CN106407882A - Method and apparatus for realizing head rotation of robot by face detection - Google Patents
Method and apparatus for realizing head rotation of robot by face detection Download PDFInfo
- Publication number
- CN106407882A CN106407882A CN201610597286.5A CN201610597286A CN106407882A CN 106407882 A CN106407882 A CN 106407882A CN 201610597286 A CN201610597286 A CN 201610597286A CN 106407882 A CN106407882 A CN 106407882A
- Authority
- CN
- China
- Prior art keywords
- face
- robot
- image
- head
- control system
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
- G06V40/165—Detection; Localisation; Normalisation using facial parts and geometric relationships
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30196—Human being; Person
- G06T2207/30201—Face
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Robotics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Geometry (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method for realizing head rotation of a robot by face detection. The method comprises: a control system is started, target face information is set, and a camera is turned on; the camera rotates to obtain an image and feeds back image information to a control system, and the control system reads image information; the control system identifies whether a target face exists in the image; if so, the control system obtains a target face position and the head of a robot rotates with movement of the face; and if not, the camera obtains an image again. The method and apparatus have the following beneficial effects: a robot with following head rotation is realized by face detection; and when a user moves towards a certain direction at a certain angle, the head of the robot rotates with the user. During the using process, the robot can face the face of the user directly; and a defect that some existing robots with stiff movements lack of flexibility and interaction can be overcome, so that the fun of the robot and the user can be increased substantially.
Description
Technical field
The present invention relates to a kind of robot head rotating method.
Background technology
Robot is simulation behavior of men or the machinery of thought or simulation other biological, incorporates machinery, electronics, letter
The technology in the fields such as breath, industrial design.Robot has widely been used in various fields at present, and particularly high-risk, height are negative
The high work of load, fine, repeatability, for example, manufacturing industry production line produces product using industrial robot.
With the development of science and technology and demand, the application of robot gradually penetrates into the daily life of general family and people
In the middle of living, such as sweeping robot.In addition accompany and the robot of children education class releases so that the function of the interaction of machine person to person
Become more and more important, substantially there are a voice-enabled chat in these robots, video monitoring, infrared remote control etc. is applied, but due to one
A little restrictions, robot still cannot assume the content interactive with people active, changeable, lively too much, thus with user mutual
Limit on dynamic.
At present, robot can't perceive the state in the external world very well, and its head can not follow the tracks of user, and Consumer's Experience is beaten greatly
Discount, is not suitable for average family；Compare with the interactive mode of user single, the demand of user can not be met, also
Number of values obtains improved place.
Content of the invention
It is an object of the invention to provide robot realizes the method and device of head rotation by Face datection.
The present invention adopts the following technical scheme that in order to achieve the above object：
The method that robot realizes head rotation by Face datection, comprises the following steps：
S1. open robot control system, target setting face information, start the photographic head being arranged on robot head,
Enter S2；
S2. robot head rotates, and photographic head obtains image, feedback image information to control system, and control system reads
Image information, enters S3；
S3. whether there is target face in control system identification image, if there being target face information, entering S4, if identification is not
Go out target face, return S2；
S4. control system obtains target face location, and with the movement of face, robot head is followed and rotated.
Preferably, in described S2, the image step that control system reads photographic head acquisition is as follows：
(1) image is carried out bitmap format conversion；
(2) read view data；
(4) storage image data.
Preferably, in described S2, the image that photographic head obtains is figure frame by frame.
Preferably, in described S3, control system identification face information when be by detection image whether there is two between
Away from and two center position and control system in the image of information matches that sets, if coupling, there is target face information.
Preferably, in described S4, after identifying target face information, control system is calculated face center and is obtained with photographic head
Take the center deviation value of picture, driven machine head part rotates the sensing revising photographic head, make face center and picture central point
Overlap, face moves, robot head is followed and moved.
Preferably, when control system calculates, with face center as zero, with direction straight up for Y-axis positive direction,
With horizontal right direction for X-axis positive direction, calculate face coordinate X-axis and Y-axis is respectively offset from the distance of picture central point, according to
This rotates apart from driven machine head part.
Robot realizes the device of head rotation by Face datection, including：
Image capture module, i.e. photographic head, in order to obtain image；
Image reading module, including bitmap format modular converter, data read module, data memory module；
The image that photographic head obtains first passes through form conversion, data storage after reading data；
Whether human face data identification module, have target human face data in identification view data, by detection image whether
There is the image of the information matches setting in two spacing and two center position and control system,
Face offset distance calculation module, calculates face center position data and compares phase with image frame central point
To position；
Driven machine head part's rotating module, according to face center and image frame center deviation value, being capable of driven machine
Head part's rotational angle；
Robot head rotating module, including steering wheel, steering wheel includes direct current generator, train of reduction gears, sensor, controls electricity
Road；After obtaining the instruction of head rotation, controlled by driven machine head part's rotating module, make robot head realize rotating.
The present invention beneficial effect be：The robot that head rotation is followed is realized by Face datection, its head has
Motility, user also can follow user to rotate, during use toward the certain angle of certain direction movement, robot head
Can guarantee that the face just to user for the robot, compensate for that some current robots are stiff to be lacked motility and interactive lack
Fall into, the enjoyment of robot and user can be greatly improved, to robot using no longer dull hence it is evident that improving Consumer's Experience.
Brief description
Fig. 1 is embodiment of the present invention schematic flow sheet.
Specific embodiment
To describe the present invention below in conjunction with accompanying drawing and specific embodiment in detail, here is with the schematic enforcement of the present invention
Example and explanation are used for explaining the present invention, but not as a limitation of the invention.
Embodiment one：
The step that robot realizes head rotation by Face datection is as follows：
S1. robot control system, target setting face information are opened, target face can be one or more, according to need
Depending on wanting, start photographic head, enter S2；
S2. robot head rotates, and photographic head obtains image frame by frame, feedback image information to control system, controls system
System reads image information, and the image step of acquisition is as follows：
(1) bitmap format modular converter carries out bitmap format conversion image；
(2) data read module reads view data；
(3) data memory module storage image data.
Enter S3；
S3. whether there is target human face data in human face data identification module identification view data, by detection image be
No have two spacing and two center position and the image of the information matches of setting in control system, if coupling, there is mesh
Mark face information, enters S4, if can not identify target face, returns S2；
S4. after control system identifies target face information, face offset distance calculation module calculate face center with
Photographic head obtains the center deviation value of picture, and driven machine head part rotates the sensing revising photographic head, makes face center and picture
Face central point overlaps, and face moves, and robot head is followed and moved.
When control system calculates, with face center as zero, with direction straight up for Y-axis positive direction, with level
Right direction is X-axis positive direction, calculates face coordinate X-axis and Y-axis is respectively offset from the distance of picture central point,
Driven machine head part's rotating module, according to face center and image frame center deviation value, sends instruction, steering wheel
After receiving instruction, direct current generator, train of reduction gears, sensor, control circuit startup work, so that robot head is rotated.
The technical scheme above embodiment of the present invention being provided is described in detail, specific case used herein
The principle and embodiment of the embodiment of the present invention is set forth, the explanation of above example is only applicable to help understand this
The principle of inventive embodiments；Simultaneously for one of ordinary skill in the art, according to the embodiment of the present invention, in specific embodiment party
All will change in formula and range of application, in sum, this specification content should not be construed as limitation of the present invention.
Claims (7)
1. robot by Face datection realize head rotation method it is characterised in that：
Comprise the following steps：
S1. open robot control system, target setting face information, start the photographic head being arranged on robot head, enter
S2；
S2. robot head rotates, and photographic head obtains image, feedback image information to control system, and control system reads image
Information, enters S3；
S3. whether there is target face in control system identification image, if there being target face information, entering S4, if can not identify mesh
Mark face, returns S2；
S4. control system obtains target face location, and with the movement of face, robot head is followed and rotated.
2. robot according to claim 1 by Face datection realize head rotation method it is characterised in that：
In described S2, the image step that control system reads photographic head acquisition is as follows：
(1) image is carried out bitmap format conversion；
(2) read view data；
(4) storage image data.
3. robot according to claim 1 by Face datection realize head rotation method it is characterised in that：
In described S2, the image that photographic head obtains is figure frame by frame.
4. robot according to claim 1 by Face datection realize head rotation method it is characterised in that：
In described S3, it is by whether there is two spacing Ji Liangyan centers in detection image during control system identification face information
, if coupling, there is target face information in point position and the image of the information matches of setting in control system.
5. robot according to claim 1 by Face datection realize head rotation method it is characterised in that：
In described S4, after identifying target face information, control system is calculated face center and is obtained in picture with photographic head
Heart deviation value, driven machine head part rotates the sensing revising photographic head, so that face center is overlapped with picture central point, and face moves
Dynamic, robot head is followed and is moved.
6. robot according to claim 4 by Face datection realize head rotation method it is characterised in that：
When control system calculates, with face center as zero, with direction straight up for Y-axis positive direction, with level to the right
Direction is X-axis positive direction, calculates face coordinate X-axis and Y-axis is respectively offset from the distance of picture central point, is driven according to this distance
Robot head rotates.
7. robot by Face datection realize head rotation device it is characterised in that：
Including
Image capture module, i.e. photographic head, in order to obtain image；
Image reading module, including bitmap format modular converter, data read module, data memory module；
The image that photographic head obtains first passes through form conversion, data storage after reading data；
Whether human face data identification module, have target human face data in identification view data, whether there is by detection image
The image of the information matches setting in two spacing and two center position and control system,
Face offset distance calculation module, calculates face center position data and with image frame central point relative to position
Put；
Driven machine head part's rotating module, according to face center and image frame center deviation value, being capable of the driven machine number of people
Portion's rotational angle；
Robot head rotating module, including steering wheel, steering wheel includes direct current generator, train of reduction gears, sensor, control circuit；
After obtaining the instruction of head rotation, controlled by driven machine head part's rotating module, make robot head realize rotating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610597286.5A CN106407882A (en) | 2016-07-26 | 2016-07-26 | Method and apparatus for realizing head rotation of robot by face detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610597286.5A CN106407882A (en) | 2016-07-26 | 2016-07-26 | Method and apparatus for realizing head rotation of robot by face detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106407882A true CN106407882A (en) | 2017-02-15 |
Family
ID=58004729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610597286.5A Pending CN106407882A (en) | 2016-07-26 | 2016-07-26 | Method and apparatus for realizing head rotation of robot by face detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106407882A (en) |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826867A (en) * | 2017-03-31 | 2017-06-13 | 上海思依暄机器人科技股份有限公司 | A kind of method that robot and control robot head are rotated |
| CN106881716A (en) * | 2017-02-21 | 2017-06-23 | 深圳市锐曼智能装备有限公司 | Human body follower method and system based on 3D cameras robot |
| CN107009357A (en) * | 2017-04-05 | 2017-08-04 | 武汉科技大学 | A kind of method that object is captured based on NAO robots |
| CN107168343A (en) * | 2017-07-14 | 2017-09-15 | 灵动科技（北京）有限公司 | The control method and luggage case of a kind of luggage case |
| CN107273850A (en) * | 2017-06-15 | 2017-10-20 | 上海工程技术大学 | A kind of autonomous follower method based on mobile robot |
| CN107622248A (en) * | 2017-09-27 | 2018-01-23 | 威盛电子股份有限公司 | One kind watches identification and interactive approach and device attentively |
| CN107831902A (en) * | 2017-11-23 | 2018-03-23 | 腾讯科技（上海）有限公司 | A kind of motion control method and its equipment, storage medium, terminal |
| CN107908008A (en) * | 2017-12-28 | 2018-04-13 | 许峰 | A kind of certainly mobile AR display screens |
| CN108492425A (en) * | 2018-04-12 | 2018-09-04 | 广东汇泰龙科技有限公司 | A kind of automatic track human faces door opening method and system based on face lock |
| CN108647633A (en) * | 2018-05-08 | 2018-10-12 | 腾讯科技（深圳）有限公司 | Recognition and tracking method, recognition and tracking device and robot |
| CN108733419A (en) * | 2018-03-21 | 2018-11-02 | 北京猎户星空科技有限公司 | Lasting awakening method, device, smart machine and the storage medium of smart machine |
| CN108733280A (en) * | 2018-03-21 | 2018-11-02 | 北京猎户星空科技有限公司 | Focus follower method, device, smart machine and the storage medium of smart machine |
| CN108921218A (en) * | 2018-06-29 | 2018-11-30 | 炬大科技有限公司 | A kind of target object detection method and device |
| CN108965720A (en) * | 2018-08-13 | 2018-12-07 | 河南亚视软件技术有限公司 | A kind of recognition of face camera system towards intelligent robot |
| CN108985225A (en) * | 2018-07-13 | 2018-12-11 | 北京猎户星空科技有限公司 | Focus follower method, device, electronic equipment and storage medium |
| CN109048940A (en) * | 2018-08-29 | 2018-12-21 | 宁波Gqy视讯股份有限公司 | A kind of man-machine interaction method and robot of robot |
| CN109108968A (en) * | 2018-08-17 | 2019-01-01 | 深圳市三宝创新智能有限公司 | Exchange method, device, equipment and the storage medium of robot head movement adjustment |
| CN109389093A (en) * | 2018-10-23 | 2019-02-26 | 同济大学 | Based on recognition of face towards type method for tracing |
| CN109955248A (en) * | 2017-12-26 | 2019-07-02 | 深圳市优必选科技有限公司 | Robot and face following method thereof |
| CN109968351A (en) * | 2017-12-28 | 2019-07-05 | 深圳市优必选科技有限公司 | Robot, control method thereof and device with storage function |
| CN110246190A (en) * | 2019-06-10 | 2019-09-17 | 南京奥拓电子科技有限公司 | A kind of robot interactive method that more technologies are realized |
| CN110386087A (en) * | 2018-04-23 | 2019-10-29 | 上海擎感智能科技有限公司 | Image pickup method, storage medium, electronic equipment and vehicle based on vehicle |
| CN111276142A (en) * | 2020-01-20 | 2020-06-12 | 北京声智科技有限公司 | Voice awakening method and electronic equipment |
| CN111331590A (en) * | 2020-04-02 | 2020-06-26 | 上海国民集团健康科技有限公司 | Robot head personification rotating mechanism and method |
| CN112565509A (en) * | 2020-11-26 | 2021-03-26 | 浙江宜格企业管理集团有限公司 | Mobile phone autonomous movement adjusting camera alignment system and control method thereof |
| CN112819887A (en) * | 2021-02-26 | 2021-05-18 | 浙江宜格企业管理集团有限公司 | Mirror surface adjusting control system and method |
| CN113298070A (en) * | 2021-06-25 | 2021-08-24 | 安徽机电职业技术学院 | Target recognition device for industrial robot |
| CN114310909A (en) * | 2022-01-26 | 2022-04-12 | 美的集团(上海)有限公司 | Robot and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103106393A (en) * | 2012-12-12 | 2013-05-15 | 袁培江 | Embedded type face recognition intelligent identity authentication system based on robot platform |
| CN103679203A (en) * | 2013-12-18 | 2014-03-26 | 江苏久祥汽车电器集团有限公司 | Robot system and method for detecting human face and recognizing emotion |
| CN104985599A (en) * | 2015-07-20 | 2015-10-21 | 百度在线网络技术（北京）有限公司 | Intelligent robot control method and system based on artificial intelligence and intelligent robot |
| CN105116994A (en) * | 2015-07-07 | 2015-12-02 | 百度在线网络技术（北京）有限公司 | Intelligent robot tracking method and tracking device based on artificial intelligence |
| CN105182983A (en) * | 2015-10-22 | 2015-12-23 | 深圳创想未来机器人有限公司 | Face real-time tracking method and face real-time tracking system based on mobile robot |
-
2016
- 2016-07-26 CN CN201610597286.5A patent/CN106407882A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103106393A (en) * | 2012-12-12 | 2013-05-15 | 袁培江 | Embedded type face recognition intelligent identity authentication system based on robot platform |
| CN103679203A (en) * | 2013-12-18 | 2014-03-26 | 江苏久祥汽车电器集团有限公司 | Robot system and method for detecting human face and recognizing emotion |
| CN105116994A (en) * | 2015-07-07 | 2015-12-02 | 百度在线网络技术（北京）有限公司 | Intelligent robot tracking method and tracking device based on artificial intelligence |
| CN104985599A (en) * | 2015-07-20 | 2015-10-21 | 百度在线网络技术（北京）有限公司 | Intelligent robot control method and system based on artificial intelligence and intelligent robot |
| CN105182983A (en) * | 2015-10-22 | 2015-12-23 | 深圳创想未来机器人有限公司 | Face real-time tracking method and face real-time tracking system based on mobile robot |
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106881716A (en) * | 2017-02-21 | 2017-06-23 | 深圳市锐曼智能装备有限公司 | Human body follower method and system based on 3D cameras robot |
| CN106826867A (en) * | 2017-03-31 | 2017-06-13 | 上海思依暄机器人科技股份有限公司 | A kind of method that robot and control robot head are rotated |
| CN107009357B (en) * | 2017-04-05 | 2019-03-26 | 武汉科技大学 | A method of object is grabbed based on NAO robot |
| CN107009357A (en) * | 2017-04-05 | 2017-08-04 | 武汉科技大学 | A kind of method that object is captured based on NAO robots |
| CN107273850A (en) * | 2017-06-15 | 2017-10-20 | 上海工程技术大学 | A kind of autonomous follower method based on mobile robot |
| CN107168343A (en) * | 2017-07-14 | 2017-09-15 | 灵动科技（北京）有限公司 | The control method and luggage case of a kind of luggage case |
| CN107622248A (en) * | 2017-09-27 | 2018-01-23 | 威盛电子股份有限公司 | One kind watches identification and interactive approach and device attentively |
| CN107622248B (en) * | 2017-09-27 | 2020-11-10 | 威盛电子股份有限公司 | Gaze identification and interaction method and device |
| CN107831902A (en) * | 2017-11-23 | 2018-03-23 | 腾讯科技（上海）有限公司 | A kind of motion control method and its equipment, storage medium, terminal |
| CN109955248A (en) * | 2017-12-26 | 2019-07-02 | 深圳市优必选科技有限公司 | Robot and face following method thereof |
| CN107908008A (en) * | 2017-12-28 | 2018-04-13 | 许峰 | A kind of certainly mobile AR display screens |
| CN109968351A (en) * | 2017-12-28 | 2019-07-05 | 深圳市优必选科技有限公司 | Robot, control method thereof and device with storage function |
| CN108733419B (en) * | 2018-03-21 | 2021-04-27 | 北京猎户星空科技有限公司 | Continuous awakening method and device of intelligent equipment, intelligent equipment and storage medium |
| CN108733280A (en) * | 2018-03-21 | 2018-11-02 | 北京猎户星空科技有限公司 | Focus follower method, device, smart machine and the storage medium of smart machine |
| TWI705382B (en) * | 2018-03-21 | 2020-09-21 | 大陸商北京獵戶星空科技有限公司 | Intelligent device focus following method, device, intelligent equipment and storage media |
| CN108733419A (en) * | 2018-03-21 | 2018-11-02 | 北京猎户星空科技有限公司 | Lasting awakening method, device, smart machine and the storage medium of smart machine |
| CN108492425A (en) * | 2018-04-12 | 2018-09-04 | 广东汇泰龙科技有限公司 | A kind of automatic track human faces door opening method and system based on face lock |
| CN110386087A (en) * | 2018-04-23 | 2019-10-29 | 上海擎感智能科技有限公司 | Image pickup method, storage medium, electronic equipment and vehicle based on vehicle |
| CN108647633A (en) * | 2018-05-08 | 2018-10-12 | 腾讯科技（深圳）有限公司 | Recognition and tracking method, recognition and tracking device and robot |
| CN108647633B (en) * | 2018-05-08 | 2023-12-22 | 腾讯科技（深圳）有限公司 | Identification tracking method, identification tracking device and robot |
| CN108921218B (en) * | 2018-06-29 | 2022-06-24 | 炬大科技有限公司 | Target object detection method and device |
| CN108921218A (en) * | 2018-06-29 | 2018-11-30 | 炬大科技有限公司 | A kind of target object detection method and device |
| CN108985225A (en) * | 2018-07-13 | 2018-12-11 | 北京猎户星空科技有限公司 | Focus follower method, device, electronic equipment and storage medium |
| CN108965720A (en) * | 2018-08-13 | 2018-12-07 | 河南亚视软件技术有限公司 | A kind of recognition of face camera system towards intelligent robot |
| CN109108968A (en) * | 2018-08-17 | 2019-01-01 | 深圳市三宝创新智能有限公司 | Exchange method, device, equipment and the storage medium of robot head movement adjustment |
| CN109048940A (en) * | 2018-08-29 | 2018-12-21 | 宁波Gqy视讯股份有限公司 | A kind of man-machine interaction method and robot of robot |
| CN109389093A (en) * | 2018-10-23 | 2019-02-26 | 同济大学 | Based on recognition of face towards type method for tracing |
| CN110246190A (en) * | 2019-06-10 | 2019-09-17 | 南京奥拓电子科技有限公司 | A kind of robot interactive method that more technologies are realized |
| CN111276142A (en) * | 2020-01-20 | 2020-06-12 | 北京声智科技有限公司 | Voice awakening method and electronic equipment |
| CN111276142B (en) * | 2020-01-20 | 2023-04-07 | 北京声智科技有限公司 | Voice wake-up method and electronic equipment |
| CN111331590A (en) * | 2020-04-02 | 2020-06-26 | 上海国民集团健康科技有限公司 | Robot head personification rotating mechanism and method |
| CN112565509A (en) * | 2020-11-26 | 2021-03-26 | 浙江宜格企业管理集团有限公司 | Mobile phone autonomous movement adjusting camera alignment system and control method thereof |
| CN112819887A (en) * | 2021-02-26 | 2021-05-18 | 浙江宜格企业管理集团有限公司 | Mirror surface adjusting control system and method |
| CN113298070B (en) * | 2021-06-25 | 2022-04-01 | 安徽机电职业技术学院 | Target recognition device for industrial robot |
| CN113298070A (en) * | 2021-06-25 | 2021-08-24 | 安徽机电职业技术学院 | Target recognition device for industrial robot |
| CN114310909A (en) * | 2022-01-26 | 2022-04-12 | 美的集团(上海)有限公司 | Robot and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106407882A (en) | Method and apparatus for realizing head rotation of robot by face detection | |
| CN105252532B (en) | The method of the flexible gesture stability of motion capture robot collaboration | |
| CN108885459A (en) | Air navigation aid, navigation system, mobile control system and mobile robot | |
| EP3825962A3 (en) | Virtual object driving method, apparatus, electronic device, and readable storage medium | |
| CN105243664B (en) | A kind of wheeled mobile robot fast-moving target tracking method of view-based access control model | |
| CN108154550A (en) | Face real-time three-dimensional method for reconstructing based on RGBD cameras | |
| CN104035557B (en) | Kinect action identification method based on joint activeness | |
| US20130202212A1 (en) | Information processing apparatus, information processing method, and computer program | |
| Kim et al. | Motion segmentation and control design for UCF-MANUS—An intelligent assistive robotic manipulator | |
| CN106125909A (en) | A kind of motion capture system for training | |
| CN109955248A (en) | Robot and face following method thereof | |
| CN105997097B (en) | Human body lower limbs movement posture playback system and reproducting method | |
| CN108010400A (en) | A kind of intelligence dancing paces learning device and method | |
| Rasch et al. | A joint motion model for human-like robot-human handover | |
| CN114783001A (en) | Swimming posture evaluation method, system, device and computer readable storage medium | |
| CN111930148A (en) | Unmanned aerial vehicle target tracking system and method based on machine vision | |
| CN110743160A (en) | Real-time step tracking system based on somatosensory capture equipment and step generation method | |
| Gao et al. | Kinect-based motion recognition tracking robotic arm platform | |
| CN108621164A (en) | Taiji push hands machine people based on depth camera | |
| CN206961147U (en) | A kind of posture health monitoring systems based on Kinect | |
| CN109343713B (en) | Human body action mapping method based on inertial measurement unit | |
| CN209785022U (en) | Many people scene is absorbed in degree recognition device based on face identification | |
| CN205729299U (en) | The Pose Control system of capsule endoscope and capsule endoscope | |
| Trigueiros et al. | Vision-based hand segmentation techniques for human-robot interaction for real-time applications | |
| CN106527720A (en) | Immersive interaction control method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170215 |