CN104977934A - Robot system and human body detection and tracking method based on robot system - Google Patents
Robot system and human body detection and tracking method based on robot system Download PDFInfo
- Publication number
- CN104977934A CN104977934A CN201510401534.XA CN201510401534A CN104977934A CN 104977934 A CN104977934 A CN 104977934A CN 201510401534 A CN201510401534 A CN 201510401534A CN 104977934 A CN104977934 A CN 104977934A
- Authority
- CN
- China
- Prior art keywords
- human
- human body
- robot
- induction switch
- camera head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention discloses a robot system and a human body detection and tracking method based on the robot system. The robot system comprises a robot body with a moving mechanism, a human induction switch array formed by a plurality of human induction switches and a body feeling camera device, wherein the human induction switch array and the body feeling camera device are installed on the robot body. The human body detection and tracking method based on the robot system comprises the steps of switching on the robot system for monitor, each human induction switch in the human induction switch array detecting the areas within respective detection angle scopes, the body feeling camera device detecting the area within the detection angle scope thereof, and the robot body conducting specific action to realize human body detection and tracking function according to the detection results of the step two and step three. The robot system is easy to realize, high in accuracy and is safe and reliable. The human body detection and tracking method is easy to realize and high in execution efficiency.
Description
Technical field
The present invention relates to a kind of robot system, especially relate to a kind of robot system possessing human body detection and following function; The invention still further relates to a kind of human body detection based on robot system and tracking.
Background technology
Along with the progress of science and technology and society, security and guard technology is developed rapidly, and is able to widespread use in the safety-protection system of enterprises and institutions and family.According to statistics, in the world, the output value of security protection industry in 2015 will reach 5,000 hundred million yuan.Traditional security protection work mainly takes fixing camera head to monitor the pattern adding manpower patrol on duty, this mode is purchasing a large amount of camera heads to needing when monitoring compared with large regions, equipment investment is higher, and this schema flexibility is poor, be difficult to realize the object without dead angle monitoring, this just needs by arranging Security Personnel to go on patrol in turn to cover the shortage.But in recent years, along with the continuous rising of human cost, cause the input cost of each enterprises and institutions in security protection work also continuing to increase, have impact on economic benefit.
Based on traditional security protection mode of operation Problems existing and deficiency, this area studied and explored the security protection mode of operation of " fixing camera+Central Control Room+robot patrol " present stage, robot is utilized to replace Security Personnel to perform 24 hours patrol missions, to strengthen security protection effect, save human cost, warning, work attendance, welcome's work can also be implemented by robot, improve friendliness.Replace Security Personnel to perform in the process of security protection task in robot, people is the important object that it needs to come into contacts with, and comprise the various rolls such as owner, guest and illegal invasion person, this just requires that it possesses the ability that can detect, follow the tracks of human body exactly.
At present, mainly comprise following several in the technology of human body detection field application: (1), based on the technology of image procossing, it by camera collection image, then is detected by the method for Feature extraction and recognition and locate human body.Security and guard technology based on fixing camera is comparatively ripe, but the image recognition accuracy rate of dollying head is on the low side, is difficult to meet the request for utilization that robot moves patrol.(2) based on the technology of passive type infrared camera, this camera can detect the thermal objects such as human body exactly by infrared ray, is applicable to field scene, but it is expensive, conditional request is higher, is mainly used in military affairs.(3) based on the technology of human induction switch, human induction switch sensitivity is higher, certain area can be detected interior (such as, detection angles about 120 degree, the distance region of about 0 ~ 10 meter) mobile human body, but body inductive switch can only detect in certain area whether there is human body, and can not realize accurate location, it is often used to the scene such as automatically-controlled door, corridor lamp.(4) based on the technology of the body sense kind equipments such as Kinet, Kinect is the Xbox360 game machine body sense equipment that Microsoft releases, possesses the ability of sampling depth image, the human body within the scope of distance 0 ~ 4 meter, 53 ° can be detected in real time by special algorithm, and exact position and the posture of human body can be determined, Kinect is mainly used in the fields such as body sense is mutual, game control, machine navigation at present.Although the technology of current existing numerous human body detection, be solely applied to mobile robot, replace Security Personnel to perform security protection work, be difficult to meet robot needs and accurately detect human body and the needs realizing tracking.
Summary of the invention
The object of this invention is to provide a kind of robot system and based on the human body detection of this robot system and tracking, robot system has implements the advantage easy, safe and reliable, accuracy rate is high; Based on the human body detection of this robot system and tracking, there is easy realization, advantage that execution efficiency is high; Robot system can be made to realize 360 ° of human body detections without dead angle and follow the tracks of object by the present invention.
Mobile robot is not suitable for based on single human body detection technology for solving in prior art, the technical matters of accurately detecting and tracking human body can not be realized, a kind of robot system provided by the invention comprises the robot body being provided with locomotive function mechanism, also comprise the human induction switch array be made up of multiple human induction switch, with an individual sense camera head, wherein multiple human induction switch is arranged on robot body and along the circumference of robot body and is uniformly distributed, wherein body sense camera head to be arranged on robot body and to be in the top of human induction switch array.
Preferably, a kind of robot system provided by the invention, wherein said human induction switch array comprises four human induction switchs, the height on four human induction switch distance ground is 0.75m, the height on described body sense camera head distance ground is 1m, and the shooting angle of body sense camera head becomes horizontality to arrange.
Present invention also offers a kind of human body detection based on robot system and tracking, comprise the following steps:
One, the robot system that starts the machine is monitored, and allows all human induction switchs in body sense camera head and human induction switch array all be in normal operating conditions;
Two, each human induction switch in human induction switch array detects the region within the scope of its separately detection angle degree, and according to whether detecting the corresponding output signal of human body generation, the output signal of all human induction switchs combines the output signal set forming human induction switch array in order;
Three, body sense camera head detects the region within the scope of its detection angle, and according to whether detecting the corresponding output signal of human body generation;
Four, according to the output signal set of human induction switch array and the output signal of body sense camera head, robot body does specific action to realize human body detection and to follow the tracks of object, described specific action comprise static, rotate and mobile three kinds of operating states.
Further, a kind of human body detection based on robot system provided by the invention and tracking, in described step 4, specifically comprise the following steps:
(1) when human induction switch array and body sense camera head all do not detect human body, robot body keeps stationary state;
(2) when human induction switch array detection is to human body, and body sense camera head is not when detecting human body, determine the angular range residing for human body according to the output signal set of human induction switch array, robot body does corresponding rotation and shift action accordingly;
(3) when human induction switch array and body sense camera head all detect human body, determine the exact position of human body according to the output signal of body sense camera head, robot body does corresponding rotation and shift action accordingly.
Further, a kind of human body detection based on robot system provided by the invention and tracking, in described step (two), robot body does corresponding rotation and shift action follows following rule:
Robot body does spinning movement, makes human body be within the scope of the detection angle of body sense camera head;
Robot body does the shift action relative to human body direction, and human body is within the scope of the detection range of body sense camera head.
Further, a kind of human body detection based on robot system provided by the invention and tracking, in described step (three), robot body does corresponding rotation and shift action follows following rule:
Robot body does spinning movement, makes human body be in the direction in body sense camera head dead ahead;
Robot body does the shift action relative to human body direction, and after the distance between robot body and human body reaches predetermined value, robot body stops mobile.
Further, a kind of human body detection based on robot system provided by the invention and tracking, the angular range residing for human body is determined in the wherein said output signal set according to human induction switch array, follows following judgment rule:
1. B
tin have and only have the value of the n-th element to be 1 time, then think that human body is within the scope of the detection angle of human induction switch corresponding to this element,
θ∈[α
n-Δ/2，α
n+Δ/2] [1]
2. B
tin have and only have n-th and the value of the (n+1)th two adjacent elements when being 1, then think that human body is in the overlapping region of the detection angle scope of two human induction switchs corresponding to these two elements,
θ∈[α
n+1-Δ/2，α
n+Δ/2] [2]
3. B
tin have the value of two non-conterminous elements be 1 or three more than the value of element when being 1, filtering B
tand B
t-1after in two set, element value is all the element of 1, then according to orientation angles scope residing for rule judgment human body 1. or 2.;
4. when aforementioned three kinds of situations all do not meet, then think that residing for human body, orientation angles scope is,
θ∈[0，360] [3]
Above-mentioned 1., 2., 3., 4. in item and formula [1], [2], [3],
show the output signal set of human induction switch array in t,
represent the output signal set of human induction switch array in the t-1 moment, θ represents angular range residing for human body, α
nrepresent the installation site angle of the n-th human induction switch in the coordinate system taking robot body as initial point in human induction switch array, Δ represents the detection angle scope of human induction switch, B
tand B
t-1when the value of certain element in set is 0, no one within the scope of the detection angle representing the human induction switch that this element is corresponding, when the value of certain element is 1, then has people within the scope of the detection angle representing the human induction switch that this element is corresponding; Time θ ∈ [0,360], represent that the orientation angles scope residing for human body cannot directly judge.
Further, a kind of human body detection based on robot system provided by the invention and tracking, the wherein said output signal according to body sense camera head determines the exact position of human body, follows following rule:
5. human body relative to the orientation angles in body sense camera head dead ahead is,
β＝arctan(x/y) [4]
6. human body relative to the distance of robot body is,
Above-mentioned 5., 6. in item and formula [4], [5], x and y represents the x coordinate figure of human body in the three-dimensional system of coordinate taking robot body as initial point and y coordinate figure respectively, wherein the plane that enough becomes of x with y is parallel ground.
Further, a kind of human body detection based on robot system provided by the invention and tracking, the locomotive function mechanism of wherein said robot body adopts two driving wheel difference structures, and robot body does rotation and shift action adopts PID reaction type control mode, and meet the following conditions
7. angular deviation and range deviation are respectively:
e
θ＝θ-0 [6]
e
d＝d-0.8 [7]
8. translational speed and rotational speed are respectively:
9. the speed of revolver and right speed of taking turns are respectively:
v
1＝V-V
θ[10]
v
2＝V+V
θ[11]
Above-mentioned 7., 8., 9. in item and formula [6], [7], [8], [9], [10], [11], θ represents the real-time angular of human body relative to robot body dead ahead, θ-0 expression preferentially ensures θ=0, d is the real-time distance of human body relative to robot body, 0.8 for default robot body is apart from the desired value of human body, and when reaching desired value, robot body stops mobile; P
d, I
d, D
d, P
θ, I
θ, D
θfor the pid control parameter of translational speed and rotational speed.
It should be noted that, in the present invention, said angular range all refers to the angular range in the coordinate system taking robot body as initial point.
A kind of robot system of the present invention and based on the human body detection of robot system and tracking compared with prior art, have the following advantages: the present invention by arranging human induction switch array and body sense camera head on the robot body possessing locomotive function mechanism, merge the advantage of human induction switch and body sense camera head, namely human induction switch is highly sensitive, the characteristic that investigative range is large and the high characteristic of body sense camera head precision, simultaneously in conjunction with the locomotive function of robot, robot system is possessed 360 ° without dead angle, the human body detection of high-accuracy and tracking power, practical application shows, by human body detection and the tracking rate of accuracy reached more than 98% of robot system of the present invention.Be specially: whether there is human body by human induction switch array detection around in the border circular areas of the certain radius of robot body, and produce the set of corresponding human induction switch array output signal, when there is human body, follow and determine the angular range of human body in the coordinate system taking robot body as initial point according to output signal set, robot body is followed and is done spinning movement according to the angular range residing for human body, human body is made to be within the scope of the detection angle of body sense camera head, and the close movement done relative to human body, after within the scope of the detection range that human body is in body sense camera head, according to the output signal of self, body sense camera head just can determine that human body is relative to the refined orientation angle in its dead ahead and the accurate distance between human body and robot body, robot body just can do the accurate close shift action with relative human body that rotates, thus realize the object of human body detection and tracking exactly, when the distance of robot body distance human body reaches predetermined value, robot body stops mobile, and carry out follow-up checking, work attendance, the work such as warning.Human body detection method based on robot system provided by the invention easily realizes, and execution efficiency is high.
Be described in further detail to a kind of robot system of the present invention and based on the human body detection of robot system and tracking below in conjunction with embodiment shown in accompanying drawing:
Accompanying drawing explanation
Fig. 1 is the vertical view of a kind of robot system of the present invention;
Fig. 2 is that the present invention is a kind of based on the human body detection of robot system and the process flow diagram of tracking.
Embodiment
First it should be noted that, this invention provides both a kind of robot system, further provide the human body detection based on this robot system and tracking.
As a kind of embodiment of robot system, as shown in Figure 1, comprise the robot body 1 being provided with locomotive function mechanism, the human induction switch array 2 be made up of four human induction switchs and an individual sense camera head 3, four human induction switchs are arranged on robot body 1, and four human induction switchs are uniformly distributed along the circumference of robot body 1, body sense camera head 3 is also arranged on robot body 1 simultaneously, and makes it be in the top of human induction switch array 2.As embodiment, the height on four human induction switch distance ground is all set to 0.75m by the present invention, and body sense camera head 3 is set to 1m apart from the height on ground, makes the shooting angle of body sense camera head 3 become horizontality to arrange simultaneously.This vibrational power flow can ensure that human body is in human induction switch and body sense camera head 3 search coverage in the vertical, avoids because position arranges to obtain the too high or too low problem affecting detection accuracy.
It should be noted that, the human induction switch that in a kind of robot system of the present invention, human induction switch array 2 comprises does not limit four, can arrange more than three or four yet.But the quantity of human induction switch is too much unsuitable, also unsuitable very few, rational human induction switch quantity is set, not only can ensure that human induction switch array 2 detects the accuracy of human body, also speed of detection can be ensured, the magnitude setting of human induction switch also should be followed according to the specific product used and determine, its detection range of different products is different with detection angle scope, but should ensure that the detection angle of all human induction switchs in human induction switch array 2 is added together the region that can cover around robot body 360 ° generally, guarantee without dead angle.As embodiment, the detection range of the human induction switch that the present invention adopts is 0 ~ 10m, and detection angle is 120 °; Body sense camera head 3 adopts Asus Xtion body sense camera, and use OpenN1 to increase income the human posture recognition method provided in function library, the optimal detection distance of body sense camera head 3 is 0.5 ~ 4m, and detection angle scope is 53 °.Body sense camera head 3 also can adopt Kinect somatosensory camera, and the human posture recognition method provided in the SDK using it to carry.
Human body detection based on robot system provided by the invention and tracking, comprise the following steps generally:
One, the robot system that starts the machine is monitored, and allows all human induction switchs in body sense camera head 3 and human induction switch array 2 all be in normal operating conditions;
Two, each human induction switch in human induction switch array 2 detects the region within the scope of its separately detection angle degree, and according to whether detecting the corresponding output signal of human body generation, the output signal of all human induction switchs combines the output signal set forming human induction switch array 2 in order;
Three, body sense camera head 3 detects the region within the scope of its detection angle, and according to whether detecting the corresponding output signal of human body generation;
Four, according to the output signal set of human induction switch array 2 and the output signal of body sense camera head 3, robot body 1 does specific action, thus realize human body detection and following function, the specific action that robot body 1 does comprise static, rotate and mobile three kinds of operating states.
In above-mentioned steps four, robot body 1 does specific action and follows following rule:
(1) when human induction switch array 2 and body sense camera head 3 all do not detect human body, robot body 1 keeps stationary state, motionless in position;
(2) when to human body, body sense camera head 3 does not detect human body in human induction switch array 2 detection, determine the angular range residing for human body according to the output signal set of human induction switch array 2, robot body 1 does corresponding rotation and shift action;
(3) when human induction switch array 2 and body sense camera head 3 all detect human body, determine the exact position of human body according to the output signal of body sense camera head 3, robot body 1 does corresponding rotation and shift action.
In above-mentioned steps (two), robot body 1 does corresponding rotation and shift action follows following rule:
After determining the residing angular range of human body, robot body 1 does spinning movement, makes human body be within the scope of the detection angle of body sense camera head 3;
Robot body 1 does the movement relative to human body direction, and human body is within the scope of the detection range of body sense camera head 3.
In above-mentioned steps (three), robot body 1 does corresponding rotation and shift action follows following rule:
After determining the exact position of human body, robot body 1 does spinning movement, makes human body be in the direction in body sense camera head 3 dead ahead;
Robot body 1 does the movement relative to human body direction, and after the distance between robot body 1 and human body reaches predetermined value, robot body 1 stops mobile, and carries out the work such as follow-up checking, warning, work attendance.
It should be noted that, do corresponding rotation and shift action at above-mentioned robot body 1, be not properly first do spinning movement, then do shift action, follow according to the locomotive function mechanism on robot body, also can carry out two actions simultaneously.Above-mentioned form of presentation is just for stating the conveniently differentiation carried out.
Determine angular range residing for human body in the above-mentioned output signal set according to human induction switch array 2, following judgment rule should be followed:
1. B
tin have and only have the value of the n-th element to be 1 time, then think that human body is positioned at the detection angle scope of human induction switch corresponding to this element,
θ∈[α
n-Δ/2，α
n+Δ/2] [1]
2. B
tin have and only have the value of n-th and (n+1)th element to be 1 time, then think that human body is positioned at the detection angle overlapping range of two human induction switchs corresponding to these two elements,
θ∈[α
n+1-Δ/2，α
n+Δ/2] [2]
3. B
tin when having the value more than element to be 1, compare B
tand B
t-1element value in two set, first removes B
twith B
t-1after middle element value is all the part of 1, then according to 1. or 2. judging orientation angles residing for human body;
4. when aforementioned three kinds of situations all do not meet, then think that orientation angles residing for human body is,
θ∈[0，360] [3]
According to the rule of four above, after the real-time input signal set obtaining human induction switch array 2, the angular range residing for human body just can be drawn in real time.1., 2., 3., 4. in item and formula [1], [2], [3],
show the output signal set of human induction switch array 2 in t,
represent the output signal set of human induction switch array 2 in the t-1 moment, θ represents orientation angles residing for human body, α
nrepresent the installation site angle of the n-th human induction switch in the coordinate system being initial point with robot body 1 in human induction switch array 2, Δ represents the detection angle scope of the human induction switch in human induction switch array 2, B
tand B
t-1in certain element value represent the human induction switch that this element is corresponding when being 0 detection angle within the scope of no one, have people within the scope of the detection angle then representing the human induction switch that this element is corresponding when certain element value is 1; Time θ ∈ [0,360], represent that the orientation angles that all human induction switchs in human induction switch array 2 all do not detect residing for human body or human body cannot directly judge.
Determine the exact position of human body in the above-mentioned output signal according to body sense camera head 3, following rule should be followed:
5. human body relative to the angle in body sense camera head (3) dead ahead is,
β＝arctan(x/y) [4]
6. human body relative to the distance of robot body (1) is,
5., 6. in item and formula [4], [5], x and y represents the x coordinate figure of human body in the three-dimensional system of coordinate being initial point with robot body 1 and y coordinate figure respectively, wherein the plane that enough becomes of x with y is parallel ground.
As embodiment, the travel mechanism of robot body 1 of the present invention adopts two driving wheel difference structures, and the rotation that robot body 1 does and shift action adopt PID reaction type control mode, and meet the following conditions,
7. angular deviation and range deviation are respectively:
e
θ＝θ-0 [6]
e
d＝d-0.8 [7]
8. translational speed and rotational speed are respectively:
9. the speed of revolver and right speed of taking turns are respectively:
v
1＝V-V
θ[10]
v
2＝V+V
θ[11]
Above-mentioned 7., 8., 9. top and formula [6], [7], [8], [9], [10], in [11], θ represents the real-time angular of human body relative to robot body 1 dead ahead, θ-0 expression preferentially ensures θ=0, d is the real-time distance of human body relative to robot body 1,0.8 robot body 1 that is setting is apart from the desired value of human body, and when reaching desired value, robot body 1 stops mobile; P
d, I
d, D
d, P
θ, I
θ, D
θfor the pid control parameter of translational speed and rotational speed.
It is important to note that angle of the present invention, angular range all refer to angle, angular range in the coordinate system taking robot body as initial point.
For helping those skilled in the art to understand the present invention, below by way of example and be described in further detail based on the human body detection of robot system and the implementation of tracking the present invention is a kind of in conjunction with process flow diagram:
As shown in Figure 1, in the present embodiment, four human induction switchs of human induction switch array 2 are uniformly distributed installation around robot body 1 within the scope of 360 °, make four human induction switch distance floor levels be set to 0.75 meter.The detection range of the human induction switch adopted is generally 0 ~ 10 meter, and detection angle scope is generally 120 °.Four installation sites of human induction switch in the coordinate system being initial point with robot body 1 are defined as 0 °, 90 °, 180 ° and 270 ° respectively, then the detection angle scope of the human induction switch of 0 ° of position is [0*90-120/2,0*90+120/2]; The detection angle scope of the human induction switch of 90 ° of positions is [1*90-120/2,1*90+120/2]; The detection angle scope of the human induction switch of 180 ° of positions is [2*90-120/2,2*90+120/2]; The detection angle scope of the human induction switch of 270 ° of positions is [3*90-120/2,3*90+120/2].It can thus be appreciated that the detection angle scope of four human induction switchs is combined the 360 ° of scopes covered around robot body 1, and the detection angle scope of adjacent two human induction switchs exists overlapping region.
The present invention uses set
represent the output signal set of t human induction switch 2; Use set
represent the output signal set of t-1 moment human induction switch 2; Work as B
tor B
t-1the value of certain element in set represents human body sensing that this element is corresponding and nobody within the scope of the detection angle closed when being 0, have people within the scope of the detection angle showing human induction switch corresponding to this element when the value of certain element is 1.
Consider the delay effect of human induction switch, human induction switch array 2 detects and determines that the angular range residing for human body adopts following judgment rule:
Work as B
twhen having in set and only have the value of an element to be 1, when remaining element value is 0, then think that human body is positioned at the detection angle scope of human induction switch corresponding to this element, suppose that the installation site of the human induction switch that this element is corresponding is n-th, position angle then residing for human body is: θ ∈ [n*90-120/2, n*90+120/2];
Work as B
thave in set and only have two adjacent element values to be 1, when remaining element value is 0, then think that human body is positioned at the overlapping region of the detection angle scope of human induction switch corresponding to these two elements, suppose that the installation site of these two adjacent human induction switchs is respectively n-th and (n+1)th, angular range then residing for human body is: θ ∈ [(n+1) * 90-120/2, n*90+120/2];
Work as B
thave in set the value of two non-conterminous elements be 1 or three more than the value of element when being 1, compare B
tand B
t-1, after in filtering two set, element value is all the element of 1, then according to angular range residing for rule judgment human body 1. or 2.;
When first three kind situation does not all meet, think that human body institute azimuthal cannot directly judge, then angular range residing for human body is: θ ∈ [0,360].
In above-mentioned, θ represents angular range residing for human body.
In the present embodiment, body sense camera head 3 adopts Asus Xtion body sense camera, is arranged on the dead ahead of robot body 1, and makes its distance floor level be set to 1 meter, and shooting angle becomes horizontality to arrange.Xtion body sense camera can gather depth image in the angular range of 53 °, robot dead ahead and coloured image simultaneously, effective detection range is 0.5 ~ 4 meter, to be increased income the human posture recognition method provided in function library by OpenN1, Xtion body sense camera can draw the human body that the detects orientation angles relative to body sense camera dead ahead accurately, and human body is relative to the distance of robot body 1.
Body sense camera head 3 detects and determines that the rule that the exact position of human body is followed is as follows:
Human body relative to the angle in body sense camera head 3 dead ahead is: β=arctan (x/y)
Human body relative to the distance of robot body 1 is:
Wherein, x and y represents the x coordinate figure of human body in the three-dimensional system of coordinate taking robot body as initial point and y coordinate figure respectively, and the parallel ground of plane that x with y enough becomes.
After each several part in robot system is ready to complete, robot system just can be made to carry out human body detection and tracking work, and perform the functions such as follow-up checking, work attendance, warning behind arrival precalculated position.
For stating conveniently, the output signal of human induction switch array 2 and body sense camera head 3 is divided into three kinds of states by the present invention:
A: human induction switch array 2 and body sense camera head 3 all do not detect human body;
B: human induction switch array 2 detects human body, and body sense camera head 3 does not detect human body, now, according to the output signal set of human induction switch array 2, can know that human body is in the angular range in robot body 1 coordinate system that is initial point;
C: human induction switch array 2 and body sense camera head 3 all detect human body, now, output signal according to body sense camera head 3 can know the refined orientation angle of human body relative to body sense camera head 3 dead ahead, and human body is relative to the accurate distance of robot body 1.
As shown in Figure 2, the present invention a kind of based on the human body detection of robot system and the implementation of tracking as follows:
Step one, the robot system that starts the machine start, and make all human induction switchs in body sense camera head 3 and human induction switch array 2 be in normal operating conditions, enter the detection to human body and tracking mode.
Step 2, when human induction switch array 2 detects human body, open the human body detection based on body sense shooting dress, if when the output signal of human induction switch array 2 and body sense camera head 3 is B state, then perform following step 3, if when the output signal of human induction switch array 2 and body sense camera head 3 is C state, side performs following step 4.
Step 3, output signal set according to human induction switch array 2, calculate the angular range residing for human body, robot body does spinning movement according to this angular range, human body is made to be within the scope of the detection angle of body sense camera head, simultaneously robot body the shift action done relative to human body direction.Whenever in this step, when the output signal of human induction switch array 2 and body sense camera head 3 transfers B state to by C state, all terminate current control, and skip to following step 4.
In this step, if the angular range residing for the human body drawn according to the output signal set of human induction switch array 2 is comparatively concrete, then the dead ahead of body sense camera head is directly rotated to the center aiming at this angular range by robot body 1; If the angular range residing for the human body that the output signal set of human induction switch array 2 draws is 0 ~ 360 degree, then robot body 1 original place is revolved and is turned around.In the rotation and moving process of robot body, adopt the course angle based on PID to control, and make the rotation speed constant of robot body.
Step 4, output signal according to body sense camera head 3, calculate the refined orientation angle of human body relative to body sense camera head 3 dead ahead, and human body is relative to the distance of body sense camera head 3, robot body 1 does according to this and to rotate and relative to the close shift action of human body, and stops action after distance human body reaches preset value.Robot system can be followed according to security protection handling procedure, starts follow-up as authentication, the work such as mutual.In this step, if robot body is in the process of following human body, then jump to step 3 when human body is lost.
It should be noted that, in above-mentioned steps three, if the time performed exceeds default 10 second time, then think to there is the invasion of abnormal human body, robot can send alerting signal to Surveillance center, and simultaneously robot also can give a warning sound etc.
Above embodiment is only the description carried out the preferred embodiment of the present invention; the restriction not request protection domain of the present invention carried out; under the prerequisite not departing from design concept of the present invention and spirit; the various forms of distortion that this area engineering technical personnel make according to technical scheme of the present invention, all should fall in the determined protection domain of claims of the present invention.
Claims (9)
1. a robot system, comprise the robot body (1) being provided with travel mechanism, it is characterized in that: also comprise the human induction switch array (2) and individual sense camera head (3) that are made up of multiple human induction switch, described multiple human induction switch is arranged on the upper and circumference along robot body (1) of robot body (1) and is uniformly distributed, and described body sense camera head (3) is arranged on robot body (1) and goes up and be in the top of human induction switch array (2).
2. according to a kind of robot system according to claim 1, it is characterized in that: described human induction switch array (2) comprises four human induction switchs, the height on four human induction switch distance ground is 0.75m, the height on described body sense camera head (3) distance ground is 1m, and the shooting angle of body sense camera head (3) becomes horizontality to arrange.
3., based on human body detection and the tracking of robot system described in claim 1 or 2, it is characterized in that, comprise the following steps:
One, the robot system that starts the machine is monitored, and allows all human induction switchs in body sense camera head (3) and human induction switch array (2) all be in normal operating conditions;
Two, each human induction switch in human induction switch array (2) detects the region within the scope of respective detection angle degree, and according to whether detecting the corresponding output signal of human body generation, the output signal of all human induction switchs combines the output signal set forming human induction switch array (2) in order;
Three, body sense camera head (3) detects the region within the scope of its detection angle, and according to whether detecting the corresponding output signal of human body generation;
Four, according to the output signal set of human induction switch array (2) and the output signal of body sense camera head (3), robot body (1) does specific action and realizes human body detection and following function, described specific action comprise static, rotate and mobile three kinds of operating states.
4., according to a kind of human body detection based on robot system according to claim 3 and tracking, it is characterized in that, in described step 4, specifically comprise the following steps:
(1) when human induction switch array (2) and body sense camera head (3) all do not detect human body, robot body (1) keeps stationary state;
(2) when when human induction switch array (2) detects human body, body sense camera head (3) does not detect human body, determine the angular range residing for human body according to the output signal set of human induction switch array (2), robot body (1) does corresponding rotation and shift action accordingly;
(3) when human induction switch array (2) and body sense camera head (3) all detect human body, determine the exact position of human body according to the output signal of body sense camera head (3), robot body (1) does corresponding rotation and shift action accordingly.
5. according to a kind of human body detection based on robot system according to claim 4 and tracking, it is characterized in that, in described step (two), robot body (1) does corresponding rotation and shift action follows following rule:
Robot body (1) does spinning movement, makes human body be within the scope of the detection angle of body sense camera head (3);
Robot body (1) does the shift action relative to human body direction, and human body is within the scope of the detection range of body sense camera head (3).
6. according to a kind of human body detection based on robot system according to claim 4 and tracking, it is characterized in that, in described step (three), robot body (1) does corresponding rotation and shift action follows following rule:
Robot body (1) does spinning movement, makes human body be in the direction in body sense camera head (3) dead ahead;
Robot body (1) does the shift action relative to human body direction, and after the distance between robot body (1) and human body reaches predetermined value, robot body (1) stops mobile.
7. according to a kind of human body detection based on robot system described in claim 4 or 5 and tracking, it is characterized in that, the angular range residing for human body is determined in the described output signal set according to human induction switch array (2), follows following judgment rule:
1. B
tin have and only have the value of the n-th element to be 1 time, then think that human body is within the scope of the detection angle of human induction switch corresponding to this element,
θ∈[α
n-Δ/2，α
n+Δ/2] [1]
2. B
tin have and only have n-th and the value of the (n+1)th two adjacent elements when being 1, then think that human body is in the overlapping range of the detection angle of two human induction switchs corresponding to these two elements,
θ∈[α
n+1-Δ/2，α
n+Δ/2] [2]
3. B
tin have the value of two non-conterminous elements be 1 or three more than the value of element when being 1, after in filtering two set, element value is all the element of 1, then according to orientation angles scope residing for rule judgment human body 1. or 2.;
4. when aforementioned three kinds of situations all do not meet, then think that angular range residing for human body is,
θ∈[0，360] [3]
Above-mentioned 1., 2., 3., 4. in item and formula [1], [2], [3],
show the output signal set of human induction switch array (2) in t,
represent the output signal set of human induction switch array (2) in the t-1 moment, θ represents angle residing for human body, α
nrepresent the installation site angle of the n-th human induction switch in the coordinate system being initial point with robot body (1) in human induction switch array (2), Δ represents the detection angle scope of the human induction switch in human induction switch array (2), B
tand B
t-1in certain element value represent the human induction switch that this element is corresponding when being 0 detection angle within the scope of no one, have people within the scope of the detection angle then representing the human induction switch that this element is corresponding when certain element value is 1; Time θ ∈ [0,360], represent that the orientation angles scope residing for human body cannot directly judge.
8. according to a kind of human body detection based on robot system described in claim 4 or 6 and tracking, it is characterized in that, the described output signal according to body sense camera head (3) determines the exact position of human body, follows following rule:
5. human body relative to the orientation angles in body sense camera head (3) dead ahead is,
β＝arctan(x/y) [4]
6. human body relative to the distance of robot body (1) is,
Above-mentioned 5., 6. in item and formula [4], [5], x and y represents the x coordinate figure of human body in the three-dimensional system of coordinate being initial point with robot body (1) and y coordinate figure respectively, wherein the plane that enough becomes of x with y is parallel ground.
9. according to a kind of human body detection based on robot system described in any one of claim 3-6 and tracking, it is characterized in that, the travel mechanism of described robot body (1) adopts two driving wheel difference structures, the rotation that robot body (1) does and shift action adopt PID reaction type control mode, and meet the following conditions
7. angular deviation and range deviation are respectively:
e
θ＝θ-0 [6]
e
d＝d-0.8 [7]
8. translational speed and rotational speed are respectively:
9. the speed of revolver and right speed of taking turns are respectively:
v
1＝V-V
θ[10]
v
2＝V+V
θ[11]
Above-mentioned 7., 8., 9. top and formula [6], [7], [8], [9], [10], in [11], θ represents the real-time angular of human body relative to robot body (1) dead ahead, θ-0 expression preferentially ensures θ=0, d is the real-time distance of human body relative to robot body (1), the desired value of 0.8 robot body (1) the distance human body that is setting, when reaching desired value, robot body (1) stops mobile; P
d, I
d, D
d, P
θ, I
θ, D
θfor the pid control parameter of translational speed and rotational speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510401534.XA CN104977934B (en) | 2015-07-09 | 2015-07-09 | A kind of robot system and the human body detection based on robot system and tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510401534.XA CN104977934B (en) | 2015-07-09 | 2015-07-09 | A kind of robot system and the human body detection based on robot system and tracking |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104977934A true CN104977934A (en) | 2015-10-14 |
| CN104977934B CN104977934B (en) | 2018-07-17 |
Family
ID=54274530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510401534.XA Expired - Fee Related CN104977934B (en) | 2015-07-09 | 2015-07-09 | A kind of robot system and the human body detection based on robot system and tracking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104977934B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105425806A (en) * | 2015-12-25 | 2016-03-23 | 深圳先进技术研究院 | Human body detection and tracking method and device of mobile robot |
| CN105943163A (en) * | 2016-06-27 | 2016-09-21 | 重庆金山科技（集团）有限公司 | Minimally invasive surgery robot and control device thereof |
| CN106054894A (en) * | 2016-07-05 | 2016-10-26 | 北京九星智元科技有限公司 | Robot accompanying system, robot accompanying method and robot trolley |
| CN106155093A (en) * | 2016-07-22 | 2016-11-23 | 王威 | A kind of robot based on computer vision follows the system and method for human body |
| CN107205134A (en) * | 2017-05-17 | 2017-09-26 | 芜湖星途机器人科技有限公司 | Robot video monitoring system |
| CN108255167A (en) * | 2016-12-28 | 2018-07-06 | 深圳光启合众科技有限公司 | A kind of visiting method of robot, device and robot |
| CN108733043A (en) * | 2017-09-01 | 2018-11-02 | 北京猎户星空科技有限公司 | robot movement control method and device |
| CN108873895A (en) * | 2018-06-11 | 2018-11-23 | 北京航空航天大学 | Drop intelligent patrol detection vehicle in road surface |
| CN108877141A (en) * | 2017-05-09 | 2018-11-23 | 同方威视科技江苏有限公司 | Safety zone monitoring system and method |
| CN109791410A (en) * | 2016-08-08 | 2019-05-21 | 德国福维克控股公司 | The method for running the surface processing equipment independently advanced |
| CN111618856A (en) * | 2020-05-27 | 2020-09-04 | 山东交通学院 | Robot control method and system based on visual excitation points and robot |
| CN112346460A (en) * | 2020-11-05 | 2021-02-09 | 泉州装备制造研究所 | Automatic following method of mobile robot suitable for multi-person scene |
| CN115100808A (en) * | 2022-06-29 | 2022-09-23 | 广州市声讯电子科技股份有限公司 | Acousto-optic intelligent dispersing system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003326479A (en) * | 2003-05-26 | 2003-11-18 | Nec Corp | Autonomous operation robot |
| US20060006316A1 (en) * | 2004-07-09 | 2006-01-12 | Funai Electric Co., Ltd. | Self-running robot |
| CN102256107A (en) * | 2011-01-17 | 2011-11-23 | 深圳市保千里电子有限公司 | Automatic tracking system and method thereof for implementing automatic tracking |
| CN103237170A (en) * | 2013-04-24 | 2013-08-07 | 广州摆渡船通讯科技有限公司 | Intelligent image device and image method thereof |
| CN104102220A (en) * | 2014-07-11 | 2014-10-15 | 上海裕山信息科技有限公司 | Guide robot for monitoring human body position and control method thereof |
| CN104181926A (en) * | 2014-09-17 | 2014-12-03 | 上海畔慧信息技术有限公司 | Navigation control method of robot |
| CN204465751U (en) * | 2015-04-14 | 2015-07-08 | 济南大学 | A kind of video tracking camera head |
-
2015
- 2015-07-09 CN CN201510401534.XA patent/CN104977934B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003326479A (en) * | 2003-05-26 | 2003-11-18 | Nec Corp | Autonomous operation robot |
| US20060006316A1 (en) * | 2004-07-09 | 2006-01-12 | Funai Electric Co., Ltd. | Self-running robot |
| CN102256107A (en) * | 2011-01-17 | 2011-11-23 | 深圳市保千里电子有限公司 | Automatic tracking system and method thereof for implementing automatic tracking |
| CN103237170A (en) * | 2013-04-24 | 2013-08-07 | 广州摆渡船通讯科技有限公司 | Intelligent image device and image method thereof |
| CN104102220A (en) * | 2014-07-11 | 2014-10-15 | 上海裕山信息科技有限公司 | Guide robot for monitoring human body position and control method thereof |
| CN104181926A (en) * | 2014-09-17 | 2014-12-03 | 上海畔慧信息技术有限公司 | Navigation control method of robot |
| CN204465751U (en) * | 2015-04-14 | 2015-07-08 | 济南大学 | A kind of video tracking camera head |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105425806A (en) * | 2015-12-25 | 2016-03-23 | 深圳先进技术研究院 | Human body detection and tracking method and device of mobile robot |
| CN105943163A (en) * | 2016-06-27 | 2016-09-21 | 重庆金山科技（集团）有限公司 | Minimally invasive surgery robot and control device thereof |
| CN106054894B (en) * | 2016-07-05 | 2019-04-09 | 北京九星智元科技有限公司 | A kind of robot adjoint system, adjoint method and robot car |
| CN106054894A (en) * | 2016-07-05 | 2016-10-26 | 北京九星智元科技有限公司 | Robot accompanying system, robot accompanying method and robot trolley |
| CN106155093A (en) * | 2016-07-22 | 2016-11-23 | 王威 | A kind of robot based on computer vision follows the system and method for human body |
| CN109791410A (en) * | 2016-08-08 | 2019-05-21 | 德国福维克控股公司 | The method for running the surface processing equipment independently advanced |
| CN108255167A (en) * | 2016-12-28 | 2018-07-06 | 深圳光启合众科技有限公司 | A kind of visiting method of robot, device and robot |
| CN108255167B (en) * | 2016-12-28 | 2021-09-10 | 山西中泰特种机器人有限公司 | Robot inspection method and device and robot |
| CN108877141A (en) * | 2017-05-09 | 2018-11-23 | 同方威视科技江苏有限公司 | Safety zone monitoring system and method |
| CN107205134A (en) * | 2017-05-17 | 2017-09-26 | 芜湖星途机器人科技有限公司 | Robot video monitoring system |
| CN108733043A (en) * | 2017-09-01 | 2018-11-02 | 北京猎户星空科技有限公司 | robot movement control method and device |
| CN108733043B (en) * | 2017-09-01 | 2021-12-14 | 北京猎户星空科技有限公司 | Robot movement control method and device |
| CN108873895A (en) * | 2018-06-11 | 2018-11-23 | 北京航空航天大学 | Drop intelligent patrol detection vehicle in road surface |
| CN111618856A (en) * | 2020-05-27 | 2020-09-04 | 山东交通学院 | Robot control method and system based on visual excitation points and robot |
| CN112346460A (en) * | 2020-11-05 | 2021-02-09 | 泉州装备制造研究所 | Automatic following method of mobile robot suitable for multi-person scene |
| CN115100808A (en) * | 2022-06-29 | 2022-09-23 | 广州市声讯电子科技股份有限公司 | Acousto-optic intelligent dispersing system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104977934B (en) | 2018-07-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104977934A (en) | Robot system and human body detection and tracking method based on robot system | |
| CN104243935B (en) | Airport field prison aims of systems monitoring method based on video identification | |
| CN110426046B (en) | Unmanned aerial vehicle autonomous landing runway area obstacle judging and tracking method | |
| JP4140159B2 (en) | Surveillance camera monitoring area setting apparatus and method | |
| CN102279406B (en) | Fence identification method using global positioning system (GPS) to position tracks | |
| CN104821056A (en) | Intelligent guarding method based on radar and video integration | |
| WO2019085568A1 (en) | Video monitoring method for mobile robot | |
| CN106101647A (en) | The method for managing security of the object space movement locus feature of view-based access control model and system | |
| CN105425806A (en) | Human body detection and tracking method and device of mobile robot | |
| CN106127723B (en) | Peripheral space characteristics information extraction method | |
| CN107894590A (en) | New full passive type unmanned plane management-control method, storage medium, electronic equipment | |
| CN104091348A (en) | Multi-target tracking method integrating obvious characteristics and block division templates | |
| CN107798918A (en) | A kind of scene of a traffic accident security protection monitoring method and device | |
| CN110346758A (en) | Ultra wide band positioning and alarming method for power applied to substation inspection personnel | |
| CN102447835A (en) | Non-blind-area multi-target cooperative tracking method and system | |
| CN102547128B (en) | Intelligent monitoring method and application thereof | |
| CN104133476A (en) | Self-adaption path tracking method of inspection robot | |
| CN103310442A (en) | Multi-frequency information fusion-based intelligent positioning system and method | |
| CN107087429A (en) | Aircraft control method and device | |
| CN104966062A (en) | Video monitoring method and device | |
| Chen et al. | Tracking with UAV using tangent-plus-Lyapunov vector field guidance | |
| CN102223522A (en) | Intelligent automatic tracker module | |
| CN106778484A (en) | Moving vehicle tracking under traffic scene | |
| CN104155994A (en) | Unmanned helicopter-based urban engineering environment monitoring method | |
| CN107272681A (en) | Adjust automatically mobile platform and the method and mobile platform of target object location relation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180608 Address after: 518055 No. 1068, Xue Yuan Avenue, Nanshan District, Shenzhen, Guangdong. Applicant after: Xia Peng Address before: 518055 Room 203, D building, CAS, 43, Yanshan Road, Shekou, Nanshan District, Shenzhen, Guangdong Applicant before: Shenzhen CAS Icool Robot Technology Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200908 Address after: 711B, No.12, Songhe North Road (Wenwu section), Hongxing community, Songgang street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Zhongke ouku Intelligent Technology Co., Ltd Address before: No. 1068 Nanshan District Xueyuan Road in Shenzhen city in Guangdong province 518055 Patentee before: Xia Peng |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180717 Termination date: 20210709 |