CN106292657A - Mobile robot and patrol path setting method thereof - Google Patents
Mobile robot and patrol path setting method thereof Download PDFInfo
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- CN106292657A CN106292657A CN201610596000.1A CN201610596000A CN106292657A CN 106292657 A CN106292657 A CN 106292657A CN 201610596000 A CN201610596000 A CN 201610596000A CN 106292657 A CN106292657 A CN 106292657A
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The present invention relates to mobile robot and patrol path setting method thereof.A kind of patrol path setting method for mobile robot comprises the steps that the first order in response to user, enters patrol path and arranges pattern；Lock described user, and follow the tracks of the movement of described user；While following the tracks of the movement of described user, determine mobile route；And mobile route determined by inciting somebody to action is stored as going on patrol path.The method of the present invention is simple to operation, and need not extras, and the scope of application is more extensive.
Description
Technical field
Present invention relates in general to human-computer interaction technique field, more specifically it relates to a kind of mobile robot and setting
The method putting the patrol path of this mobile robot.
Background technology
Intelligent robot relates to the crossing domain of subjects, such as, include artificial intelligence, radio communication, quasiconductor, meter
Calculation machine, mechanical engineering, electrical engineering etc..Along with the sustainable development of Science and Technology, develop and be manufactured that many kinds
The intelligent robot of class, serves the every field of human being's production and life, such as, has sweeping robot, nurse robot, removes
Fortune robot, security patrol robot etc..These robots can in working region independently or according to set path
Mobile, to realize its designed function.
In the prior art, typically app program is run for moving by portable equipment such as mobile phone, tablet PC etc.
Mobile robot sets mobile route, also referred to as goes on patrol path.As a example by mobile phone, its can pass through such as bluetooth, WLAN,
The Internet or even communication network set up communication connection with mobile robot.By running app program, mobile phone can show
The working environment map of storage on mobile robot, and the patrol road of mobile robot can be edited on this map
Footpath.After the editor completing patrol path, this patrol path can be saved in depositing included by mobile robot by app program
In reservoir, perform for mobile robot.
Summary of the invention
But, there is many defects in above-mentioned traditional patrol path setting method.First, be appropriate only for can for this traditional method
Mobile robot has been provided with the situation of the map of its working environment, because mobile phone app application program needs at this map
On the basis of edit the patrol path of mobile robot.Secondly, this traditional method needs to use mobile phone or tablet PC so
Extras, and require that such as mobile phone has bigger display screen, add system cost.Furthermore, patrol for setting
Patrolling the app application program in path and relate generally to the operation of complexity, it is for being unfamiliar with the people of computer operation, such as older
Speech, is difficult.
In order at least solve one of the problems referred to above, present applicant proposes the patrol for mobile robot of a kind of novelty
The path plan of establishment, its movement following the tracks of human user by making mobile robot comes conveniently and efficiently for mobile robot
Patrol path is set.
An aspect according to the application, it is provided that a kind of patrol path setting method for mobile robot, it can
Including: in response to first order of user, enter patrol path and pattern is set；Lock described user, and follow the tracks of described user
Movement；While following the tracks of the movement of described user, determine mobile route；And mobile route determined by inciting somebody to action is stored as patrolling
Patrol path.
In certain embodiments, described patrol path setting method may also include that the second order in response to described user,
Or it is back to initial point in response to following the tracks of described user, completes described patrol path.
In certain embodiments, when described first order is local trigger command or telecommunication order, locking is described
User can include locking described user based on image recognition.In certain embodiments, described use is locked based on image recognition
Family comprises the steps that and utilizes imageing sensor capturing ambient image；Identify the one or more potential use in the ambient image captured
Family；When identifying a potential user, lock one potential user；And when identifying multiple potential user, then
Lock that potential user immediate.In certain embodiments, when identifying multiple potential user, then determine whether institute
Show the type of the first order, if described first order is local trigger command, then lock in the plurality of potential user
A close user, if described first order is telecommunication order, then locks in the plurality of potential user at first
That user of movement, if there being multiple user moving, then locks that user moved immediate.
In certain embodiments, when described first order is voice command, locks described user and can include based on image
Identify and the combination of sound localization locks described user.In certain embodiments, based on image recognition and the group of sound localization
The described user of incompatible locking comprises the steps that and determines Sounnd source direction based on described first order as voice command；By image sensing
Device rotates to described Sounnd source direction；Utilize described imageing sensor capturing ambient image on described Sounnd source direction；Identify also
And lock the user on described Sounnd source direction in the ambient image captured.In certain embodiments, based on image recognition
Combination with sound localization locks described user and comprises the steps that step a, determines based on described first order as voice command
Sounnd source direction；Step b, rotates imageing sensor to described Sounnd source direction；Step c, utilizes described imageing sensor in institute
State capturing ambient image on Sounnd source direction；Step d, based on user described in the ambient image identification captured；Step e, if base
Successfully identify described user in the ambient image captured, then lock described user；Step f, if based on the environment captured
Image fails and identifies described user, then determine whether to advance along described Sounnd source direction according to preset strategy；Step g, if
Determine according to preset strategy and advance along described Sounnd source direction, then drive described mobile robot to advance along described Sounnd source direction,
It is then return to step c；And step h, if determining according to preset strategy and not advancing along described Sounnd source direction, the most do not drive institute
State mobile robot to advance along described Sounnd source direction, and also return to step c.
In certain embodiments, the movement following the tracks of described user comprises the steps that the profile information obtaining described user；And with
The profile of user described in track moves.In certain embodiments, described profile information can include whole human body contour outline, head
One or more in other local configurations of profile or human body.
In certain embodiments, the movement following the tracks of described user may also include that in response to the 3rd life from described user
Order, performs corresponding mobile.Described 3rd order can be voice command or telecommunication order.
In certain embodiments, determine that mobile route comprises the steps that each path determining described mobile robot process
Point is relative to the relative coordinate of previous path point.
In certain embodiments, will determined by mobile route be stored as go on patrol path comprise the steps that described removable machine
All path point of device people's process are stored as going on patrol path；Or by all path point of described mobile robot process
, by described user the 4th order indicated by one or more path point be stored as go on patrol path.Described 4th order can
To be voice command, local one of trigger command and telecommunication order.
In certain embodiments, described mobile robot has had the map of working environment.The patrol road stored
Footpath is in the path in the map of described working environment.
In certain embodiments, described mobile robot not yet has the map of working environment.Now, described patrol road
Footpath method to set up may also include that while following the tracks of the movement of described user, runs the SLAM algorithm ground with construction work environment
Figure.The patrol path stored is in the path in the map of constructed working environment.
In certain embodiments, described patrol path setting method may also include that the 5th order in response to described user,
The patrol time in described patrol path and one or more in patrol frequency are set.Described 5th order can be voice life
Make, local one of trigger command and telecommunication order.In certain embodiments, arrange described patrol path the patrol time and
Patrol frequency in one or more can described mobile robot follow the tracks of described user complete described patrol path time
Carry out.After completing the setting of patrol time and patrol frequency, described mobile robot can exit described patrol road
Line arranges pattern.
According to further aspect of the application, it is provided that a kind of mobile robot, it comprises the steps that for making described removable
The driver part that robot moves；For capturing at least one imageing sensor of image；For capturing at least one of sound
Microphone；And at least one processor communicated with described imageing sensor and described microphone, described processor is configured to
Run the computer instruction being stored in computer-readable medium to perform method discussed above.
In certain embodiments, at least one microphone described can include microphone array.
Another aspect according to the application, it is provided that a kind of computer program, it can include computer program instructions,
Described computer program instructions makes described processor perform side discussed above when being run by one or more processors
Method.
Another aspect according to the application, it is provided that a kind of computer-readable medium, it can store computer program and refer to
Order, described computer program instructions can make the execution of described processor be discussed above when being run by one or more processors
Method.
Compared with prior art, the scheme that the application proposes need not extra equipment, can arrange mobile robot
Patrol path.And, the scheme of the application has evaded the app application program operation of complexity, simple and convenient, even if thus
The people being unfamiliar with computer operation also is able to the scheme easily with the application to arrange the patrol path of mobile robot.
Additionally, the scheme of the application can be applicable to the situation that mobile robot not yet has the map of working environment, therefore should
Broader by scope and scene.
Accompanying drawing explanation
By combining accompanying drawing, the exemplary embodiment of the application is described in more detail, the application above-mentioned and its
His purpose, feature and advantage will be apparent from.Accompanying drawing is used for providing the further reason of the exemplary embodiment to the application
Solve, and constitute the part of description, be used for explaining the application together with the exemplary embodiment of the application, and do not constitute right
The restriction of the application.In the accompanying drawings, same or analogous reference typically represents same or analogous parts or step.
Fig. 1 is to illustrate the patrol path setting method for mobile robot according to the present invention one exemplary embodiment
Flow chart.
Fig. 2 is the flow process illustrating the method locking user based on image recognition according to the present invention one exemplary embodiment
Figure.
Fig. 3 A is to illustrate that the combination based on image recognition and sound localization according to the present invention one exemplary embodiment is locked
Determine the flow chart of the method for user.
Fig. 3 B is to illustrate that the combination based on image recognition and sound localization according to another exemplary embodiment of the present invention comes
The flow chart of the method for locking user.
Fig. 4 A is to illustrate the example that the mobile robot according to the present invention one exemplary embodiment is followed the tracks of when user moves
The schematic diagram of scene.
Fig. 4 B is to illustrate that the mobile robot according to another exemplary embodiment of the present invention follows the tracks of showing when user moves
The schematic diagram of example scene.
Fig. 5 is the block diagram of the structure illustrating the mobile robot according to another exemplary embodiment of the present invention.
Detailed description of the invention
Below, example embodiment according to the application will be described in detail by referring to the drawings.Obviously, described embodiment is only
It is only a part of embodiment rather than whole embodiments of the application of the application, it should be appreciated that the application is not by described herein
The restriction of example embodiment.
Summary of the invention
During as it was previously stated, prior art arranges patrol path for mobile robot, need to use such as mobile phone, flat board
The portable mobile equipment of computer etc runs app application program to be carried out, and app application program needs to read removable machine
The environmental map of the upper storage of device people, draws or edits the patrol path for mobile robot based on this map.This biography
There is many defects in the patrol path setting method of system, such as, needs extra equipment, and operation is complicated, and it also requires pre-prophet
Know environmental map.In the case of such as dynamic environment, on mobile robot storage environmental map may with reality
Environment is not consistent, causes the patrol path arranged in app application program can not go on patrol.
The present invention solves the problems referred to above by simple technical scheme.One basic conception of the present invention is, Yong Huke
To lead mobile robot to go on patrol once along patrol path, mobile robot can be remembered to go on patrol path, and may be used later
To perform patrol by this path.This scheme is referred to as " teaching-reappear (teach-playback) " pattern.So, originally
Invention avoids mobile phone and the needs of app application program, it is not necessary to complicated interface and function to app application program are grasped
Make, and have only to lead mobile robot to walk once along patrol path, simple and quick.The solution of the present invention is not only suitable for
In mobile robot it is known that the situation of environmental map, and apply also for mobile robot and be still unaware of environment ground
The situation of figure.In the case of the latter, such as, mobile robot can patrol to arrange along the traveling of patrol path following user
While patrolling path, set up environmental map by instant location and map structuring (SLAM) algorithm.Patrol due to the present invention
Path setting method is to complete the setting to patrol path along Actual path while going on patrol, and which ensure that set patrol
Concordance between path and up-to-date true environment, thus avoid the patrol route because such as mobile phone app application program is arranged
And contradiction between true dynamic environment and cause going on patrol the disabled problem in path.
After the ultimate principle describing the application, carry out specifically to introduce the various non-limit of the application below with reference to the accompanying drawings
Property embodiment processed.
Exemplary embodiment
Fig. 1 is to illustrate the patrol path setting method for mobile robot according to the present invention one exemplary embodiment
Flow chart.As it is shown in figure 1, the patrol path setting method 100 for mobile robot can start from step 110, can move
Mobile robot receives and comes from first order of user and enter patrol path and arrange pattern.First order can be any shape
The order of formula.Such as, in certain embodiments, the first order can be local trigger command, and such as user is by by removable
The order that robot triggers from physical button with it or touch screen；In certain embodiments, the first order can also be
Telecommunication order, such as user use and are exclusively used in the infrared signal order that the remote controller of mobile robot sends, or use
In the order using the mobile phone of oneself to send, mobile phone can pass through WLAN, the Internet or communication network etc. and removable machine
Device people sets up communication connection, and runs specific app application program to control mobile robot.It should be understood that here
When with mobile phone app application program controlling mobile robot to arrange patrol path, can not require that app application program reads
The environmental map of storage in mobile robot.Preferably, in certain embodiments, the first order can be from the language of user
Sound order.Such as, user can send voice command to mobile robot and " arrange patrol path ", on mobile robot
Microphone unit such as microphone array pickup user speech and extract key word by speech recognition algorithm " patrol is set
Path ", thus enter patrol path in response to this order and pattern is set.Enter patrol path set in correct response the first order
After putting pattern, mobile robot can also be provided out certain output and successfully enter this pattern to represent, such as may be used
To utilize it to have the luminous component light to emission particular color or passage of scintillation light to have indicated entry into this pattern, or can be in order to
Send the sound of " come into patrol path arrange pattern " with speaker to represent and be successfully entered this pattern.
After entering patrol path arrange pattern, mobile robot can step 120 judge its received the
The form of one order, it is voice command, or non-voice order, the most aforementioned local trigger command or telecommunication order.
Form based on the first order, mobile robot can perform different processing modes.Such as, when first order be voice life
When making, mobile robot then combination based on image recognition and sound localization can identify and lock user, such as step
Shown in 140；When the first order is not voice command, mobile robot then can be based only upon image recognition and identifies and lock
Determine user, as illustrated in step 130.Identify and lock the step of user, such as step 130 and step 140, will enter again below
Row detailed description.
After step 130 or step 140 successfully lock user, mobile robot then can follow the tracks of user and with
Family and move, as shown in step 150.User can be with mobile robot in the work environment along the patrol road wanted to set up
Advance in footpath.Mobile robot is except utilizing track algorithm to follow in addition to user moves, it is also possible to receive from the second of user
Order moves.Such as, in some application-specific scene, user may desire to mobile robot patrol human user not
Can arrive or be not suitable for the region arrived, now user can move to this region with the second order Lai Shi robot, and from
Oneself need not move to this region.It can therefore be understood that, the second order preferably voice command or telecommunication order.
While moving with user, mobile robot can perform location algorithm to determine its mobile route.Can move
Mobile robot can use existing multiple localization method, such as Relative localization method, such as dead reckoning (Dead
Reckoning) etc., absolute fix method, such as GPS location, beacon location, map match location and probabilistic localization etc., and bag
Include relative localization and absolute fix combination positioning mode.Mobile robot can select according to different application scenarios
Different localization methods, such as Indoor Robot can use Relative localization method, and outdoor robot can use absolute fix
Method or integrated positioning etc..
As a example by the dead reckoning being suitable in the Relative localization method of Indoor Robot, mobile robot is known, and it is initial
Position, is set to initial point.Robot follow user move time, it utilizes such as displacement measurement parts, such as speedometer
And accelerometer, course transmitter, such as angular rate gyroscope, magnetic compass and differential speedometer etc., determine each of which path point
Displacement vector relative to a upper path point.This it is also referred to as relative coordinate relative to the displacement vector of a upper path point,
And the relative coordinate of all path point is added up, i.e. can get the position relative to initial point, the current location of mobile robot
Moving vector, it is also referred to as absolute coordinate.In certain embodiments, mobile robot can use dead reckoning to determine it
The relative coordinate of each path point on mobile route.
It is understood that dead reckoning is a cumulative process, measurement error and calculate error can over time and by
Gradually accumulate, cause positioning precision the most constantly to decline.Therefore, in certain embodiments, it is also possible to by dead reckoning and other
Sensor information combines and positions.Such as, in certain embodiments, have currently when the most stored in mobile robot
During the map of working environment, mobile robot can also utilize such as laser sensor, sonar sensor etc. to determine and can move
Mobile robot is relative to the distance of other map feature, for correcting the coordinate of its current location.
It will of course be appreciated that the present invention also may be used on the feelings that mobile robot not yet has the map of working environment
Condition.In this case, mobile robot can followed while movement, utilizes such as instant location and map structuring
(SLAM) algorithm carrys out the map of construction work environment, determines its mobile route in this map simultaneously.Now, removable machine
People can use many algorithms to improve positioning precision, such as, correct the physical arrangement of robot with UMBmark and be used to
The systematic error that property sensor accuracy factor causes, with Gyrodometry algorithm correct deflection error that ground injustice causes,
Propose sensor fuse information with Scheding et al. and correct wheel slip impact on positioning etc..These algorithms are all
It known in the art, and be the most no longer described in greater detail.
Although being presented above more relative localization algorithm embodiment, however, it is understood that when mobile robot is in
During suitable application scenarios, also can use absolute fix or integrated positioning.Equally, these location algorithms are also known in the art
, the most no longer it is described in greater detail.
As it has been described above, mobile robot determines its mobile route (in other words, each on mobile route in step 160
The coordinate of individual path point).When mobile robot followed by user return to initial point time, mobile robot may determine that
Complete whole mobile route, thus this mobile route is stored as going on patrol path, as indicated at step 170.Implement at other
In example, it is possible to so that mobile robot is when the 3rd order receiving user, just determines and have been completed whole mobile road
Footpath, and perform to go on patrol path storing step 170.3rd order can be any type of order, such as aforementioned voice order,
Local trigger command or telecommunication order etc..Such as, mobile robot is receiving the voice command of user " patrol knot
Bundle " time, just determine and complete whole patrol path.This is conducive to such as patrol path not to be closed loop, or through initial point shape
Also to continue to go on patrol the situation in other paths after becoming closed loop.
Although not shown in the flow chart of Fig. 1, but in certain embodiments, determine complete whole patrol path it
After, and before storage patrol path (step 170), it is also possible to the patrol parameter in this patrol path is set, such as go on patrol the time,
Patrol frequency etc..Such as, mobile robot " can please arrange the patrol time " etc. with play cuing voice and point out user setup
The patrol time, user then sends voice command such as " 13: 30 ", " to some next day 7 " etc. at 22 and arranges the patrol time.Can
Mobile robot such as " can please arrange patrol frequency " with play cuing voice etc. and point out user setup to go on patrol frequency, can move
Mobile robot can also be play some options such as " option A, every day " further and supply user to select.User can set with voice
Put patrol frequency, or can select from the option provided.Certainly, user can also be in its other party of other times
Formula arranges patrol parameter.For example, it is possible to the most just arrange patrol parameter when entering patrol path and arranging pattern, it is possible to use
Touch display screen etc. on mobile robot arranges patrol parameter.Patrol with other in the set patrol parameter such as time
Patrol path inconsistent time, it is also possible to prompting user, allow user select preferentially to perform which patrol, or abandon which patrol.?
After completing the setting of various patrol parameter, the mobile route with these parameters can be stored as patrolling by mobile robot
Patrol path.
Finally, after completing patrol the arranging of path, mobile robot can exit patrol path in step 180 and set
Put pattern, and can inform that user exits patrol path and arranges pattern by such as prompt tone or light signal.
Above with reference to as described in step 130 and 140, mobile robot can utilize image based on the type of the first order
Identify or the combination of image recognition and sound localization locks user.Fig. 2 shows according to the present invention one exemplary embodiment
The flow chart of the method locking user based on image recognition, it can be used for the step 130 of such as Fig. 1.As in figure 2 it is shown, base
Lock the method 200 of user in image recognition and may begin at the step 210 of first capturing ambient image.Should be understood that in the present invention
In mention capture image time, not only contain capture single-frame images situation, but also contain capture image sequence situation, i.e. connect
Capture multiple image continuously or with predetermined time interval, and utilize the multiple image with predetermined time interval pre-to realize
Phase purpose.This understanding is also applied for the situation of such as picking up surrounding sounds.In step 210, mobile robot can enter
Row rotates to capture the image of 360 degree of surroundings.
It follows that in step 220, mobile robot can utilize image recognition to calculate based on the ambient image captured
Method identifies potential user.Such as, mobile robot can utilize face recognition algorithms to identify potential user, can also profit
Potential user is identified, such as human body contour outline recognizer, characteristics of human body position outline identification algorithm such as head with other algorithms
Contouring recognizer, trunk outline identification algorithm etc. identify potential user.
Then, recognition result can be checked in step 230, identify a potential user or multiple potential to determine
User.In ideal conditions, when only identifying a potential user, it can be determined that this potential user seeks to lead and can move
Mobile robot carries out going on patrol the user that path is arranged, and the most directly locks this user, as illustrated in step 240.On the other hand, when
When step 220 identifies two or more potential user, then also need to identify from these multiple potential users further
Go out that user that have issued the first order to mobile robot.Although the most not shown, but at some
In embodiment, can directly lock that user immediate in these multiple potential users.In further embodiments, it is possible to
To proceed to step 250 to determine whether that the type of the first order is local command or remote command.When determining the first life
Order is local trigger command, such as during the order triggered by mobile robot physical button itself or touch screen, and can
To judge to send that user of the first order just on mobile robot side, therefore mobile robot locks immediate
That user, as shown in step 260.When determining that the first order is telecommunication order, such as, sent by mobile phone or remote controller
Order time, then can lock that potential user moved at first in step 270, as it can be assumed that this user touch
Send out after the patrol path of mobile robot arranges pattern, mobile robot can be led at once to go to go on patrol.One
The most in particular cases, multiple potential user may be had simultaneously all to move, as default policy, now can lock immediate
That user moved.By these steps, complete the process utilizing image recognition to lock user.
Fig. 3 A shows that the combination based on image recognition and sound localization according to the present invention one exemplary embodiment is locked
Determine the flow chart of the method for user, Fig. 3 B show according to another exemplary embodiment of the present invention based on image recognition and sound source
The combination of location locks the flow chart of the method for user, and the method shown in Fig. 3 A and Fig. 3 B can be used for the step of such as Fig. 1
140。
With reference first to Fig. 3 A, combination based on image recognition and sound localization locks the method 300 of user and can start from
Step 310, determines Sounnd source direction based on the first order as voice command.Mobile robot can utilize such as Mike
Wind array carries out sound localization step 310.In short, due to each mike in microphone array arrangement position not
With, the first voice command that user sends, i.e. sound wave, the phase place arriving each mike in atmosphere after transmission is the most different.Root
According to each mike to phase differential during same sound collection, same sound can be calculated and arrive the time of every pair of mike
Difference, then this sound source be at this to mike present position as focus, the time of advent difference corresponding to transfer voice distance
For on the hyperboloid of parameter.Use multipair mike to obtain multiple time difference, the most just obtain multiple hyperboloid, then sound source position
Put and be in these bi-curved joinings, here it is the ultimate principle of sound localization.In the step 310, it may not be necessary to
Determine the accurate location (that is, direction+distance) of sound source, and have only to determine Sounnd source direction.
Then in step 320, the imageing sensor on mobile robot can be rotated to sound determined by step 310
On direction, source, and capture the image on Sounnd source direction in a step 330.In step 340, utilize on the Sounnd source direction captured
Image, identify and lock user.The step of capture image and identification and locking user can be generally such as above reference
Described in Fig. 2, repeat no more here.
In the method shown in Fig. 3 A, owing to have employed sound localization to determine the direction of user, therefore, it is possible to significantly carry
The accuracy of high user locking, and save locking time.For example, it is possible to Direct Recognition and the use that is locked on Sounnd source direction
Family, without the user being concerned about in the other direction.Should be understood that in the method shown in Fig. 3 A, it is also possible to utilize aforementioned first
Subsequent voice order after order constantly corrects Sounnd source direction, to improve the accuracy of user's locking further.
In some cases, even if determining correct audio direction, it is also possible to can not identify and lock user.Fig. 3 B
Shown method 300' to some extent solves this problem.Step 310,320 and 330 in method 300' of Fig. 3 B are permissible
Identical with the method 300 of Fig. 3 A, omit the repeated description to it the most here.
With reference to Fig. 3 B, after step 330 captures image, proceed to step 350, it is determined whether successfully identify user.
If successfully identifying user, then proceeding to step 360, locking this user；Otherwise proceed to step 370, based on predetermined policy
Judge whether to move to Sounnd source direction.Described predetermined policy such as includes whether cannot continue already at ad-hoc location
Advance (the most having arrived wall limit etc.), or interrupt because receiving new voice command currently processed etc..If it is true in step 370
Surely can continue to move to Sounnd source direction, then move a distance, then repeated execution of steps 330 in step 380 to Sounnd source direction
Image capture operation.Due to from sound source position closer to, so capture image after successfully identify user probability increase.The opposing party
Face, if determining in step 370 and can not continuing to move to Sounnd source direction, then this process also returns to step 330, multiimage
Capture and the process identified, to attempt locking user.
Although described above is combination based on image recognition and sound localization to identify and lock the embodiment of user, but
To the invention is not restricted to these specific embodiments, but can also use other embodiments, such as the applicant formerly in
Those disclosed in state application for a patent for invention 201610341566.X, the full content of the document is incorporated in by quoting entirety
This.
In embodiment described above, image recognition and speech recognition technology are used.Should be understood that the present invention not only may be used
To utilize existing image and speech recognition technology, but also the Classical correlation technology that can utilize or develop future.Also
Should be understood that image recognition described here not only includes the identification of visual image, but also such as infrared image can be included, swash
The identification technology of light image, ultrasonography etc..
Fig. 4 A shows that the mobile robot according to the present invention one exemplary embodiment follows the tracks of example when user moves
Scene.Such as, mobile robot 10 can be arranged in working environment 400, can have and some can not arrive in working environment 400
The position reached, such as 402,404 etc..Docking station 410 for mobile robot 10 is arranged on certain position in working environment 400
Place.When not working, mobile robot 10 can rest in and be charged at docking station 410.Mobile robot 10 has had
The map of whole working environment 400, and the position of docking station 410 can be set to initial point.
By performing previously described patrol path setting method, mobile robot 10 can be followed user 20 and be moved,
Thus generate mobile route 420.Although in more previously described embodiments, whole path 420 can be saved as patrol
Path, although in some embodiments it may also by some path point on path 420, such as path point 422,424,426 and
428 save as patrol path.Such as, when mobile robot 10 arrives a certain path point such as path point 422, user 20 can
With send order " arrange patrol point " using by this path point as the position that must go on patrol.In certain embodiments, use
Family 20 even can also arrange the time that should go on patrol this position.Similarly, user 20 can set when leading robot 10 to move
Put multiple such patrol point, such as, put 424,426 and 428 etc..When completing whole path, mobile robot 10 is permissible
These sequences put are saved as patrol path.When performing patrol afterwards, mobile robot 10 is according to this path, predetermined
Time arrive predetermined patrol point, and the path between going on patrol a little independently can be determined by mobile robot 10.
The exemplary scene of Fig. 4 B is similar with Fig. 4 A, except mobile robot 10 does not has the map of working environment 400' in advance
Outside.Therefore, in the case of Fig. 4 B, while mobile robot 10 can move following user 20, it is instant fixed to perform
Position and map structuring (SLAM) generate the map of working environment.As shown in Figure 4 B, mobile robot 10 has generated edge
A part of map in path 420.When completing to go on patrol path, mobile robot 10 can first preserve this schemes partially,
The map of whole working environment is suitably completed opportunity again after Deng.
Described above is the embodiment of the certain operations relevant to the patrol path setting method for mobile robot,
The example of mobile robot is described referring to Fig. 5.Fig. 5 is to illustrate moving according to another exemplary embodiment of the present invention
The block diagram of the structure of mobile robot.As it is shown in figure 5, mobile robot 10 can include imageing sensor 11, microphone 12, storage
Device 13, output block 14, driver part 15 and processor 17, these parts are connected to each other by bus system 16.
Imageing sensor 11 can be the most one or more photographic head, and it can be monocular cam, binocular camera
Or more purpose photographic head.However, it is understood that the invention is not restricted to visual light imaging, but, imageing sensor 11 can also
Being such as infrared imaging device, ultrasonic imaging device, laser imaging device etc., so these devices can capture and can be used for
The image that family identifies.Additionally, imageing sensor 11 can be also used for monitoring working environment during patrol.
Microphone 12 can be such as mike, preferably microphone array, and it is used for receiving voice command, carries out sound source
Location etc..
Memorizer 13 can store the data for processor 17 or programmed instruction.Such as, processor 17 can be in order to
By the data gathered from imageing sensor 11 and microphone 12, and utilize the data of storage in memorizer 13, perform memorizer
In 13, the programmed instruction of storage is to implement those described above method and steps.The result that processor 17 performs can store
In memorizer 13, or exported by output block 14.Output block 14 can be various types of output block, such as, raise
Sound device, printer, display, bulb etc..Bus system 16 ensure that data can be at these including driver part 15
Transmit between parts.
Driver part 15 can be used for driving mobile robot 10 to move.Such as, driver part 15 can include motor and
By motor-driven wheel or crawler belt etc..The operation of motor can be controlled by processor 17.
Processor 17 can include one or more processor, or can include the multiple process encapsulated in a processor
Device core.In addition to conventional CPU, processor 17 can also be so-called coprocessor, such as, be used for processing figure
Picture or the graphics coprocessor of video signal, for processing the audio frequency coprocessor etc. of audio signal.Processor 17 may also comprise
It is exclusively used in certain parts of process or the so-called controller etc. of certain signal.
Although it is not shown, mobile robot 10 also can include many miscellaneous parts, the most such as gyroscope, laser
The sensor of device, sonar etc, perform specific function such as clean, carry, the executor of the function such as detection, and for outward
Boundary sets up the communication component etc. that radio communication connects.Depend on that mobile robot 10 is designed to the field of application, removable
Robot 10 can have various different parts.
Application Scenarios-Example
The mobile robot 10 of the present invention can be applicable to various scene.Such as, robot 10 can be used for sweeping the floor of family
Robot, for utilizing said method to arrange the sweep-out pattern of sweeping robot.Robot 10 can also be such as work
Transfer robot in factory, goods can be transported at another according to the route specified at one by it in the time specified.Machine
Device people 10 can also be the security patrol robot for family, community, factory etc., and it can be arranged at night along fixing
Route goes on patrol, to guarantee the safety of family, community and factory.Such robot can perform the work of the most traditional night watchman
With.Robot 10 can also is that the nurse robot for such as family, nursing house, hospital etc., and it can be according to projected route
Patrol is to guarantee that such as old man, sufferer etc. are all in normal state.Such as, lie in old man or patient when robot 10 " seeing "
On the ground, or when " listening " arrives old man or the calling of patient or call for help, can give notice to relevant people or mechanism in time or alert
Accuse
Should be understood that mobile robot 10 described above and correlation technique thereof can also be applied to make robot 10
Other aspects of many moved along regulation path.
Illustrative computer program product and computer-readable recording medium
In addition to said method and equipment, embodiments herein can also is that computer program, and it includes meter
Calculation machine programmed instruction, described computer program instructions makes described processor perform this specification description when being run by processor
According to the various embodiment of the application patrol path setting method in each step.
Described computer program can be write for holding with the combination in any of one or more programming languages
The program code of row the embodiment of the present application operation, described programming language includes object oriented program language, such as
Java, C++ etc., also include the process type programming language of routine, such as " C " language or similar programming language.Journey
Sequence code can perform the most on the user computing device, perform the most on a user device, independent soft as one
Part bag performs, part part on the user computing device performs or on a remote computing completely in remote computing device
Or perform on server.
Additionally, embodiments herein can also is that computer-readable recording medium, on it, storage has computer program to refer to
Order, described computer program instructions make when being run by processor described processor perform this specification description according to this Shen
Please various embodiments patrol path setting method in each step.
Described computer-readable recording medium can use the combination in any of one or more computer-readable recording medium.Computer-readable recording medium can
To be readable signal medium or readable storage medium storing program for executing.Readable storage medium storing program for executing such as can include but not limited to electricity, magnetic, optical, electrical
The system of magnetic, infrared ray or quasiconductor, device or device, or above combination.Readable storage medium storing program for executing is more specifically
Example (non exhaustive list) including: has the electrical connection of one or more wire, portable disc, hard disk, random access memory
Device (RAM), read only memory (ROM), erasable type programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc
Read only memory (CD-ROM), light storage device, magnetic memory device or the combination of above-mentioned any appropriate.
The ultimate principle of the application is described above in association with specific embodiment, however, it is desirable to it is noted that in this application
The advantage mentioned, advantage, effect etc. are only exemplary rather than limiting, it is impossible to think that these advantages, advantage, effect etc. are the application
Each embodiment is prerequisite.It addition, detail disclosed above is merely to the effect of example and the work that readily appreciates
With, and unrestricted, above-mentioned details is not limiting as the application for above-mentioned concrete details must be used to realize.
The device that relates in the application, device, equipment, the block diagram of system are only used as exemplary example and are not intended to
Require or hint must be attached according to the mode shown in block diagram, arrange, configure.As it would be recognized by those skilled in the art that
, can connect by any-mode, arrange, configure these devices, device, equipment, system.Such as " include ", " comprising ", " tool
Have " etc. word be open vocabulary, refer to " including but not limited to ", and use can be exchanged with it.Vocabulary used herein above
"or" and " with " refer to vocabulary "and/or", and use can be exchanged with it, unless it is not such that context is explicitly indicated.Here made
Vocabulary " such as " refer to phrase " such as, but not limited to ", and use can be exchanged with it.
It may also be noted that in the equipment and method of the application, each parts or each step are can to decompose and/or weight
Combination nova.These decompose and/or reconfigure the equivalents that should be regarded as the application.
Although each step described the most in a certain order in method, however, it is understood that these steps also may be used
To carry out in a different order, or multiple step can be carried out simultaneously.Or in certain embodiments, some step is permissible
Carry out with being continued for.The method of the present invention contains all these different execution sequence.
The above description of the aspect disclosed in offer is so that any person skilled in the art can make or use this
Application.Various amendments in terms of these are readily apparent to those skilled in the art, and define at this
General Principle can apply to other aspects without deviating from scope of the present application.Therefore, the application is not intended to be limited to
Aspect shown in this, but according to the widest range consistent with principle disclosed herein and novel feature.
In order to purpose of illustration and description has been presented for above description.Additionally, this description is not intended to the reality of the application
Execute example and be restricted to form disclosed herein.Although already discussed above multiple exemplary aspect and embodiment, but this area skill
Art personnel are it will be recognized that its some modification, revise, change, add and sub-portfolio.
Claims (19)
1. for a patrol path setting method for mobile robot, including:
In response to first order of user, enter patrol path and pattern is set；
Lock described user, and follow the tracks of the movement of described user；
While following the tracks of the movement of described user, determine mobile route；And
Mobile route determined by Jiang is stored as going on patrol path.
Go on patrol path setting method the most as claimed in claim 1, also include:
In response to second order of described user, or it is back to initial point in response to following the tracks of described user, completes described patrol road
Footpath.
Go on patrol path setting method the most as claimed in claim 1, wherein, when described first order is local trigger command or remote
During journey communications command, lock described user and include locking described user based on image recognition, and
Wherein, when described first order is voice command, locks described user and include based on image recognition and sound localization
Combination locks described user.
Go on patrol path setting method the most as claimed in claim 3, wherein, lock described user based on image recognition and include:
Utilize imageing sensor capturing ambient image；
Identify the one or more potential users in the ambient image captured；
When identifying a potential user, lock one potential user；And
When identifying multiple potential user, lock that potential user immediate.
Go on patrol path setting method the most as claimed in claim 4, wherein, when identifying multiple potential user, the most further
The type of the first order shown in judging, if described first order is local trigger command, then locks the plurality of potential user
In an immediate user, if described first order be telecommunication order, then lock in the plurality of potential user
That user moved at first, if there being multiple user all moving, then lock that user moved immediate.
Going on patrol path setting method the most as claimed in claim 3, wherein, combination based on image recognition and sound localization is locked
Fixed described user includes:
Sounnd source direction is determined based on described first order as voice command；
Imageing sensor is rotated to described Sounnd source direction；
Utilize described imageing sensor capturing ambient image on described Sounnd source direction；
Identify and lock the user on described Sounnd source direction in captured ambient image.
Going on patrol path setting method the most as claimed in claim 3, wherein, combination based on image recognition and sound localization is locked
Fixed described user includes:
Step a, determines Sounnd source direction based on described first order as voice command；
Step b, rotates imageing sensor to described Sounnd source direction；
Step c, utilizes described imageing sensor capturing ambient image on described Sounnd source direction；
Step d, based on user described in the ambient image identification captured；
Step e, successfully identifies described user if based on the ambient image captured, then locks described user；
Step f, fails if based on the ambient image captured and identifies described user, then determine whether according to preset strategy
Advance along described Sounnd source direction；
Step g, if determining according to preset strategy and advancing along described Sounnd source direction, then drives described mobile robot along described
Sounnd source direction advances, and is then return to step c；And
Step h, if determining according to preset strategy and not advancing along described Sounnd source direction, does not the most drive described mobile robot edge
Described Sounnd source direction advances, and also returns to step c.
Going on patrol path setting method the most as claimed in claim 1, wherein, the movement following the tracks of described user includes:
Obtain the profile information of described user；And
The profile following the tracks of described user moves,
Wherein, described profile information includes other local configurations of whole human body contour outline, contouring head, trunk profile or human body
In one or more.
Going on patrol path setting method the most as claimed in claim 8, wherein, the movement following the tracks of described user also includes:
In response to the 3rd order from described user, perform corresponding mobile, wherein said 3rd order be voice command or
Telecommunication order.
Go on patrol path setting method the most as claimed in claim 1, wherein it is determined that mobile route includes:
Determine each path point relative coordinate relative to previous path point of described mobile robot process.
11. go on patrol path setting method as claimed in claim 10, and wherein, mobile route determined by general is stored as going on patrol road
Footpath includes:
It is stored as all path point of described mobile robot process going on patrol path；Or
By in all path point of described mobile robot process, by described user the 4th order indicated by one or
Multiple path point are stored as going on patrol path, and wherein, described 4th order is voice command, local trigger command and telecommunication life
One of order.
12. go on patrol path setting method as claimed in claim 1, and wherein, described mobile robot has working environment
Map, and
Wherein, the patrol path stored is in the path in the map of described working environment.
13. go on patrol path setting method as claimed in claim 1, also include:
While following the tracks of the movement of described user, run the SLAM algorithm map with construction work environment,
Wherein, the patrol path stored is in the path in the map of constructed working environment.
14. go on patrol path setting method as claimed in claim 1, also include:
In response to the 5th order of described user, patrol time and or many in patrol frequency in described patrol path are set
Individual, wherein, described 5th order is voice command, local one of trigger command and telecommunication order.
15. go on patrol path setting method as claimed in claim 14, wherein, arrange the patrol time in described patrol path and patrol
The one or more tracking when described user completes described patrol path at described mobile robot patrolled in frequency is carried out.
16. 1 kinds of mobile robots, including:
For the driver part making described mobile robot move；
For capturing at least one imageing sensor of image；
For capturing at least one microphone of sound；And
At least one processor communicated with described imageing sensor and described microphone, described processor is configured to run storage
Computer instruction in computer-readable medium is to perform the method described in any one in claim 1-15.
17. mobile robots as claimed in claim 16, wherein, at least one microphone described includes microphone array.
18. 1 kinds of computer programs, including computer program instructions, described computer program instructions is one or more
Processor makes described processor perform the method described in any one in claim 1-15 when running.
19. 1 kinds of computer-readable mediums, wherein storage has computer program instructions, and described computer program instructions is by one
Or make described processor perform the method described in any one in claim 1-15 during multiple processor operation.
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| CN201610587469 | 2016-07-22 | ||
| CN2016105874699 | 2016-07-22 |
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| CN107180277A (en) * | 2017-05-24 | 2017-09-19 | 江西理工大学 | Using the unmanned plane polling path planing method of the reverse harmony search of elite |
| CN107315414A (en) * | 2017-07-14 | 2017-11-03 | 灵动科技（北京）有限公司 | A kind of method, device and the robot of control machine people walking |
| CN107633270A (en) * | 2017-09-29 | 2018-01-26 | 上海与德通讯技术有限公司 | Intelligent identification Method, robot and computer-readable recording medium |
| CN109048899A (en) * | 2018-08-15 | 2018-12-21 | 深圳市烽焌信息科技有限公司 | A kind of patrol robot and storage medium |
| CN109062212A (en) * | 2018-08-15 | 2018-12-21 | 深圳市烽焌信息科技有限公司 | A kind of robot and storage medium for patrol |
| CN109085833A (en) * | 2018-08-15 | 2018-12-25 | 深圳市烽焌信息科技有限公司 | A kind of patrol robot and storage medium |
| CN109159131A (en) * | 2018-09-25 | 2019-01-08 | 浙江智玲机器人科技有限公司 | Unmanned meal delivery robot |
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| CN111436861A (en) * | 2018-12-27 | 2020-07-24 | 北京奇虎科技有限公司 | Block edge closing processing method, electronic equipment and readable storage medium |
| CN112017661A (en) * | 2019-05-31 | 2020-12-01 | 江苏美的清洁电器股份有限公司 | Voice control system and method of sweeping robot and sweeping robot |
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| CN106781332A (en) * | 2017-02-14 | 2017-05-31 | 上海斐讯数据通信技术有限公司 | The method and system of alarm are realized by sweeping robot |
| CN107180277A (en) * | 2017-05-24 | 2017-09-19 | 江西理工大学 | Using the unmanned plane polling path planing method of the reverse harmony search of elite |
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| CN109085833A (en) * | 2018-08-15 | 2018-12-25 | 深圳市烽焌信息科技有限公司 | A kind of patrol robot and storage medium |
| CN109159131A (en) * | 2018-09-25 | 2019-01-08 | 浙江智玲机器人科技有限公司 | Unmanned meal delivery robot |
| CN111436861B (en) * | 2018-12-27 | 2023-02-17 | 北京奇虎科技有限公司 | Block edge closing processing method, electronic equipment and readable storage medium |
| CN111436861A (en) * | 2018-12-27 | 2020-07-24 | 北京奇虎科技有限公司 | Block edge closing processing method, electronic equipment and readable storage medium |
| CN109784821A (en) * | 2019-04-04 | 2019-05-21 | 白冰 | A kind of garden servicer and garden service system |
| CN112017661A (en) * | 2019-05-31 | 2020-12-01 | 江苏美的清洁电器股份有限公司 | Voice control system and method of sweeping robot and sweeping robot |
| CN110941265A (en) * | 2019-11-05 | 2020-03-31 | 盟广信息技术有限公司 | Map entry method and device, computer equipment and storage medium |
| CN113787517A (en) * | 2021-08-20 | 2021-12-14 | 科沃斯机器人股份有限公司 | Self-moving robot control method, device, equipment and readable storage medium |
| CN113787517B (en) * | 2021-08-20 | 2023-09-22 | 科沃斯机器人股份有限公司 | Self-moving robot control method, device, equipment and readable storage medium |
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