CN107378949A - A kind of method and robot of robot detection object - Google Patents
A kind of method and robot of robot detection object Download PDFInfo
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- CN107378949A CN107378949A CN201710603062.5A CN201710603062A CN107378949A CN 107378949 A CN107378949 A CN 107378949A CN 201710603062 A CN201710603062 A CN 201710603062A CN 107378949 A CN107378949 A CN 107378949A
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- robot
- translational speed
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- information
- target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
Abstract
The present invention provides a kind of method and robot of robot detection object, and this method includes：The robot identification needs the destination locations reached；In moving process, described in the robot real-time judge between robot current location and the destination locations distance whether in pre-determined distance；When the robot is moved to from a distance from the target location in the pre-determined distance, camera device is opened to being shot in front of the robot by the robot；The robot judges that the front of the robot is dropped with the presence or absence of object according to the image of shooting, is dropped if object be present in front of the robot, and the robot identifies the quantity for the object that drops according to described image；The robot heightens translational speed to translational speed corresponding with the quantity of the object that drops according to the quantity for the object that drops and the corresponding relation of translational speed obtained in advance.The embodiment of the present invention can reduce faulty operation caused by robot.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of method and robot of robot detection object.
Background technology
It can be used with the development of robot technology and the communication technology, in current more and more scenes and arrive robot, such as：
Article, installation article or punching etc. are carried using robot.And machine per capita can be with remote control now.Wherein, remotely
Control can be that robot establishes communication connection with communication terminal in advance, and user is by communication terminal Manipulation of the machine people, with order
Robot completes the event of user's instruction.But in actual application, due to being remote control robot per family, so using
Family is not specific distinct to the situation of robot work at present, such as：Robot operative scenario occurs under emergency case, user
It can not understand in time, so as to cause robot faulty operation.It can be seen that the likelihood ratio of robot faulty operation is higher at present.
The content of the invention
The embodiment of the present invention provides a kind of method and robot of robot detection object, to solve robot faulty operation
Likelihood ratio it is higher the problem of.
The embodiment of the present invention provides a kind of method of robot detection object, including：
The robot identification needs the destination locations reached；
In moving process, robot current location described in the robot real-time judge and the spacing of the destination locations
From whether in pre-determined distance；
When the robot is moved to from a distance from the target location in the pre-determined distance, the robot opens
Camera device is opened to being shot in front of the robot；
The robot judges that the front of the robot is dropped with the presence or absence of object according to the image of shooting, if the machine
Object be present in front of device people to drop, then the robot identifies the quantity for the object that drops according to described image；
The robot is according to the quantity for the object that drops and the corresponding relation of translational speed obtained in advance, by translational speed
Heighten to translational speed corresponding with the quantity of the object that drops.
Preferably, the robot, will according to the quantity for the object that drops and the corresponding relation of translational speed obtained in advance
Translational speed was heightened the step of translational speed corresponding with the quantity of the object that drops, and methods described also includes：
Whether the robot judge the to drop quantity of object is more than pre-determined threshold；
If whether the quantity for the object that drops is more than pre-determined threshold, the robot is sent to the communication terminal bound in advance
Warning information, the warning information drop information including object；
The robot receives the target that the communication terminal returns according to the warning information and handles strategy, the machine
People is handled according to target processing strategy.
Preferably, the robot, will according to the quantity for the object that drops and the corresponding relation of translational speed obtained in advance
Translational speed was heightened the step of translational speed corresponding with the quantity of the object that drops, and methods described also includes：
The robot detects the humidity information of current environment in real time, and whether the humidity information for judging to detect is more than in advance
If early warning thresholding；
If whether the humidity information detected is more than default early warning thresholding, the robot is whole to the communication bound in advance
End sends warning information, and the warning information includes the humidity information and object and dropped information；
The robot receives the target that the communication terminal returns according to the warning information and handles strategy, the machine
People is handled according to target processing strategy.
Preferably, if the humidity information is more than predetermined threshold value, according to the humidity information and translational speed obtained in advance
Corresponding relation, the step of setting the current translational speed of the robot to be translational speed corresponding with the humidity information it
Afterwards, methods described also includes：
The robot detects the humidity information of current environment in real time, and whether the humidity information for judging to detect is more than in advance
If early warning thresholding；
The robot obtains according to the default early warning thresholding obtained in advance and the corresponding relation of processing strategy according to advance
Humidity information, the quantity for the object that drops and the corresponding relation of translational speed, the robot translational speed is arranged to and institute
State corresponding to humidity information, and translational speed corresponding with the quantity of the object that drops.
Preferably, if the humidity information is more than predetermined threshold value, according to the humidity information and translational speed obtained in advance
Corresponding relation, the step of setting the current translational speed of the robot to be translational speed corresponding with the humidity information it
Afterwards, methods described also includes：
When the robot is moved to the destination locations, the robot detects drop target in the destination locations
Whether the temperature in the region of article is placed in the target item temperature range default；
If the temperature in the region of drop target article places the target item temperature model default in the destination locations
In enclosing, the target item is placed on the destination locations by the robot；
If the temperature in the region of drop target article does not place the target item temperature default in the destination locations
In the range of, the robot carries the target item and returned.
The embodiment of the present invention provides a kind of robot, including：
First identification module, for identifying the destination locations for needing to reach；
First judge module, in moving process, robot current location described in real-time judge and the purpose position
Whether distance is in pre-determined distance between putting；
Opening module, for when the robot be moved to from a distance from the target location in the pre-determined distance
When, camera device is opened to being shot in front of the robot；
Second identification module, for judging that the front of the robot is dropped with the presence or absence of object according to the image of shooting,
If object be present in front of the robot to drop, the robot identifies the quantity for the object that drops according to described image；
First setup module, the quantity for the object that drops obtained in advance for basis and the corresponding relation of translational speed, will
Translational speed is heightened to translational speed corresponding with the quantity of the object that drops.
Preferably, the robot also includes：
First judge module, for judging to drop, whether the quantity of object is more than pre-determined threshold；
First warning module, if whether the quantity for the object that drops is more than pre-determined threshold, to the communication bound in advance
Terminal sends warning information, and the warning information drops information including object；
First receiving module, strategy is handled for receiving the target that the communication terminal returns according to the warning information,
The robot is handled according to target processing strategy.
Preferably, the robot also includes：
First detection module, for detecting the humidity information of current environment in real time, and the humidity information for judging to detect is
It is no to be more than default early warning thresholding；
Second warning module, if whether being more than default early warning thresholding for the humidity information detected, to advance binding
Communication terminal send warning information, the warning information includes the humidity information and object and dropped information；
Second receiving module, strategy is handled for receiving the target that the communication terminal returns according to the warning information,
The robot is handled according to target processing strategy.
Preferably, the robot also includes：
Second detection module, for detecting the humidity information of current environment in real time, and the humidity information for judging to detect is
It is no to be more than default early warning thresholding；
Processing module, for the corresponding relation according to the default early warning thresholding obtained in advance and processing strategy, according to advance
The corresponding relation of the humidity information of acquisition, the quantity for the object that drops and translational speed, the robot translational speed is arranged to
It is corresponding with the humidity information, and translational speed corresponding with the quantity of the object that drops.
Preferably, the robot also includes：
3rd detection module, for when the robot is moved to the destination locations, detecting in the destination locations
Whether the temperature in the region of drop target article is placed in the target item temperature range default；
Placement module, if the temperature for the region of drop target article in the destination locations places the mesh default
Mark in the range of article temperature, the target item is placed on the destination locations；
Module is returned to, if the temperature for the region of drop target article in the destination locations is not described in default place
In target item temperature range, carry the target item and return.
In the embodiment of the present invention, the robot identification needs the destination locations reached；In moving process, the machine
Described in people's real-time judge between robot current location and the destination locations distance whether in pre-determined distance；When the machine
When people is moved to from a distance from the target location in the pre-determined distance, camera device is opened to the machine by the robot
Shot in front of device people；The robot judges that the front of the robot is fallen with the presence or absence of object according to the image of shooting
Fall, dropped if object be present in front of the robot, the robot identifies the quantity for the object that drops according to described image；
The robot according to the quantity for the object that drops and the corresponding relation of translational speed obtained in advance, by translational speed heighten to
The translational speed corresponding to the quantity of object that drops.It can so realize when there is object to drop, heighten robot in time
Translational speed, dropped and caused faulty operation by object with reducing robot.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, it will use below required in embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached
Figure.
Fig. 1 is a kind of schematic flow sheet of the method for robot detection object provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of robot provided in an embodiment of the present invention；
Fig. 3 is the structural representation of another robot provided in an embodiment of the present invention；
Fig. 4 is the structural representation of another robot provided in an embodiment of the present invention；
Fig. 5 is the structural representation of another robot provided in an embodiment of the present invention；
Fig. 6 is the structural representation of another robot provided in an embodiment of the present invention；
Fig. 7 is the structural representation of another robot provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is part of the embodiment of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Robot provided in an embodiment of the present invention can include：Chassis, wheel, crawler belt, rechargeable battery and installed in chassis
On mechanical arm composition.Mechanical arm can transfer from one department to another to unite including large arm, telescopic arm, forearm, gripper and waist.And can be with
Including video system, video system can include forming installed in the video camera of diverse location, can also include running gear, OK
Walking system can be 6 × 6 a11wheel drives, and large arm lifting can be driven by double electronic struts and install balance bar, furthermore it is also possible to
Controlled by center system including control system and manipulated case etc., in addition, can be wired or wireless between robot and control system
Manipulate and the video information of robotic end can be sent to control hall or command car, and remote control by wireless radiation
Robot.In addition, in the embodiment of the present invention, robot be able to can be captured with explosive-removal robot or warehouse transfer robot etc. and
The robot of carry an object, this embodiment of the present invention is not construed as limiting.
Fig. 1 is referred to, Fig. 1 is a kind of flow signal of the method for robot detection object provided in an embodiment of the present invention
Figure, as shown in figure 1, comprising the following steps：
101st, the robot identification needs the destination locations reached.
Wherein, above-mentioned purpose position is the position that user pre-sets, such as：Need explosive position.
102nd, in moving process, robot current location described in the robot real-time judge and the destination locations it
Between distance whether in pre-determined distance.
Above-mentioned pre-determined distance can be the distance that user pre-sets, such as：1 meter, 2 meters etc..
103rd, when the robot is moved to from a distance from the target location in the pre-determined distance, the machine
People opens camera device to being shot in front of the robot.
Wherein, above-mentioned filming apparatus can be VR devices, or can be two-dimentional filming apparatus etc., and this present invention is implemented
Example is not construed as limiting.
104th, the robot judges that the front of the robot is dropped with the presence or absence of object according to the image of shooting, if institute
State in front of robot and object be present and drop, then the robot drops the quantity of object according to described image identification.
The above-mentioned image according to shooting judges that the front of the robot is dropped with the presence or absence of object, can be according to adjacent
The difference of the characteristics of image of video interframe, to recognize whether that object drops.
105th, the robot is according to the quantity for the object that drops and the corresponding relation of translational speed obtained in advance, by movement
Speed is heightened to translational speed corresponding with the quantity of the object that drops.
It can realize that robot heightens translational speed to corresponding with the quantity of the object that drops by above-mentioned steps
Translational speed, in the case of realizing that reducing robot object drops, caused faulty operation.
As an alternative embodiment, quantity and mobile speed of the robot according to the object that drops obtained in advance
The corresponding relation of degree, translational speed was heightened the step of translational speed corresponding with the quantity of the object that drops, institute
Stating method also includes：
Whether the robot judge the to drop quantity of object is more than pre-determined threshold；
If whether the quantity for the object that drops is more than pre-determined threshold, the robot is sent to the communication terminal bound in advance
Warning information, the warning information drop information including object；
The robot receives the target that the communication terminal returns according to the warning information and handles strategy, the machine
People is handled according to target processing strategy.
In the embodiment, it is possible to achieve if whether the quantity for the object that drops is more than pre-determined threshold, the robot to
The communication terminal bound in advance sends warning information, and the warning information drops information including object；The robot receives institute
State the target that communication terminal returns according to the warning information and handle strategy, the robot enters according to target processing strategy
Row processing.So as to allow user according to the correct Manipulation of the machine people of current environment.
As an alternative embodiment, quantity and mobile speed of the robot according to the object that drops obtained in advance
The corresponding relation of degree, translational speed was heightened the step of translational speed corresponding with the quantity of the object that drops, institute
Stating method also includes：
The robot detects the humidity information of current environment in real time, and whether the humidity information for judging to detect is more than in advance
If early warning thresholding；
If whether the humidity information detected is more than default early warning thresholding, the robot is whole to the communication bound in advance
End sends warning information, and the warning information includes the humidity information and object and dropped information；
The robot receives the target that the communication terminal returns according to the warning information and handles strategy, the machine
People is handled according to target processing strategy.
In the embodiment, it is possible to achieve if whether the humidity information detected is more than default early warning thresholding, the machine
Device people sends warning information to the communication terminal bound in advance, the warning information includes the humidity information and object drops letter
Breath；The robot receives the target that the communication terminal returns according to the warning information and handles strategy, and the robot is pressed
Handled according to target processing strategy.So as to allow user according to the correct Manipulation of the machine people of current environment.
If as an alternative embodiment, the humidity information is more than predetermined threshold value, basis obtains wet in advance
The corresponding relation of information and translational speed is spent, sets the current translational speed of the robot to be moved to be corresponding with the humidity information
After the step of dynamic speed, methods described also includes：
The robot detects the humidity information of current environment in real time, and whether the humidity information for judging to detect is more than in advance
If early warning thresholding；
The robot obtains according to the default early warning thresholding obtained in advance and the corresponding relation of processing strategy according to advance
Humidity information, the quantity for the object that drops and the corresponding relation of translational speed, the robot translational speed is arranged to and institute
State corresponding to humidity information, and translational speed corresponding with the quantity of the object that drops.
In the embodiment, it is possible to achieve according to the default early warning thresholding obtained in advance and tactful corresponding relation is handled,
According to the corresponding relation of the humidity information obtained in advance, the quantity for the object that drops and translational speed, the robot is moved into speed
Degree is arranged to corresponding with the humidity information, and translational speed corresponding with the quantity of the object that drops, so as to keep away
Exempt from the faulty operation of robot.
If as an alternative embodiment, the humidity information is more than predetermined threshold value, basis obtains wet in advance
The corresponding relation of information and translational speed is spent, sets the current translational speed of the robot to be moved to be corresponding with the humidity information
After the step of dynamic speed, methods described also includes：
When the robot is moved to the destination locations, the robot detects drop target in the destination locations
Whether the temperature in the region of article is placed in the target item temperature range default；
If the temperature in the region of drop target article places the target item temperature model default in the destination locations
In enclosing, the target item is placed on the destination locations by the robot；
If the temperature in the region of drop target article does not place the target item temperature default in the destination locations
In the range of, the robot carries the target item and returned.
The embodiment, it is possible to achieve if the temperature in the region of drop target article is placed default in the destination locations
In the target item temperature range, the target item is placed on the destination locations by the robot；If the purpose
The temperature in the region of drop target article is not placed in the target item temperature range default in position, and the robot takes
Returned with the target item.So as to improve the performance of robot.
In the embodiment of the present invention, the robot identification needs the destination locations reached；In moving process, the machine
Described in people's real-time judge between robot current location and the destination locations distance whether in pre-determined distance；When the machine
When people is moved to from a distance from the target location in the pre-determined distance, camera device is opened to the machine by the robot
Shot in front of device people；The robot judges that the front of the robot is fallen with the presence or absence of object according to the image of shooting
Fall, dropped if object be present in front of the robot, the robot identifies the quantity for the object that drops according to described image；
The robot according to the quantity for the object that drops and the corresponding relation of translational speed obtained in advance, by translational speed heighten to
The translational speed corresponding to the quantity of object that drops.It can so realize when there is object to drop, heighten robot in time
Translational speed, dropped and caused faulty operation by object with reducing robot.
Fig. 2 is referred to, Fig. 2 is a kind of structural representation of robot provided in an embodiment of the present invention, as shown in Fig. 2 bag
Include：
First identification module 201, for identifying the destination locations for needing to reach；
First judge module 202, in moving process, robot current location described in real-time judge and the purpose
Whether distance is in pre-determined distance between position；
Opening module 203, for when the robot be moved to from a distance from the target location in the pre-determined distance
When interior, camera device is opened to being shot in front of the robot；
Second identification module 204, for judging that the front of the robot is fallen with the presence or absence of object according to the image of shooting
Fall, dropped if object be present in front of the robot, the robot identifies the quantity for the object that drops according to described image；
First setup module 205, the quantity for the object that drops obtained in advance for basis and the corresponding relation of translational speed,
Translational speed is heightened to translational speed corresponding with the quantity of the object that drops.
As an alternative embodiment, as shown in figure 3, the robot also includes：
First judge module 206, for judging to drop, whether the quantity of object is more than pre-determined threshold；
First warning module 207 is logical to what is bound in advance if whether the quantity for the object that drops is more than pre-determined threshold
Believe that terminal sends warning information, the warning information drops information including object；
First receiving module 208, plan is handled for receiving the target that the communication terminal returns according to the warning information
Slightly, the robot is handled according to target processing strategy.
As an alternative embodiment, as shown in figure 4, the robot also includes：
First detection module 209, for detecting the humidity information of current environment in real time, and judge the humidity information detected
Whether default early warning thresholding is more than；
Second warning module 2010, if whether being more than default early warning thresholding for the humidity information that detects, to advance
The communication terminal of binding sends warning information, information that the warning information includes the humidity information and object drops；
Second receiving module 2011, plan is handled for receiving the target that the communication terminal returns according to the warning information
Slightly, the robot is handled according to target processing strategy.
As an alternative embodiment, as shown in figure 5, the robot also includes：
Second detection module 2012, for detecting the humidity information of current environment in real time, and judge the humidity letter detected
Whether breath is more than default early warning thresholding；
The corresponding relation of processing module 2013, the default early warning thresholding obtained in advance for basis and processing strategy, according to
Humidity information, the quantity for the object that drops and the corresponding relation of translational speed obtained in advance, the robot translational speed is set
It is set to, and with the quantity of the drop object corresponding translational speed corresponding with the humidity information.
As an alternative embodiment, as shown in fig. 6, the robot also includes：
3rd detection module 2014, for when the robot is moved to the destination locations, detecting the purpose position
Whether the temperature for putting the region of drop target article is placed in the target item temperature range default；
Placement module 2015, if the temperature for the region of drop target article in the destination locations places institute default
State in target item temperature range, the target item is placed on the destination locations；
Module 2016 is returned to, if the temperature for the region of drop target article in the destination locations is not placed default
In the target item temperature range, carry the target item and return.
In the embodiment of the present invention, the robot identification needs the destination locations reached；In moving process, the machine
Described in people's real-time judge between robot current location and the destination locations distance whether in pre-determined distance；When the machine
When people is moved to from a distance from the target location in the pre-determined distance, camera device is opened to the machine by the robot
Shot in front of device people；The robot judges that the front of the robot is fallen with the presence or absence of object according to the image of shooting
Fall, dropped if object be present in front of the robot, the robot identifies the quantity for the object that drops according to described image；
The robot according to the quantity for the object that drops and the corresponding relation of translational speed obtained in advance, by translational speed heighten to
The translational speed corresponding to the quantity of object that drops.It can so realize when there is object to drop, heighten robot in time
Translational speed, dropped and caused faulty operation by object with reducing robot.
Referring to Fig. 7, Fig. 7 is the structure chart of another robot provided in an embodiment of the present invention.As shown in fig. 7, robot
Including：Processor 701, memory 702, network interface 704 and user interface 703.Each component in robot passes through bus
System 705 is coupled.Bus system 705 is in addition to including data/address bus, in addition to power bus, controlling bus and state
Signal bus.But for the sake of clear explanation, various buses are all designated as bus system 705 in the figure 7.
Wherein, user interface 703 can include display, keyboard or pointing device (for example, mouse, trace ball
(track ball), touch-sensitive plate or touch-screen etc..
It is appreciated that the memory 702 in the embodiment of the present invention can be volatile memory or nonvolatile memory,
Or it may include both volatibility and nonvolatile memory.Wherein, nonvolatile memory can be read-only storage (Read-
Only Memory, ROM), programmable read only memory (Programmable ROM, PROM), the read-only storage of erasable programmable
Device (Erasable PROM, EPROM), Electrically Erasable Read Only Memory (Electrically EPROM, EEPROM) or
Flash memory.Volatile memory can be random access memory (Random Access Memory, RAM), and it is used as outside high
Speed caching.By exemplary but be not restricted explanation, the RAM of many forms can use, such as static RAM
(Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), Synchronous Dynamic Random Access Memory
(Synchronous DRAM, SDRAM), double data speed synchronous dynamic RAM (Double Data Rate
SDRAM, DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, ESDRAM), synchronized links
Dynamic random access memory (Synchlink DRAM, SLDRAM) and direct rambus random access memory (Direct
Rambus RAM, DRRAM).The memory 702 of system and method described herein be intended to including but not limited to these and it is any its
It is adapted to the memory of type.
In some embodiments, memory 702 stores following element, can perform module or data structure, or
Their subset of person, or their superset：Operating system 7021 and application program 7022.
Wherein, operating system 7021, comprising various system programs, such as ccf layer, core library layer, driving layer etc., it is used for
Realize various basic businesses and the hardware based task of processing.Application program 7022, include various application programs, such as media
Player (Media Player), browser (Browser) etc., for realizing various applied business.Realize the embodiment of the present invention
The program of method may be embodied in application program 7022.
In embodiments of the present invention, by calling program or the instruction of the storage of memory 702, specifically, can be application
The program stored in program 7022 or instruction, processor 701 are used for：
Identification needs the destination locations reached；
In moving process, described in real-time judge between robot current location and the destination locations distance whether pre-
If apart from interior；
When the robot is moved to from a distance from the target location in the pre-determined distance, camera device is opened
To being shot in front of the robot；
The front for judging the robot according to the image of shooting is dropped with the presence or absence of object, if the front of the robot
There is object to drop, then the robot identifies the quantity for the object that drops according to described image；
According to the quantity for the object that drops and the corresponding relation of translational speed obtained in advance, by translational speed heighten to institute
State the translational speed corresponding to the quantity of object that drops.
The method that the embodiments of the present invention disclose can apply in processor 701, or be realized by processor 701.
Processor 701 is probably a kind of IC chip, has the disposal ability of signal.In implementation process, the above method it is each
Step can be completed by the integrated logic circuit of the hardware in processor 701 or the instruction of software form.Above-mentioned processing
Device 701 can be general processor, digital signal processor (Digital Signal Processor, DSP), special integrated electricity
Road (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field
Programmable Gate Array, FPGA) either other PLDs, discrete gate or transistor logic,
Discrete hardware components.It can realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.It is general
Processor can be microprocessor or the processor can also be any conventional processor etc..With reference to institute of the embodiment of the present invention
The step of disclosed method, can be embodied directly in hardware decoding processor and perform completion, or with the hardware in decoding processor
And software module combination performs completion.Software module can be located at random access memory, flash memory, read-only storage, may be programmed read-only
In the ripe storage medium in this area such as memory or electrically erasable programmable memory, register.The storage medium is located at
Memory 702, processor 701 read the information in memory 702, with reference to the step of its hardware completion above method.
It is understood that embodiments described herein can use hardware, software, firmware, middleware, microcode or its
Combine to realize.Realized for hardware, processing unit can be realized in one or more application specific integrated circuit (Application
Specific Integrated Circuits, ASIC), digital signal processor (Digital Signal Processing,
DSP), digital signal processing appts (DSP Device, DSPD), programmable logic device (Programmable Logic
Device, PLD), field programmable gate array (Field-Programmable Gate Array, FPGA), general processor,
In controller, microcontroller, microprocessor, other electronic units for performing herein described function or its combination.
Realize, can be realized herein by performing the module (such as process, function etc.) of function described herein for software
Described technology.Software code is storable in memory and passes through computing device.Memory can within a processor or
Realized outside processor.
As an alternative embodiment, quantity and mobile speed of the robot according to the object that drops obtained in advance
The corresponding relation of degree, translational speed was heightened the step of translational speed corresponding with the quantity of the object that drops, located
Reason device 701 is additionally operable to：
Whether the quantity of object of judging to drop is more than pre-determined threshold；
If whether the quantity for the object that drops is more than pre-determined threshold, warning information is sent to the communication terminal bound in advance,
The warning information drops information including object；
Receive the target that the communication terminal returns according to the warning information and handle strategy, the robot is according to described
Target processing strategy is handled.
As an alternative embodiment, quantity and mobile speed of the robot according to the object that drops obtained in advance
The corresponding relation of degree, translational speed was heightened the step of translational speed corresponding with the quantity of the object that drops, located
Reason device 701 is additionally operable to：
The humidity information of detection current environment in real time, and whether the humidity information for judging to detect is more than default early warning door
Limit；
If whether the humidity information detected is more than default early warning thresholding, early warning is sent to the communication terminal bound in advance
Information, the warning information include the humidity information and object and dropped information；
Receive the target that the communication terminal returns according to the warning information and handle strategy, the robot is according to described
Target processing strategy is handled.
If as an alternative embodiment, the humidity information is more than predetermined threshold value, basis obtains wet in advance
The corresponding relation of information and translational speed is spent, sets the current translational speed of the robot to be moved to be corresponding with the humidity information
After the step of dynamic speed, processor 701 is additionally operable to：
The humidity information of detection current environment in real time, and whether the humidity information for judging to detect is more than default early warning door
Limit；
According to the default early warning thresholding and the corresponding relation of processing strategy obtained in advance, believed according to the humidity obtained in advance
Cease, the corresponding relation of the quantity for the object that drops and translational speed, the robot translational speed is arranged to and the humidity is believed
Corresponding to breath, and translational speed corresponding with the quantity of the object that drops.
If as an alternative embodiment, the humidity information is more than predetermined threshold value, basis obtains wet in advance
The corresponding relation of information and translational speed is spent, sets the current translational speed of the robot to be moved to be corresponding with the humidity information
After the step of dynamic speed, processor 701 is additionally operable to：
When the robot is moved to the destination locations, the region of drop target article in the destination locations is detected
Temperature whether placed default in the target item temperature range；
If the temperature in the region of drop target article places the target item temperature model default in the destination locations
In enclosing, the target item is placed on the destination locations；
If the temperature in the region of drop target article does not place the target item temperature default in the destination locations
In the range of, carry the target item and return.
It should be noted that above-mentioned robot can be any in embodiment of the method in the embodiment of the present invention in the present embodiment
The robot of embodiment, any embodiment of robot can be implemented by this in embodiment of the method in the embodiment of the present invention
Above-mentioned robot in example is realized, and reaches identical beneficial effect, and here is omitted.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Member and algorithm steps, it can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, application-specific and design constraint depending on technical scheme.Professional and technical personnel
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
The scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In embodiment provided herein, it should be understood that disclosed apparatus and method, others can be passed through
Mode is realized.For example, device embodiment described above is only schematical, for example, the division of the unit, is only
A kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, device or unit
Connect, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize scheme of the embodiment of the present invention according to the actual needs
Purpose.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, ROM, RAM, magnetic disc or CD etc. are various can be with store program codes
Medium.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.
Claims (10)
- A kind of 1. method of robot detection object, it is characterised in that including：The robot identification needs the destination locations reached；In moving process, distance is between robot current location and the destination locations described in the robot real-time judge It is no in pre-determined distance；When the robot is moved to from a distance from the target location in the pre-determined distance, the robot is opened and taken the photograph As device in front of the robot to shooting；The robot judges that the front of the robot is dropped with the presence or absence of object according to the image of shooting, if the robot Front object be present and drop, then the robot drops the quantity of object according to described image identification；The robot heightens translational speed according to the quantity for the object that drops and the corresponding relation of translational speed that obtain in advance To translational speed corresponding with the quantity of the object that drops.
- 2. the method as described in claim 1, it is characterised in that the robot is according to the quantity of the object that drops obtained in advance With the corresponding relation of translational speed, the step of translational speed is heightened to translational speed corresponding with the quantity of the object that drops Afterwards, methods described also includes：Whether the robot judge the to drop quantity of object is more than pre-determined threshold；If whether the quantity for the object that drops is more than pre-determined threshold, the robot sends early warning to the communication terminal bound in advance Information, the warning information drop information including object；The robot receives the target that the communication terminal returns according to the warning information and handles strategy, and the robot is pressed Handled according to target processing strategy.
- 3. the method as described in claim 1, it is characterised in that the robot is according to the quantity of the object that drops obtained in advance With the corresponding relation of translational speed, the step of translational speed is heightened to translational speed corresponding with the quantity of the object that drops Afterwards, methods described also includes：The robot detects the humidity information of current environment in real time, and whether the humidity information for judging to detect is pre- more than presetting Alert thresholding；If whether the humidity information detected is more than default early warning thresholding, the robot is sent out to the communication terminal bound in advance Send warning information, information that the warning information includes the humidity information and object drops；The robot receives the target that the communication terminal returns according to the warning information and handles strategy, and the robot is pressed Handled according to target processing strategy.
- 4. the method as described in claim 1, it is characterised in that if the humidity information is more than predetermined threshold value, according in advance The humidity information of acquisition and the corresponding relation of translational speed, set the current translational speed of the robot be and the humidity information After the step of corresponding translational speed, methods described also includes：The robot detects the humidity information of current environment in real time, and whether the humidity information for judging to detect is pre- more than presetting Alert thresholding；The robot is wet according to what is obtained in advance according to the default early warning thresholding obtained in advance and the corresponding relation of processing strategy Spend information, the quantity for the object that drops and the corresponding relation of translational speed, by the robot translational speed be arranged to it is described wet Spend corresponding to information, and translational speed corresponding with the quantity of the object that drops.
- 5. the method as described in claim 1, it is characterised in that if the humidity information is more than predetermined threshold value, according in advance The humidity information of acquisition and the corresponding relation of translational speed, set the current translational speed of the robot be and the humidity information After the step of corresponding translational speed, methods described also includes：When the robot is moved to the destination locations, the robot detects drop target article in the destination locations The temperature in region whether placed default in the target item temperature range；If the temperature in the region of drop target article is placed in the target item temperature range default in the destination locations, The target item is placed on the destination locations by the robot；If the temperature in the region of drop target article does not place the target item temperature range default in the destination locations Interior, the robot carries the target item and returned.
- A kind of 6. robot, it is characterised in that including：First identification module, for identifying the destination locations for needing to reach；First judge module, in moving process, robot current location described in real-time judge and the destination locations it Between distance whether in pre-determined distance；Opening module, for when the robot is moved to from a distance from the target location in the pre-determined distance, opening Camera device is opened to being shot in front of the robot；Second identification module, for judging that the front of the robot is dropped with the presence or absence of object according to the image of shooting, if institute State in front of robot and object be present and drop, then the robot drops the quantity of object according to described image identification；First setup module, the quantity for the object that drops obtained in advance for basis and the corresponding relation of translational speed, by movement Speed is heightened to translational speed corresponding with the quantity of the object that drops.
- 7. robot as claimed in claim 6, it is characterised in that the robot also includes：First judge module, for judging to drop, whether the quantity of object is more than pre-determined threshold；First warning module, if whether the quantity for the object that drops is more than pre-determined threshold, to the communication terminal bound in advance Warning information is sent, the warning information drops information including object；First receiving module, strategy is handled for receiving the target that the communication terminal returns according to the warning information, it is described Robot is handled according to target processing strategy.
- 8. robot as claimed in claim 6, it is characterised in that the robot also includes：First detection module, for detecting the humidity information of current environment in real time, and whether the humidity information that judgement detects is big In default early warning thresholding；Second warning module is logical to what is bound in advance if whether being more than default early warning thresholding for the humidity information detected Believe that terminal sends warning information, the warning information includes the humidity information and object and dropped information；Second receiving module, strategy is handled for receiving the target that the communication terminal returns according to the warning information, it is described Robot is handled according to target processing strategy.
- 9. robot as claimed in claim 6, it is characterised in that the robot also includes：Second detection module, for detecting the humidity information of current environment in real time, and whether the humidity information that judgement detects is big In default early warning thresholding；Processing module, for according to the default early warning thresholding and the corresponding relation of processing strategy obtained in advance, being obtained according to advance Humidity information, the quantity for the object that drops and the corresponding relation of translational speed, the robot translational speed is arranged to and institute State corresponding to humidity information, and translational speed corresponding with the quantity of the object that drops.
- 10. robot as claimed in claim 6, it is characterised in that the robot also includes：3rd detection module, for when the robot is moved to the destination locations, detecting and being placed in the destination locations Whether the temperature in the region of target item is placed in the target item temperature range default；Placement module, if the temperature for the region of drop target article in the destination locations places the object default In the range of product temperature degree, the target item is placed on the destination locations；Module is returned to, if the temperature for the region of drop target article in the destination locations does not place the target default In the range of article temperature, carry the target item and return.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710603062.5A CN107378949A (en) | 2017-07-22 | 2017-07-22 | A kind of method and robot of robot detection object |
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| CN201710603062.5A CN107378949A (en) | 2017-07-22 | 2017-07-22 | A kind of method and robot of robot detection object |
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| CN107378949A true CN107378949A (en) | 2017-11-24 |
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| CN201710603062.5A Pending CN107378949A (en) | 2017-07-22 | 2017-07-22 | A kind of method and robot of robot detection object |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108007464A (en) * | 2017-12-04 | 2018-05-08 | 国网山东省电力公司电力科学研究院 | Ultra-high-tension power transmission line inspection robot autonomous navigation method and system |
| CN108427914A (en) * | 2018-02-08 | 2018-08-21 | 阿里巴巴集团控股有限公司 | Enter to leave the theatre condition detection method and device |
| WO2019018961A1 (en) * | 2017-07-22 | 2019-01-31 | 深圳市萨斯智能科技有限公司 | Method for detecting object by robot, and robot |
| CN112045679A (en) * | 2020-08-21 | 2020-12-08 | 上海核工程研究设计院有限公司 | Anti-overturning traveling control method for wall-climbing robot |
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| CN106853641A (en) * | 2017-03-22 | 2017-06-16 | 北京京东尚科信息技术有限公司 | Robot control method and device, robot and control system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019018961A1 (en) * | 2017-07-22 | 2019-01-31 | 深圳市萨斯智能科技有限公司 | Method for detecting object by robot, and robot |
| CN108007464A (en) * | 2017-12-04 | 2018-05-08 | 国网山东省电力公司电力科学研究院 | Ultra-high-tension power transmission line inspection robot autonomous navigation method and system |
| CN108427914A (en) * | 2018-02-08 | 2018-08-21 | 阿里巴巴集团控股有限公司 | Enter to leave the theatre condition detection method and device |
| WO2019154112A1 (en) * | 2018-02-08 | 2019-08-15 | 阿里巴巴集团控股有限公司 | Entry/departure status detection method and device |
| TWI692728B (en) * | 2018-02-08 | 2020-05-01 | 香港商阿里巴巴集團服務有限公司 | Method and device for detecting entry and exit states |
| CN111652197A (en) * | 2018-02-08 | 2020-09-11 | 阿里巴巴集团控股有限公司 | Method and device for detecting entering and leaving states |
| JP2021513695A (en) * | 2018-02-08 | 2021-05-27 | アドバンスド ニュー テクノロジーズ カンパニー リミテッド | Active / inactive state detection method and device |
| US11102458B2 (en) | 2018-02-08 | 2021-08-24 | Advanced New Technologies Co., Ltd. | Active/inactive state detection method and apparatus |
| CN111652197B (en) * | 2018-02-08 | 2023-04-18 | 创新先进技术有限公司 | Method and device for detecting entering and leaving states |
| CN112045679A (en) * | 2020-08-21 | 2020-12-08 | 上海核工程研究设计院有限公司 | Anti-overturning traveling control method for wall-climbing robot |
| CN112045679B (en) * | 2020-08-21 | 2022-05-10 | 上海核工程研究设计院有限公司 | Anti-overturning traveling control method for wall-climbing robot |
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