CN104766061A - Method for searching and rescuing victims through robot - Google Patents
Method for searching and rescuing victims through robot Download PDFInfo
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- CN104766061A CN104766061A CN201510157945.9A CN201510157945A CN104766061A CN 104766061 A CN104766061 A CN 104766061A CN 201510157945 A CN201510157945 A CN 201510157945A CN 104766061 A CN104766061 A CN 104766061A
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Abstract
The invention discloses a method for searching and rescuing victims through a robot. The method includes the following steps that the victims and the position of the victims are identified; the victims and the position of the victims are recorded to a record chart; the target victims are sought for and rescued according to the record chart. The robot can identify the victims at ordinary time and record the victims and the position of the victims, so that a historical record chart is formed. Thus, when the target victims need to be sought and rescued, the rescuing time can be shortened according to the record chart, and the searching and rescuing accuracy is improved.
Description
Technical field
The invention relates to a kind of method of rescue worker, especially in regard to a kind of method of robot and rescue worker thereof.
Technical background
Recently, Robotics has significant progress.Robot can by location, navigate and keep away the technology such as barrier, understand self positional information and arround environmental information, and can by image recognition technology, such as face tracking and recognition of face, carry out cognitive specific people.But, the space that the method for robot rescue worker is significantly improved in addition.
In current technology when robot receive instruction to search and rescue specific people time, often can only carry out the search of blanket type, but not only lose time and expend electric power like this, and if receive assignment instructions in an emergency situation, robot cannot realize task in time, and causes serious consequence.
Therefore, how to provide a kind of method of robot and rescue worker thereof, intelligence can be carried out and search and rescue, search and rescue accuracy to shorten the search and rescue time and to improve, become important topic.
Summary of the invention
Object of the present invention is searched and rescued for providing one can carry out intelligence, searches and rescues the robot of accuracy and the method for rescue worker thereof to shorten the search and rescue time and to improve.
A kind of robot of the present invention comprises identification module, memory module and processing module.Identification module is the position of identification personnel and these personnel.Memory module is store recording table.Processing module is electrically connected with identification module and memory module, and these personnel and this position are recorded in record sheet, and after instruction is searched and rescued in reception, search and rescue target person according to the automatic identification module of record sheet.
The method of a kind of robot rescue worker of the present invention comprises the following steps: identification personnel and this personnel position; Record these personnel and this position in record sheet; And search and rescue target person according to this record sheet.
In an embodiment of the present invention, robot is to search and rescue this target person according to the up-to-date data about target person in record sheet.
In an embodiment of the present invention, robot calculates according to record sheet and obtains probability tables, and robot searches and rescues target person according to probability tables.
In an embodiment of the present invention, robot is according to new recognition result update probability table.
In an embodiment of the present invention, when robot performs the non-task about these personnel, if detect this personnel, then these personnel and this personnel position is identified.
In an embodiment of the present invention, after these personnel of robot identification, the feature of these personnel is recorded.
In an embodiment of the present invention, when recording these personnel and this position in this record sheet, the time that these personnel are present in this position is also recorded.
Robot disclosed in this invention can identify personnel at ordinary times, and records these personnel and position thereof, and then the record sheet of history of forming.Therefore, when target person searched and rescued by needs, the search and rescue time can be shortened according to record sheet, and improve search and rescue accuracy.
Wherein, robot can search and rescue this target person according to the data about target person up-to-date in record sheet or according to calculating obtained probability tables to search and rescue target person by record sheet.
Wherein, probability tables can comprise the information of personnel, position, more can comprise the temporal information that personnel appear at this position.And probability tables can constantly upgrade according to new recognition result.
In addition, robot of the present invention when performing other tasks, can detect the personnel in recognizable set simultaneously, and then increases the data of identification personnel and personnel position.
In addition, after these personnel of robot identification, can by least feature (such as hair style, clothes color and pattern, the figure viewed from behind, side, walking step state, special personal effects or clothing angle) recording these personnel, to help the degree of accuracy promoting the follow-up personal identification carried out.
Accompanying drawing explanation
Fig. 1 is the block schematic diagram of a kind of robot of preferred embodiment.
Fig. 2 is the process flow diagram of the method for a kind of robot rescue worker of preferred embodiment.
Fig. 3 is the workflow diagram of the method for a kind of robot rescue worker of preferred embodiment.
Fig. 4 is the workflow diagram of the method for a kind of robot rescue worker of preferred embodiment.
Embodiment
With reference to shown in Fig. 1, a kind of robot 1 of preferred embodiment comprises identification module 11, memory module 12 and processing module 13.Wherein, identification module 11 is in order to identify the position of personnel and these personnel.Identification module can such as comprise face recognition module, sound identification module, retina identification module, fingerprint identification module, Gait Recognition module, radio frequency identification module or other can be used to identify module.In addition, identification module 11 also can be identified the position of personnel and robot by wireless radio-frequency, video camera, sound tracing, image tracing, GPS or indoor locating system.Wherein indoor locating system can comprise a plurality of be positioned at fixed reference position transmitter and in conjunction with indoor configuration map to set up indoor coordinate system.
Above-mentioned identification module 11 can at least be realized by identification chip, video camera, microphone, infrared sensing assembly, radio frequency chip, thermoinduction assembly.Certainly, said modules not all need, and can select, and can increase other assemblies with expanded function according to needs.
Memory module 12 is store recording tables, and memory module 12 can comprise internal memory.Processing module 13 is electrically connected with identification module 11 and memory module 12, and these personnel and this position are recorded in this record sheet, and after instruction is searched and rescued in reception, searches and rescues target person according to the automatic identification module 11 of record sheet.
The method of the robot rescue worker of preferred embodiment is below described and further illustrates the work of robot 1.As shown in Figure 2, the method for robot rescue worker comprises step S01 to step S03.
Step S01: identify personnel and this personnel position.Robot can utilize recognition of face, speech recognition, retina identification, fingerprint recognition, Gait Recognition or wireless radio-frequency to identify personnel, and wireless radio-frequency, video camera, sound tracing, image tracing, GPS or indoor locating system can be utilized to identify personnel position, and can use in conjunction with map.The robot of the present embodiment can when executing the task, and personnel near detecting, if the personnel of having detected exist, then identify these personnel and this personnel position simultaneously.
Step S02: record these personnel and this position in record sheet.After identification completes, these personnel and personnel position are recorded in record sheet by robot, and record sheet can be stored in the internal memory of robot, and is numerical data, and can therefore set up location probability model.Wherein, when these personnel of robot records and position thereof are in record sheet, can record real-time time, the time being present in this position by these personnel is recorded, make the data of record sheet have the parameter such as personnel, location and time, so Time Created location probability model.In addition, after these personnel of robot identification, the at least feature of these personnel can be recorded, such as hair style, clothes color and pattern, the figure viewed from behind, side, walking step state, special personal effects (such as wrist-watch or crutch), clothing angle etc., these features can be used as in the future to recognition feature during this personal identification, to improve recognition accuracy.
Step S03: search and rescue target person according to record sheet.Robot, in search and rescue task, can carry out rescue worker according to record sheet, owing to have recorded the position that personnel out of the ordinary may exist in record sheet, searches and rescues can shorten the search and rescue time and improve search efficiency according to record sheet.In addition, if record sheet also writing time, then can improve lifting search efficiency.
Wherein, robot can search and rescue target person according to the latest data about target person in record sheet.Such as robot receives the instruction of searching and rescuing elder brother, then robot checks in record sheet, and the data up-to-date about elder brother is " elder brother is in parlor ", then robot can arrive first parlor search and rescue.Or robot can calculate according to record sheet and obtain probability tables, then search and rescue target person according to probability tables.Probability tables is the probability that display personnel out of the ordinary are present in each position, and robot can search and rescue this personnel according to the sequence of probability.Certainly, if coordinate the record data of time, probability tables can show the probability that personnel out of the ordinary are positioned at position out of the ordinary within the period out of the ordinary, and then promotes search efficiency.
In addition, robot can upgrade record sheet and probability tables according to new recognition result.
As shown in Figure 3, first, robot receives assignment instructions (S11), and this assignment instructions can be about personnel or non-about personnel, and being for the non-task about personnel at this, such as, is cleaning.After robot receives assignment instructions, namely starting execute the task (S12), such as, is clean in parlor.While robot carries out cleaning, also can detect in recognizable set that maximum magnitude that the identification module that is equipped with at it can reach formed simultaneously and whether there are personnel (S13), wherein can comprise personnel and enter in recognizable set or personnel leave recognizable set at same position or personnel always.
If the personnel of detecting are present in recognizable set, then identify the position (S14) of these personnel and these personnel, such as, identify father in parlor, or identify mother by leave in parlor and go on foot in direction towards kitchen.Then, robot records personnel and position and time (S15) in record sheet, be such as record father in the afternoon 6 be positioned at parlor, and mother in the afternoon 6 in kitchen.Then, robot continues cleaning.Certainly, namely robot also can continue cleaning after identification completes, and while cleaning, data is recorded in record sheet.
In addition, Fig. 4 is another situation of the robot manipulation of display the present embodiment.As shown in Figure 3, first, robot receives assignment instructions (S21), is for the task about personnel at this assignment instructions, such as, be the search and rescue instruction of searching and rescuing father.
Then, robot carrys out rescue worker according to record sheet, wherein first whether can search and rescue target person (S22) according in record sheet about the latest data of target person.Such as in record sheet, be that father is positioned at parlor before five minutes about the update of father, then robot preferentially goes to parlor to search and rescue.
If search and rescue to these personnel, then robot can execute the task the task (S23) indicated by instruction, such as, massage.Searching and rescuing to these personnel is comprise the identification to these personnel, and robot by the data in record sheet, such as, can identify the feature that this specific people records, to increase identification accuracy and to promote recognition efficiency before.
If without search and rescue to these personnel, then whether robot can search and rescue target person (S24) by calculating according to record sheet the probability tables obtained.Wherein, probability tables demonstrates father to be positioned at the probability of position out of the ordinary or father is positioned at the probability of position out of the ordinary at day part, such as: robot in the afternoon 6 reception assignment instructions instruction searches and rescues father, probability tables 6 probability appearing at parlor in display father's afternoon set up according to it are the highest, then robot preferentially goes to parlor to search and rescue, as arrived father without searching and rescuing, then search and rescue according to probability of occurrence time high position, the rest may be inferred again.In the process that this searches and rescues, if search and rescue to personnel, execute the task; If do not have search and rescue to arrive, then continue to search and rescue.
Finally, if also specific people cannot be searched and rescued out according to probability tables, then whether carry out blanket type search and rescue (S25), namely search and rescue comprehensively.If or specific people cannot be searched and rescued out, then terminate to search and rescue, and send the warning or picture or sound etc. that cannot execute the task.
In sum, the robot disclosed by the present invention can identify personnel at ordinary times, and records these personnel and position thereof, and then the record sheet of history of forming, therefore, when target person searched and rescued by needs, the search and rescue time can be shortened according to record sheet, and improve search and rescue accuracy.
Wherein, robot can search and rescue this target person according to the data about target person up-to-date in record sheet or according to calculating obtained probability tables to search and rescue target person by record sheet.
Wherein, probability tables can comprise the information of personnel, position, more can the person of comprising be present in the temporal information of this position.And probability tables can constantly upgrade according to new recognition result.
In addition, robot of the present invention when performing other tasks, can detect the personnel in identifiable design (visual identity or language person identify) scope simultaneously, and then increasing the data of identification personnel and personnel position.
In addition, after these personnel of robot identification, can by least feature (such as hair style, clothes color and pattern, the figure viewed from behind, side, walking step state, special personal effects or clothing angle) recording these personnel, to help the degree of accuracy promoting the follow-up personal identification carried out.
The foregoing is only citing, but not be restriction.Anyly do not depart from spirit of the present invention to its equivalent modifications of carrying out or change, all should be included in the application's the scope of the claims.
Claims (9)
1. a robot, is characterized in that comprising:
Identification module is the position of identification personnel and these personnel;
Memory module is store recording table; And processing module, be electrically connected with this identification module and this memory module, these personnel and this position are recorded in this record sheet, and after instruction is searched and rescued in reception, according to this record sheet this identification module search and rescue target person automatically.
2. the robot according to claims 1, wherein this identification module comprises face recognition module, sound identification module, retina identification module, fingerprint identification module, Gait Recognition module or radio frequency identification module.
3. the robot according to claims 1, wherein this record sheet is the latest data about this target person.
4. the robot according to claims 1, wherein this robot calculates according to this record sheet and obtains probability tables, and this probability tables is stored in this memory module.
5. the robot according to claims 1, wherein this probability tables is at least formed by personnel, position and the construction of the information of time institute.
6. a robot rescue worker's method, comprises the following steps: the position of identification personnel and these personnel; Record these personnel and this position in record sheet; And search and rescue target person according to this record sheet.
7. the method for the robot rescue worker according to claims 6, wherein this robot be according in this record sheet about the latest data of this target person to search and rescue this target person.
8. the method for the robot rescue worker according to claims 6, wherein this robot calculates according to this record sheet and obtains probability tables, and searches and rescues this target person according to this probability tables.
9. the method for the robot rescue worker according to claims 6, wherein when this robot performs the task of non-these personnel of pass, if detect this personnel, then identifies the position of these personnel and these personnel; Wherein after these personnel of this robot identification, recording at least feature of these personnel, wherein when recording these personnel and this position in this record sheet, also recording the time that these personnel are positioned at this position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510157945.9A CN104766061A (en) | 2015-05-12 | 2015-05-12 | Method for searching and rescuing victims through robot |
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| CN201510157945.9A CN104766061A (en) | 2015-05-12 | 2015-05-12 | Method for searching and rescuing victims through robot |
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| CN104766061A true CN104766061A (en) | 2015-07-08 |
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| CN201510157945.9A Pending CN104766061A (en) | 2015-05-12 | 2015-05-12 | Method for searching and rescuing victims through robot |
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Cited By (4)
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| CN105069437A (en) * | 2015-08-14 | 2015-11-18 | 惠州Tcl移动通信有限公司 | Intelligent system capable of automatically identifying position and realization method |
| CN108114387A (en) * | 2017-11-28 | 2018-06-05 | 歌尔科技有限公司 | A kind of method that robot is sued and laboured in earthquake and earthquake is sued and laboured |
| CN109339859A (en) * | 2018-11-22 | 2019-02-15 | 宁波敬业控股集团有限公司 | A kind of mine search and rescue system and rescue method based on visible light communication |
| CN110390300A (en) * | 2019-07-24 | 2019-10-29 | 北京洛必德科技有限公司 | A kind of target follower method and device for robot |
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| CN102253673A (en) * | 2011-07-08 | 2011-11-23 | 上海合时智能科技有限公司 | Household movable security robot based on target identification technique |
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| CN101382429A (en) * | 2008-10-17 | 2009-03-11 | 北京航空航天大学 | Earth-air special-shaped multi-robot searching and rescuing system |
| CN102253673A (en) * | 2011-07-08 | 2011-11-23 | 上海合时智能科技有限公司 | Household movable security robot based on target identification technique |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105069437A (en) * | 2015-08-14 | 2015-11-18 | 惠州Tcl移动通信有限公司 | Intelligent system capable of automatically identifying position and realization method |
| CN108114387A (en) * | 2017-11-28 | 2018-06-05 | 歌尔科技有限公司 | A kind of method that robot is sued and laboured in earthquake and earthquake is sued and laboured |
| CN109339859A (en) * | 2018-11-22 | 2019-02-15 | 宁波敬业控股集团有限公司 | A kind of mine search and rescue system and rescue method based on visible light communication |
| CN110390300A (en) * | 2019-07-24 | 2019-10-29 | 北京洛必德科技有限公司 | A kind of target follower method and device for robot |
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| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: He Tao Inventor after: Liang Zhidong Inventor after: Ye Xinquan Inventor after: Lin Wuwei Inventor after: Jin Xinyuan Inventor before: He Tao Inventor before: Wang Xiaoyang |
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| COR | Change of bibliographic data | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20160412 Address after: 325000 Zhejiang, Ouhai, South East Road, No. 38, Wenzhou National University Science Park Incubator Applicant after: WENZHOU UNIVERSITY OUJIANG COLLEGE Address before: 325005, No. 128-66, Civil Aviation Road, PU shoe city, Lucheng District, Zhejiang, Wenzhou Applicant before: He Tao |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150708 |
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