CN110834328B - Robot control method, device and equipment - Google Patents
Robot control method, device and equipment Download PDFInfo
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- CN110834328B CN110834328B CN201810942781.4A CN201810942781A CN110834328B CN 110834328 B CN110834328 B CN 110834328B CN 201810942781 A CN201810942781 A CN 201810942781A CN 110834328 B CN110834328 B CN 110834328B
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- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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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
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- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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Abstract
The invention is applicable to the technical field of robots and provides a robot control method, a device and equipment, wherein the method comprises the following steps: acquiring first human body detection data acquired by a pyroelectric sensor, wherein the pyroelectric sensor is arranged at a first preset position of a robot to be controlled; judging whether a preset calling area is occupied or not according to the first human body detection data; if the preset calling area is judged to be occupied, second human body detection data collected by a microwave sensor is obtained, and the microwave sensor is installed at a second preset position of the robot to be controlled; judging whether a preset calling area is occupied or not according to the second human body detection data; if the preset calling area is judged to be occupied, a first calling instruction is sent to the robot to be controlled, the first calling instruction is used for indicating the robot to be controlled to execute the first calling behavior, the human body moving in the calling area can be accurately identified, the identification accuracy is improved, the intelligent performance of the robot is improved, and the actual application requirements are met.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot control method, device and equipment.
Background
With the continuous development and progress of society, the human status is more and more important, some boring and tasteless work is more and more unwilling to do, so that the liberation of human from some simple and boring work becomes a necessary trend, and the appearance of the welcome robot perfectly solves a series of problems, not only can replace people to work, but also saves expenses. The greeting robot initiates a behavior of calling the greeting to the person when the person passes through the designated calling area. However, the existing greeting robot often has false recognition, for example, the robot does not react when people move in a calling area; or in a non-calling area of the robot, for example, when a person passes behind the robot, the robot calls the calling by mistake, so that the normal application requirements of the user cannot be met.
Disclosure of Invention
In view of this, embodiments of the present invention provide a robot control method, apparatus, and device, so as to solve the problem that the existing greeting robot often performs false recognition and cannot meet application requirements.
A first aspect of an embodiment of the present invention provides a robot control method, including:
the method comprises the steps of obtaining first human body detection data collected by a pyroelectric sensor, wherein the pyroelectric sensor is installed at a first preset position of a robot to be controlled;
judging whether a preset calling area is occupied or not according to the first human body detection data;
if the person in the preset calling area is judged to be in accordance with the first human body detection data, second human body detection data collected by a microwave sensor is obtained, and the microwave sensor is installed at a second preset position of the robot to be controlled;
judging whether a person exists in the preset calling area or not according to the second human body detection data;
and if the preset calling area is judged to be occupied according to the second human body detection data, sending a first calling instruction to the robot to be controlled, wherein the first calling instruction is used for indicating the robot to be controlled to execute a first calling behavior.
Optionally, the robot control method further includes:
and if the preset calling area is judged to have no person according to the first human body detection data, delaying a first preset time, and executing the step of acquiring the first human body detection data acquired by the pyroelectric sensor when the delay is finished.
Optionally, the robot control method further includes:
and if the preset calling area is judged to have no person according to the second human body detection data, sending a second calling instruction to the robot to be controlled, wherein the second calling instruction is used for indicating the robot to be controlled to execute a second calling behavior.
Optionally, after the sending the first call instruction to the robot to be controlled, the method further includes:
detecting whether response information returned by the robot to be controlled according to the first call instruction is received or not;
and if no response information returned by the robot to be controlled according to the first calling instruction is detected to be received, the first calling instruction is sent to the robot to be controlled again after a second preset time.
A second aspect of an embodiment of the present invention provides a robot control device, including:
the system comprises a first data acquisition unit, a second data acquisition unit and a control unit, wherein the first data acquisition unit is used for acquiring first human body detection data acquired by a pyroelectric sensor, and the pyroelectric sensor is arranged at a first preset position of a robot to be controlled;
the first human body judging unit is used for judging whether a preset calling area is occupied or not according to the first human body detection data;
the second data acquisition unit is used for acquiring second human body detection data acquired by a microwave sensor if the fact that people exist in the preset calling area is judged according to the first human body detection data, and the microwave sensor is installed at a second preset position of the robot to be controlled;
the second human body judging unit is used for judging whether a person exists in the preset calling area or not according to the second human body detection data;
and the first calling control unit is used for sending a first calling instruction to the robot to be controlled if the preset calling area is judged to be occupied according to the second human body detection data, wherein the first calling instruction is used for indicating the robot to be controlled to execute a first calling behavior.
Optionally, the robot controller further includes:
and the time delay unit is used for delaying a first preset time if the preset calling area is judged to have no person according to the first human body detection data, and the first human body detection data acquired by the pyroelectric sensor is acquired by the first data acquisition unit when the time delay is finished.
Optionally, the robot controller further includes:
and the second calling and calling control unit is used for sending a second calling and calling instruction to the robot to be controlled if the preset calling and calling area is judged to be unmanned according to the second human body detection data, and the second calling and calling instruction is used for indicating the robot to be controlled to execute a second calling and calling behavior.
Optionally, the robot controller further includes:
the information detection unit is used for detecting whether response information returned by the robot to be controlled according to the first call instruction is received or not after the first call instruction is sent to the robot to be controlled by the first call control unit;
the first call control unit is further configured to resend the first call instruction to the robot to be controlled through a second preset time if it is detected that no response information returned by the robot to be controlled according to the first call instruction is received.
A third aspect of an embodiment of the present invention provides a robot control apparatus including:
the pyroelectric sensor is arranged at a first preset position of the robot to be controlled;
the microwave inductor is arranged at a second preset position of the robot to be controlled;
the processor is used for acquiring first human body detection data acquired by the pyroelectric sensor, judging whether a preset calling area is occupied or not according to the first human body detection data, acquiring second human body detection data acquired by the microwave sensor if the preset calling area is occupied according to the first human body detection data, judging whether the preset calling area is occupied or not according to the second human body detection data, and sending a first calling instruction to the robot to be controlled if the preset calling area is occupied according to the second human body detection data, wherein the first calling instruction is used for indicating the robot to be controlled to execute a first calling behavior.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the above-described method.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: according to the embodiment of the invention, the pyroelectric sensor mounted on the robot is used for acquiring the detection data of the first human body, whether a preset calling area is a person is judged, if the preset calling area is the person, the microwave sensor mounted on the robot is used for acquiring the detection data of the second human body, whether the preset calling area is the person is further judged, if the preset calling area is the person, the first calling instruction is sent to the robot, and the robot is controlled to execute the first calling behavior.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a robot control method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of a robot control method according to another embodiment of the present invention;
FIG. 3 is a schematic flow chart diagram of a robot control method according to yet another embodiment of the present invention;
FIG. 4 is a schematic flow chart diagram of a robot control method according to yet another embodiment of the present invention;
FIG. 5 is a schematic block diagram of a robot control apparatus provided by an embodiment of the present invention;
FIG. 6 is a schematic block diagram of a robot controller according to another embodiment of the present invention;
fig. 7 is a schematic block diagram of a robot control device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Referring to fig. 1, fig. 1 is a schematic flowchart of a robot control method according to an embodiment of the present invention, in this embodiment, an example of a terminal angle trigger is taken as an example for description, where the terminal may be a mobile terminal such as a smart phone and a tablet computer. As shown in fig. 1, in this embodiment, the processing procedure of the terminal may include the following steps:
s101: the method comprises the steps of acquiring first human body detection data acquired by a pyroelectric sensor, wherein the pyroelectric sensor is installed at a first preset position of a robot to be controlled.
Here, the pyroelectric sensor is also called a human body infrared sensor, and is used for burglar alarm, visitor notification, and the like of life, and the principle is to convert released charges into voltage output through an amplifier. The pyroelectric sensor is installed at the first preset position of robot, wherein, first preset position can set up according to actual conditions.
Before the first human body detection data that the pyroelectric sensor gathered is acquireed to the aforesaid, can also send respectively start instruction to pyroelectric sensor and microwave inductor to make pyroelectric sensor and microwave inductor start according to above-mentioned start instruction, wherein, can send above-mentioned start instruction at predetermineeing constantly, predetermine constantly and can set up according to actual need, like this, pyroelectric sensor and microwave inductor start when needs start, other time do not start, save the resource, avoid extravagant.
The above-mentioned mode of obtaining the first human body detected data that pyroelectric sensor gathered can be for real-time acquisition, also can obtain in the preset time quantum, for example eight am to five pm every day, satisfies multiple application needs.
After the first human body detection data collected by the pyroelectric sensor are obtained, the obtained first human body detection data can be stored and displayed, and related personnel can check and check conveniently.
S102: and judging whether a preset calling area is occupied or not according to the first human body detection data.
Specifically, judging whether a person is in a preset call area according to the first human body detection data may include: and judging whether a person exists within a preset distance from the machine to be controlled according to the first human body detection data, wherein the preset distance is determined according to the preset calling area, and the preset calling area can be set according to actual conditions.
Before judging whether a preset calling area is occupied or not according to the first human body detection data, filtering and denoising can be carried out on the first human body detection data, so that a subsequent processing result is more accurate.
S103: and if the person in the preset calling area is judged according to the first human body detection data, acquiring second human body detection data acquired by a microwave inductor, wherein the microwave inductor is arranged at a second preset position of the robot to be controlled.
Here, the microwave sensor is also called a microwave radar, and is an instrument manufactured by using the doppler principle of electromagnetic waves.
If it is judged that the preset calling area is occupied according to the first human body detection data, second human body detection data collected by the microwave inductor are acquired, wherein the microwave inductor is installed at a second preset position of the robot to be controlled, and the second preset position can be set according to actual conditions.
Specifically, pyroelectric sensor detects human back, can block a period of time (for example 6 seconds) at high level state, in this period of time, human leaving or entering can not change pyroelectric sensor's state, so in order to guarantee can in time detect human leaving or entering under this state, need be when pyroelectric block state, the human body detection of microwave inductor is given first place to, under this state promptly, acquire the second human detection data that microwave inductor gathered, judge according to the human detection data of second and preset and call the region and whether have people.
After the second human body detection data collected by the microwave sensor are obtained, the obtained second human body detection data can be stored and displayed, and the method is suitable for application.
S104: and judging whether a person exists in the preset calling area or not according to the second human body detection data.
Here, as above, the judging whether there is a person in the preset call region according to the second human body detection data may include: and judging whether a person exists within a preset distance from the machine to be controlled according to the second human body detection data, wherein the preset distance is determined according to the preset calling area.
Before judging whether a preset calling area is occupied or not according to the second human body detection data, filtering and denoising can be carried out on the second human body detection data, noise points are removed, and accuracy of subsequent processing is improved.
S105: and if the preset calling area is judged to be occupied according to the second human body detection data, sending a first calling instruction to the robot to be controlled, wherein the first calling instruction is used for indicating the robot to be controlled to execute a first calling behavior.
Specifically, if it is determined that there is a person in the preset call area according to the second human body detection data, a first call instruction is sent to the robot to be controlled, where the first call instruction may include a first voice instruction and a first limb action instruction, and the robot to be controlled determines, according to the first voice instruction and the first limb action instruction, the first voice and the first limb action, for example, the first voice is "please advance, welcome", and the first limb action is hug, and then determines a behavior of the first call, and executes the behavior.
As can be seen from the above description, in the robot control method according to the embodiment of the present invention, the pyroelectric sensor mounted on the robot acquires the first human body detection data, and determines whether the preset call area is occupied, if so, the microwave sensor mounted on the robot acquires the second human body detection data, and further determines whether the preset call area is occupied, and if so, the first call instruction is sent to the robot, and the robot is controlled to execute the first call behavior.
Referring to fig. 2, fig. 2 is a schematic flowchart of a robot control method according to another embodiment of the present invention. The difference between the above embodiments is S206, wherein S201 to S205 are the same as S101 to S105 in the previous embodiment, and please refer to the related description of S101 to S105 in the above embodiments, which is not repeated herein. The robot control method in this embodiment may further include:
s206: and if the preset calling area is judged to have no person according to the first human body detection data, delaying a first preset time, and executing the step of acquiring the first human body detection data acquired by the pyroelectric sensor when the delay is finished.
Here, if it is judged that there is no person in the preset call area according to the first human body detection data, after delaying for a period of time, the first human body detection data collected by the pyroelectric sensor is continuously acquired, a subsequent processing flow is executed, whether there is a person in the preset call area is detected in real time, and meanwhile, a delay mechanism is added to reduce resource waste and meet application requirements, wherein the first preset time can be set according to actual conditions.
Referring to fig. 3, fig. 3 is a schematic flowchart of a robot control method according to still another embodiment of the present invention. The difference between the above embodiments is S306, wherein S301 to S305 are the same as S101 to S105 in the previous embodiment, and please refer to the related descriptions of S101 to S105 in the above embodiments, which is not repeated herein. The robot control method in this embodiment may further include:
s306: and if the preset calling area is judged to have no person according to the second human body detection data, sending a second calling instruction to the robot to be controlled, wherein the second calling instruction is used for indicating the robot to be controlled to execute a second calling behavior.
Here, if it is determined that there is a person in the preset call area according to the first human body detection data, and then it is determined that there is no person in the preset call area according to the second human body detection data, it is indicated that the person enters the preset call area and then leaves, at this time, a second call instruction is sent to the robot to be controlled, the second call instruction may include a second voice instruction and a second limb action instruction, and the robot to be controlled determines, according to the second voice instruction and the second limb action instruction, a second voice and a second limb action, for example, the second voice is "walk slowly, cheer again", the second limb action is shaking hands, and then determines a second call behavior, and executes the behavior.
Referring to fig. 4, fig. 4 is a schematic flowchart of a robot control method according to another embodiment of the present invention. The difference between the present embodiment and the above embodiment is in S406 to S407, where S401 to S405 are the same as S101 to S105 in the previous embodiment, and reference is specifically made to the description related to S101 to S105 in the above embodiment, which is not repeated herein. The robot control method in this embodiment may further include:
s406: and detecting whether response information returned by the robot to be controlled according to the first call instruction is received.
S407: and if no response information returned by the robot to be controlled according to the first calling instruction is detected to be received, the first calling instruction is sent to the robot to be controlled again after a second preset time.
Here, after sending the first call instruction to the robot to be controlled, whether response information returned by the robot to be controlled is received or not is detected, if not, the first call instruction is sent to the robot to be controlled again after a second preset time until the response information returned by the robot to be controlled is detected, the problem that the robot to be controlled does not receive the first call instruction in time and cannot respond in time when people move in a call area is avoided, the intelligent performance of the robot is improved, and the robot is suitable for application, wherein the second preset time can be set according to actual conditions.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 5 shows a schematic block diagram of a robot control device according to an embodiment of the present invention, corresponding to the robot control method described in the above embodiment. The robot control device 500 of the present embodiment includes units for executing steps in the embodiment corresponding to fig. 1, and please refer to fig. 1 and the related description in the embodiment corresponding to fig. 1 for details, which are not repeated herein. The robot control device 500 of the present embodiment includes a first data acquisition unit 501, a first human body judgment unit 502, a second data acquisition unit 503, a second human body judgment unit 504, and a first incoming call control unit 505.
The first data acquiring unit 501 is configured to acquire first human body detection data acquired by a pyroelectric sensor, where the pyroelectric sensor is installed at a first preset position of a robot to be controlled. A first human body determining unit 502, configured to determine whether there is a person in a preset call area according to the first human body detection data. A second data obtaining unit 503, configured to obtain second human body detection data collected by a microwave sensor if it is determined that there is a person in the preset call area according to the first human body detection data, where the microwave sensor is installed at a second preset position of the robot to be controlled. A second human body determining unit 504, configured to determine whether there is a person in the preset call region according to the second human body detection data. And a first call control unit 505, configured to send a first call instruction to the robot to be controlled if it is determined that there is a person in the preset call area according to the second human body detection data, where the first call instruction is used to instruct the robot to be controlled to execute a first call behavior.
From the above description, the robot control device according to the embodiment of the invention introduces the pyroelectric sensor and the microwave sensor to control the robot to call, wherein the pyroelectric sensor has good directivity, can accurately identify the human body moving in the call area, improves the identification accuracy, has high sensitivity of the microwave sensor, can control the robot to timely react when the person moves in the call area, improves the intelligent performance of the robot, and meets the actual application requirement.
Referring to fig. 6, fig. 6 is a schematic block diagram of another robot control apparatus according to another embodiment of the present invention. The robot control device 600 of the present embodiment includes a first data acquisition unit 601, a first human body judgment unit 602, a second data acquisition unit 603, a second human body judgment unit 604, a first call control unit 605, a delay unit 606, a second call control unit 607, and an information detection unit 608.
Specifically, please refer to fig. 5 and the related description of the first data obtaining unit 501, the first human body determining unit 502, the second data obtaining unit 503, the second human body determining unit 504, and the first paging control unit 505 in the embodiment corresponding to fig. 5, and the description thereof is omitted here for the first data obtaining unit 601, the first human body determining unit 602, the second data obtaining unit 603, the second human body determining unit 604, and the first paging control unit 605.
Further, the delay unit 606 is configured to delay a first preset time if it is determined that there is no person in the preset call area according to the first human body detection data, and the first data acquisition unit acquires the first human body detection data acquired by the pyroelectric sensor when the delay is finished.
Further, the second call calling control unit 607 is configured to send a second call calling instruction to the robot to be controlled if it is determined that the preset call calling area has no person according to the second human body detection data, where the second call calling instruction is used to instruct the robot to be controlled to execute a second call calling behavior.
Further, the information detecting unit 608 is configured to detect whether response information returned by the robot to be controlled according to the first call instruction is received after the first call control unit sends the first call instruction to the robot to be controlled.
The first call control unit 605 is further configured to, if it is detected that no response information returned by the robot to be controlled according to the first call instruction is received, resend the first call instruction to the robot to be controlled through a second preset time.
As can be seen from the above description, in the embodiment of the present invention, the pyroelectric sensor mounted on the robot acquires the first human body detection data, and determines whether the preset call region is a person, if the preset call region is a person, the microwave sensor mounted on the robot acquires the second human body detection data, and further determines whether the preset call region is a person, and if the preset call region is a person, the pyroelectric sensor sends the first call instruction to the robot to control the robot to execute the first call behavior.
Referring to fig. 7, fig. 7 is a schematic block diagram of a robot control apparatus according to an embodiment of the present invention. As shown in fig. 7, the robot control device 700 of this embodiment includes: pyroelectric sensor 701, microwave sensor 702 and processor 703.
The pyroelectric sensor 701 is installed at a first preset position of the robot to be controlled.
And the microwave inductor 702 is arranged at a second preset position of the robot to be controlled.
The processor 703 is configured to acquire first human body detection data acquired by the pyroelectric sensor 701, determine whether a preset call region is occupied according to the first human body detection data, determine whether the preset call region is occupied according to the first human body detection data, acquire second human body detection data acquired by the microwave sensor 702, determine whether the preset call region is occupied according to the second human body detection data, and transmit a first call instruction to the robot to be controlled, where the first call instruction is used to instruct the robot to be controlled to execute a first call behavior.
In an embodiment, the processor 703 is further configured to delay a first preset time if it is determined that there is no person in the preset call area according to the first human body detection data, and execute the step of acquiring the first human body detection data acquired by the pyroelectric sensor when the delay is finished.
In an embodiment, the processor 703 is further configured to send a second call instruction to the robot to be controlled if it is determined that there is no person in the preset call area according to the second human body detection data, where the second call instruction is used to instruct the robot to be controlled to execute a second call behavior.
In one embodiment, the processor 703 is further configured to detect whether response information returned by the robot to be controlled according to the first call instruction is received after the first call instruction is sent to the robot to be controlled;
and if no response information returned by the robot to be controlled according to the first calling instruction is detected to be received, the first calling instruction is sent to the robot to be controlled again after a second preset time.
Above-mentioned scheme introduces pyroelectric sensor and microwave inductor control robot and calls out and exhale, and wherein, pyroelectric sensor directionality is better, can pinpoint the human body calling out regional activity, has improved the discernment degree of accuracy, and microwave inductor sensitivity is high, can control the robot and in time react when calling out regional someone activity, promotes the intelligent performance of robot, satisfies practical application needs.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. A robot control method, comprising:
the method comprises the steps of obtaining first human body detection data collected by a pyroelectric sensor, wherein the pyroelectric sensor is installed at a first preset position of a robot to be controlled;
judging whether a preset calling area is occupied or not according to the first human body detection data;
if the fact that people exist in the preset calling area is judged according to the first human body detection data, when the pyroelectric sensor is in a blocking state, second human body detection data collected by a microwave sensor are obtained, filtering and noise reduction processing are carried out on the second human body detection data, and the microwave sensor is installed at a second preset position of the robot to be controlled;
judging whether a person exists in the preset calling area or not according to the second human body detection data;
if the preset calling area is judged to be occupied according to the second human body detection data, a first calling instruction is sent to the robot to be controlled, and the first calling instruction is used for indicating the robot to be controlled to execute a first calling behavior;
and if the preset calling area is judged to be unmanned according to the second human body detection data, sending a second calling instruction to the robot to be controlled, wherein the second calling instruction is used for indicating the robot to be controlled to execute a second calling behavior, and the second calling instruction comprises a second voice instruction and a second limb action instruction.
2. The robot control method according to claim 1, further comprising:
and if the preset calling area is judged to have no person according to the first human body detection data, delaying a first preset time, and executing the step of acquiring the first human body detection data acquired by the pyroelectric sensor when the delay is finished.
3. The robot control method according to claim 1, further comprising, after the sending of the first hello instruction to the robot to be controlled:
detecting whether response information returned by the robot to be controlled according to the first call instruction is received or not;
and if no response information returned by the robot to be controlled according to the first calling instruction is detected to be received, the first calling instruction is sent to the robot to be controlled again after a second preset time.
4. A robot control apparatus, comprising:
the system comprises a first data acquisition unit, a second data acquisition unit and a control unit, wherein the first data acquisition unit is used for acquiring first human body detection data acquired by a pyroelectric sensor, and the pyroelectric sensor is arranged at a first preset position of a robot to be controlled;
the first human body judging unit is used for judging whether a preset calling area is occupied or not according to the first human body detection data;
the second data acquisition unit is used for acquiring second human body detection data acquired by a microwave sensor and carrying out filtering and noise reduction on the second human body detection data if the fact that people exist in the preset calling area is judged according to the first human body detection data and the pyroelectric sensor is in a blocking state, and the microwave sensor is installed at a second preset position of the robot to be controlled;
the second human body judging unit is used for judging whether a person exists in the preset calling area or not according to the second human body detection data;
the first calling control unit is used for sending a first calling instruction to the robot to be controlled if the preset calling area is judged to be occupied according to the second human body detection data, wherein the first calling instruction is used for indicating the robot to be controlled to execute a first calling behavior;
and the second calling and calling control unit is used for sending a second calling and calling instruction to the robot to be controlled if the preset calling and calling area is judged to be nobody according to the second human body detection data, wherein the second calling and calling instruction is used for indicating the robot to be controlled to execute a second calling and calling behavior, and comprises a second voice instruction and a second limb action instruction.
5. The robot control apparatus according to claim 4, further comprising:
and the time delay unit is used for delaying a first preset time if the preset calling area is judged to have no person according to the first human body detection data, and the first human body detection data acquired by the pyroelectric sensor is acquired by the first data acquisition unit when the time delay is finished.
6. The robot control apparatus according to claim 4, further comprising:
the information detection unit is used for detecting whether response information returned by the robot to be controlled according to the first call instruction is received or not after the first call instruction is sent to the robot to be controlled by the first call control unit;
the first call control unit is further configured to resend the first call instruction to the robot to be controlled through a second preset time if it is detected that no response information returned by the robot to be controlled according to the first call instruction is received.
7. A robot control apparatus, characterized by comprising:
the pyroelectric sensor is arranged at a first preset position of the robot to be controlled;
the microwave inductor is arranged at a second preset position of the robot to be controlled;
the processor is used for acquiring first human body detection data acquired by the pyroelectric sensor, judging whether a preset calling area is occupied or not according to the first human body detection data, acquiring second human body detection data acquired by the microwave sensor if the preset calling area is judged to be occupied according to the first human body detection data, judging whether the preset calling area is occupied or not according to the second human body detection data, and sending a first calling instruction to the robot to be controlled if the preset calling area is judged to be occupied according to the second human body detection data, wherein the first calling instruction is used for indicating the robot to be controlled to execute a first calling behavior; and if the preset calling area is judged to be unmanned according to the second human body detection data, sending a second calling instruction to the robot to be controlled, wherein the second calling instruction is used for indicating the robot to be controlled to execute a second calling behavior, and the second calling instruction comprises a second voice instruction and a second limb action instruction.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 3.
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| CN106041962A (en) * | 2016-08-03 | 2016-10-26 | 杭州欢乐飞机器人科技股份有限公司 | Smart robot receptionist and operation method thereof |
| CN106426203A (en) * | 2016-11-02 | 2017-02-22 | 旗瀚科技有限公司 | Communication system and method of active trigger robot |
| CN106695849A (en) * | 2017-02-17 | 2017-05-24 | 宁波韦尔德斯凯勒智能科技有限公司 | Sensing, controlling and performing system for greeting security service robot |
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| CN107608002B (en) * | 2017-09-05 | 2023-06-02 | 方晨 | Human body detection method based on human body detection device |
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| CN106041962A (en) * | 2016-08-03 | 2016-10-26 | 杭州欢乐飞机器人科技股份有限公司 | Smart robot receptionist and operation method thereof |
| CN106426203A (en) * | 2016-11-02 | 2017-02-22 | 旗瀚科技有限公司 | Communication system and method of active trigger robot |
| CN106695849A (en) * | 2017-02-17 | 2017-05-24 | 宁波韦尔德斯凯勒智能科技有限公司 | Sensing, controlling and performing system for greeting security service robot |
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