result according to analyzer and from the image processing commands that cloud platform obtains to the figure that photographs As being handled, and result is sent to cloud platform.
- A kind of 3. intelligent robot for possessing image processing function according to claim 1, it is characterised in that each object Corresponding multigroup photo, the visual angle of every group of photo is different, there is multiple pictures in every group of photo, and every photo takes pictures parameter not Together.
- A kind of 4. intelligent robot for possessing image processing function according to claim 3, it is characterised in that：The visual angle Including looking up, overlooking, left view, the right side regard, forward sight and/or backsight.
- A kind of 5. intelligent robot for possessing image processing function according to claim 3, it is characterised in that：It is described to take pictures The anglec of rotation and luffing angle when parameter is taken pictures including camera, and the distance of camera and object.
- A kind of 6. intelligent robot for possessing image processing function according to claim 2, it is characterised in that：The comparison Device includes：Take pictures parameter acquiring unit, for obtaining the parameter of taking pictures taken pictures when preceding camera；Picture selecting unit to be matched, for selecting the picture to be matched being consistent with the parameter of taking pictures in image library；Comparing unit, for by the photographic intelligence of the various objects in the image photographed and the picture selecting unit to be matched It is compared, and obtains comparison result.
- A kind of 7. intelligent robot for possessing image processing function according to claim 6, it is characterised in that：The selection The picture to be matched being consistent with when the parameter of taking pictures of preceding camera is that selection is taken pictures and parameter while meets first condition, second condition With the picture of third condition；The first condition is that anglec of rotation difference is less than first threshold, and the second condition is the angle of pitch Degree difference is less than Second Threshold, and the third condition is that distance difference is less than the 3rd threshold value.
- A kind of 8. intelligent robot for possessing image processing function according to claim 7, it is characterised in that：The rotation Difference is when the absolute value of the anglec of rotation and the difference of the anglec of rotation of picture to be matched of preceding camera；The luffing angle is poor It is worth for when the absolute value of the luffing angle of preceding camera and the difference of the luffing angle of picture to be matched；The distance difference is to work as The distance between preceding camera and object and camera during picture shooting to be matched are absolute with the difference of the distance between object Value.
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| CN201710847769.0A CN107729813A (en) | 2017-09-19 | 2017-09-19 | A kind of intelligent robot for possessing image processing function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710847769.0A CN107729813A (en) | 2017-09-19 | 2017-09-19 | A kind of intelligent robot for possessing image processing function |
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| CN107729813A true CN107729813A (en) | 2018-02-23 |
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| CN105345822A (en) * | 2015-12-17 | 2016-02-24 | 成都英博格科技有限公司 | Intelligent robot control method and device |
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2017
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| US20060013469A1 (en) * | 2004-07-13 | 2006-01-19 | Yulun Wang | Mobile robot with a head-based movement mapping scheme |
| US20080278584A1 (en) * | 2007-05-11 | 2008-11-13 | Ming-Yu Shih | Moving Object Detection Apparatus And Method By Using Optical Flow Analysis |
| CN104102346A (en) * | 2014-07-01 | 2014-10-15 | 华中科技大学 | Household information acquisition and user emotion recognition equipment and working method thereof |
| CN105345822A (en) * | 2015-12-17 | 2016-02-24 | 成都英博格科技有限公司 | Intelligent robot control method and device |
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Application publication date: 20180223 |