CN107984477A - A kind of intelligent guide system and control method for being used to monitor position of human body - Google Patents
A kind of intelligent guide system and control method for being used to monitor position of human body Download PDFInfo
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- CN107984477A CN107984477A CN201711219158.8A CN201711219158A CN107984477A CN 107984477 A CN107984477 A CN 107984477A CN 201711219158 A CN201711219158 A CN 201711219158A CN 107984477 A CN107984477 A CN 107984477A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
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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
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- 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
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
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- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
The present invention relates to technical field of electronic communication, and in particular to a kind of intelligent guide system and control method for being used to monitor position of human body.This intelligent guide system for being used to monitor position of human body and control method are by presetting human skeleton posture, human skeleton posture is obtained by body-sensing apparatus module, so as to which guide to visitors equipment can be moved according to human skeleton posture, it can be moved to human body direction, keep track position of human body or stopping, when having more people in the range of, using a people of middle as monitoring object, remaining human body can be neglected, and the human height of acquisition can be passed through, adjust the rotation angle of screen, so that screen reaches optimal use position, the present invention has merged the advantages of human body sensing device, that is high sensitivity, the big characteristic of investigative range and the high characteristic of taking module precision, in combination with the locomotive function of robot, robot system is set to possess the human body detection and ability of tracking of high-accuracy.
Description
Technical field
The present invention relates to technical field of electronic communication, and in particular to a kind of intelligent guide system for being used to monitor position of human body
And control method.
Background technology
With the quickening of life and work rhythm, people increasingly increase the quick demand for obtaining target information.Some
In the occasion that place is wide, object is numerous, contains much information, such as exhibition room, scenic spot, airport hall, warehouse, supermarket, library,
Manager and consumer are required for a kind of can quickly moving and intelligently obtaining the sports equipment of information needed or target.
At present, the technology applied in human body detection field mainly includes following several：(1) technology based on image procossing,
It is by camera collection image, then is detected by the method for Feature extraction and recognition and position human body.Based on fixing camera
Security and guard technology it is comparatively ripe, but the image recognition accuracy rate of dollying head is relatively low, it is difficult to meets robot movement prison
The requirement of survey.(2) technology based on passive type infrared camera, this camera can be detected exactly by infrared ray
To thermal objects such as human bodies, suitable for field scene, but its is expensive, condition is more demanding, is mainly used for military affairs.(3) base
In the technology of the body-sensing kind equipment such as Kinet, Kinect is the Xbox360 game machine somatosensory devices that Microsoft releases, and it is deep to possess collection
The ability of image is spent, the human body in the range of 0~4 meter, 53 ° of distance can be detected in real time by special algorithm, and can determine that
The exact position of human body and posture, Kinect are currently used primarily in the fields such as body feeling interaction, game control, machine navigation.Although
The technology of existing numerous human body detections at present, but solely it is applied to mobile robot, it is difficult to meet robot needs essence
Really detect human body and realize the needs of tracking.For body-sensing device, no matter the body-sensing device of which family's production, is all
CCD images, the three dimensional depth of infrared ray are provided, is commercially used as which kind of to do, obtains self-developing software.Filled with power wheel
For putting, any mobile platform, including robot, all power wheel of different sizes can be installed according to different load-carrying kilogram numbers,
But power wheel be not carried out in itself when the judgement when rotating forward inverts.It is therefore desirable to provide it is a kind of by body-sensing device come
Control power wheel device guide to visitors robot, can real-time tracking position of human body and according to human body gesture instruction move, and can facilitate
Ground adjustment screen uses position.
The content of the invention
It is an object of the invention to solve not being suitable for mobile robot based on single human body detection technology in the prior art,
It can not achieve accurately detecting and track the technical problem of human body, there is provided a kind of intelligent guide system for being used to monitor position of human body,
Solve above technical problem；
A kind of intelligent guide system for being used to monitor position of human body, including robot body, the robot body include：
Body-sensing apparatus module, is arranged at the head of the robot body, including infrared observation module and taking module,
The infrared observation module is used to obtain the distance between human body and the robot body, and the taking module is used to shoot
Human body dynamic skeleton and human skeleton posture；
Control module, it includes communication module, and the control module is connected with the body-sensing apparatus module signal, the control
Molding block be used to presetting the human body that human skeleton posture and real-time reception body-sensing apparatus module obtain and the robot body it
Between distance；
Displacement module, is connected with the control module signal by communication module, is arranged at the bottom of the robot body
Portion, including two power wheels, two non-powered universal wheels and power plant module, the power plant module are used for chasing after for command displacement module
Track or stopping.
The above-mentioned intelligent guide system for being used to monitor position of human body, the body-sensing apparatus module are additionally operable to obtain human body
The distance and angle of height and the robot body and human body.
The above-mentioned intelligent guide system for being used to monitor position of human body, the robot body further include display module, institute
State display module to connect with the control module signal by communication module, the display module is provided with shaft, the display
Module adjusts the rotation angle of the display module according to the height of acquired human body.
The above-mentioned intelligent guide system for being used to monitor position of human body, when the human skeleton is more people, with middle
Human skeleton be monitoring object.
The above-mentioned intelligent guide system for being used to monitor position of human body, the robot body further include human skeleton posture
Comparison module, it is arranged in the control module, and the input terminal of the human skeleton posture comparison module is used to obtain described
The human skeleton posture that taking module obtains, the human skeleton obtained by more default human skeleton posture and taking module
Posture, the human skeleton posture comparison module export comparative result to the control module.
The above-mentioned intelligent guide system for being used to monitor position of human body, the control module is according to the human skeleton posture
The comparative result generation output order of comparison module output, the robot body are moved according to the output order to human body direction
Move or keep track position of human body.
The above-mentioned intelligent guide system for being used to monitor position of human body, the control module according to the robot body and
The distance and angle output order of human body, the robot body according to the output order to human body direction it is mobile, persistently chase after
Track position of human body or stopping.
The above-mentioned intelligent guide system for being used to monitor position of human body, two power wheels on the displacement module or so pair
Claim to set, the robot body is by controlling the friction speed of two power wheels to keep straight on, turn left or turn right to human body direction.
The present invention also aims to real-time tracking position of human body and can move according to human body gesture instruction, and according to people
Body is high, and the screen angle of adjustment guide to visitors robot, makes screen reach optimal use position, there is provided one kind adjusts mobile phone flashlight
The method of brightness, solves above technical problem.
Technical problem solved by the invention can be realized using following technical scheme：One kind is used to monitor position of human body
Intelligent guide to visitors equipment control method, comprise the following steps：
Step A, presets human skeleton posture in the control module；
Step B, human skeleton posture is obtained by body-sensing apparatus module；
Step C, compares the human skeleton posture of acquisition and default skeletal gesture by human skeleton posture comparison module,
Output order；
Step D, the control module are moved according to output order by power plant module command displacement module.
The above-mentioned control method for being used to monitor the intelligent guide to visitors equipment of position of human body, it is further comprising the steps of：
Step E, obtains the distance of robot body and human body in real time；
Step F, if distance is more than predetermined threshold value, control robot body is to the straight trip of human body direction, left-hand rotation or turns right, directly
It is less than predetermined threshold value to the distance of robot body and human body；
Step G, after robot body stops tracking position of human body, obtains the height of human body in real time；
Step H, the rotation angle of display module is adjusted according to the height of human body, and the rotation angle is 45 degree~135 degree.
Beneficial effect：Due to using above technical scheme, this intelligent guide to visitors system for being used to monitor position of human body of the present invention
System and control method obtain human skeleton posture, so that guide to visitors is set by default human skeleton posture by body-sensing apparatus module
It is standby move according to human skeleton posture, can to the movement of human body direction, keep track position of human body or stopping, in the range of
When having more people, using a people of middle as monitoring object, remaining human body can be neglected, and can by the human height of acquisition,
Adjust the rotation angle of screen so that the advantages of screen reaches optimal use position, and the present invention has merged human body sensing device, i.e.,
The big characteristic of high sensitivity, investigative range and the high characteristic of taking module precision, in combination with the locomotive function of robot, make
Robot system possesses the human body detection and ability of tracking of high-accuracy.
Brief description of the drawings
Fig. 1 is a kind of structure diagram of intelligent guide system for being used to monitor position of human body in the embodiment of the present invention；
Fig. 2 is a kind of work of the control method of intelligent guide to visitors equipment for being used to monitor position of human body in the embodiment of the present invention
Make flow chart.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained on the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as limiting to the invention.
With reference to Fig. 1, a kind of intelligent guide system for being used to monitor position of human body, including robot body, robot body
Including：
Body-sensing apparatus module 1, is arranged at the head of robot body, including infrared observation module 11 and taking module
12, infrared observation module 11 is used to obtain the distance between human body and robot body, and taking module 12 is used to shoot human body
Dynamic skeleton and human skeleton posture；
Control module 2, it includes communication module 21, and control module 2 is connected with 1 signal of body-sensing apparatus module, control module 2
The distance between human body and robot body for presetting human skeleton posture and the acquisition of real-time reception body-sensing apparatus module 1,
Control module 2 is used to preset more than one group of human skeleton posture, each skeleton gesture represents a kind of instruction, such as advance,
Retreat, stop, turning left, turning right, turning on screen, a variety of instruction definitions such as lower turn of screen, and real-time reception body-sensing apparatus module 1 obtains
The distance between human body and robot for taking, body-sensing apparatus module 1 is by the human body bone within seven meters in front of fixed frequency shooting
Frame gesture；
Displacement module 3, is connected with 2 signal of control module by communication module 21, is arranged at the bottom of robot body, bag
Include two power wheels, two non-powered universal wheels and power plant module 31, power plant module 31 be used for command displacement module 3 tracking or
Stop.
Further, in a kind of preferred embodiment of intelligent guide system for monitoring position of human body of the present invention, body
Induction device module 1 is additionally operable to obtain the height and the distance and angle of robot body and human body of human body.
Further, in a kind of preferred embodiment of intelligent guide system for monitoring position of human body of the present invention, machine
Device human body further includes display module 4, and display module 4 is connected by communication module 21 with 2 signal of control module, display module 4
Shaft is provided with, display module 4 adjusts the rotation angle of display module 4 according to the height of acquired human body.Display module 4
Rotation angle be 45 degree~135 degree.Rotation angle is preferably five kinds of angles, be respectively 45 degree, 67 degree, 90 degree, 112 degree and
135 degree.
Further, in a kind of preferred embodiment of intelligent guide system for monitoring position of human body of the present invention, when
When human skeleton is more people, using the human skeleton of middle as monitoring object.Specific deterministic process is as follows：Body-sensing dress is obtained first
Taking module video in module 1 is put, then with opencv technologies, detects face location, then pass through 1 mistake of body-sensing apparatus module
Human skeleton is removed, detects human head location, after dual judgement, confirms face location.After judging face location, pass through body-sensing
The depth image function of apparatus module 1, obtains distance of the central point apart from body-sensing apparatus module 1 of current face.Program is first gone
Judge whether there are other objects in the range of one meter before current body-sensing apparatus module 1, if so, this instant someone comes over,
Display module 4 does not also adjust the angle, the purpose so done, and is to prevent that display module 4 rotates someone when using display module 4.
If not having any barrier in the range of one meter before body-sensing apparatus module 1, at this moment someone enters, then program can be by judging people
There is position in video in the central point of face, sends information to control module 2.After control module 2 receives signal, pulse is changed into
Signal, control power plant module 31 turn to designated position.
Further, in a kind of preferred embodiment of intelligent guide system for monitoring position of human body of the present invention, machine
Device human body further includes human skeleton posture comparison module 5, it is arranged in control module 2, human skeleton posture comparison module 5
Input terminal be used for obtain taking module 12 acquisition human skeleton posture, pass through more default human skeleton posture and shooting
The human skeleton posture that module 12 obtains, human skeleton posture comparison module 5 export comparative result to control module 2.
Further, in a kind of preferred embodiment of intelligent guide system for monitoring position of human body of the present invention, control
The comparative result that molding block 2 is exported according to human skeleton posture comparison module 5 generates output order, and robot body is according to output
Instruct to the movement of human body direction or keep track position of human body.
Further, in a kind of preferred embodiment of intelligent guide system for monitoring position of human body of the present invention, control
Molding block 2 is according to the distance and angle output order of robot body and human body, and robot body is according to output order to human body
Direction is mobile, keeps track position of human body or stopping.
Further, in a kind of preferred embodiment of intelligent guide system for monitoring position of human body of the present invention, position
Two power wheels on shifting formwork block 3 are symmetrical set, and robot body is by controlling the friction speed of two power wheels to people
The straight trip of body direction, turn left or turn right.
With reference to Fig. 2, a kind of control method for the intelligent guide to visitors equipment for being used to monitor position of human body, comprises the following steps：
Step A, presets human skeleton posture in the control module；
Step B, human skeleton posture is obtained by body-sensing apparatus module；
Step C, compares the human skeleton posture of acquisition and default skeletal gesture by human skeleton posture comparison module,
Output order；
Step D, control module are moved according to output order by power plant module command displacement module.
Further, a kind of preferable reality of the control method for the intelligent guide to visitors equipment for being used to monitor position of human body of the present invention
Apply in example, it is further comprising the steps of：
Step E, obtains the distance of robot body and human body in real time；
Step F, if distance is more than predetermined threshold value, control robot body is to the straight trip of human body direction, left-hand rotation or turns right, directly
It is less than predetermined threshold value to the distance of robot body and human body；
Step G, after robot body stops tracking position of human body, obtains the height of human body in real time；
Step H, the rotation angle of display module is adjusted according to the height of human body, and rotation angle is 45 degree~135 degree.
Moved forward when guide to visitors equipment receives skeleton gesture instruction, the infrared observation module 11 of body-sensing apparatus module 1 is detectd
Survey distance between guide to visitors equipment and human body, be sent to control module 2 in real time according to fixed frequency and judge, when guide to visitors equipment and human body it
Between distance be less than one meter when, guide to visitors equipment i.e. stop movement；When human body is immediately ahead of guide to visitors robot, control module 2 is saturating
Cross communication module 21 and notify power plant module 31,31 command displacement module 3 of power plant module, displacement module 3 is by two power wheels and two
A non-powered steering wheel group into.If human body is immediately ahead of guide to visitors equipment, two power wheels advance by uniform velocity at the same time, if
When human body is to the right immediately ahead of guide to visitors equipment, two power wheels advance on the left fast right side slowly, form the action of guide to visitors equipment right-hand rotation, such as
When fruit human body is to the left immediately ahead of guide to visitors equipment, two power wheels advance on the left slow right side soon, form the action of guide to visitors equipment left-hand rotation,
When distance is less than one meter between guide to visitors equipment and human body, guide to visitors equipment stops movement.
When guide to visitors equipment receives skeleton gesture instruction Forward Trace human body, the infrared observation module of body-sensing apparatus module 1
Distance between 11 detecting guide to visitors equipment and human body, control module 2 is sent to according to fixed frequency and is judged, as guide to visitors equipment and people in real time
When distance is less than one meter between body, guide to visitors equipment stops movement, when human body continues to move to, and distance is more than one meter, leads
Equipment of looking at can automatically continue advance tracking human body.
This intelligent guide system for being used to monitor position of human body of the present invention and control method are by presetting human skeleton appearance
Gesture, human skeleton posture is obtained by body-sensing apparatus module, can be with so that guide to visitors equipment can be moved according to human skeleton posture
To the movement of human body direction, position of human body or stopping are kept track, when there are more people in the range of, using a people of middle as monitoring pair
As remaining human body can be neglected, and by the human height of acquisition, can adjust the rotation angle of screen so that screen reaches
The big characteristic of the advantages of optimal use position, the present invention has merged human body sensing device, i.e. high sensitivity, investigative range and bat
The high characteristic of module precision is taken the photograph, in combination with the locomotive function of robot, robot system is possessed the human body of high-accuracy
Detection And Tracking ability.
The foregoing is merely preferred embodiments of the present invention, not thereby limit embodiments of the present invention and protection model
Enclose, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent substitution and obviously change obtained scheme, should be included in protection scope of the present invention.
Claims (10)
1. a kind of intelligent guide system for being used to monitor position of human body, including robot body, it is characterised in that the robot
Body includes：
Body-sensing apparatus module (1), is arranged at the head of the robot body, including infrared observation module (11) and shooting mould
Block (12), the infrared observation module (11) are used to obtain the distance between human body and the robot body, the shooting
Module (12) is used to shoot human body dynamic skeleton and human skeleton posture；Control module (2), it includes communication module (21), institute
State control module (2) to connect with body-sensing apparatus module (1) signal, the control module (2) is used to preset human skeleton appearance
The distance between human body and the robot body that gesture and real-time reception body-sensing apparatus module (1) obtain；
Displacement module (3), is connected with the control module (2) signal by communication module (21), is arranged at the robot sheet
The bottom of body, including two power wheels, two non-powered universal wheels and power plant module (31), the power plant module (31) are used to control
The tracking or stopping of displacement module (3) processed.
A kind of 2. intelligent guide system for being used to monitor position of human body according to claim 1, it is characterised in that the body
Induction device module (1) is additionally operable to obtain the height and the distance and angle of the robot body and human body of human body.
A kind of 3. intelligent guide system for being used to monitor position of human body according to claim 2, it is characterised in that the machine
Device human body further includes display module (4), and the display module (4) passes through the communication module (21) and the control module
(2) signal connects, and the display module (4) is provided with shaft, the display module (4) according to the height of acquired human body come
Adjust the rotation angle of the display module (4).
4. a kind of intelligent guide system for being used to monitor position of human body according to claim 1, it is characterised in that when described
When human skeleton is more people, using the human skeleton of middle as monitoring object.
A kind of 5. intelligent guide system for being used to monitor position of human body according to claim 1, it is characterised in that the machine
Device human body further includes human skeleton posture comparison module (5), it is arranged in the control module (2), the human skeleton
The input terminal of posture comparison module (5) is used for the human skeleton posture for obtaining the taking module (12) acquisition, by relatively more pre-
If human skeleton posture and the taking module (12) obtain human skeleton posture, the human skeleton posture comparison module
(5) comparative result is exported to the control module (2).
A kind of 6. intelligent guide system for being used to monitor position of human body according to claim 5, it is characterised in that the control
The comparative result that molding block (2) is exported according to the human skeleton posture comparison module (5) generates output order, the robot
Body to the movement of human body direction or keeps track position of human body according to the output order.
A kind of 7. intelligent guide system for being used to monitor position of human body according to claim 5, it is characterised in that the control
Molding block (2) is according to the distance and angle output order of the robot body and human body, and the robot body is according to
Output order to human body direction it is mobile, keep track position of human body or stopping.
A kind of 8. intelligent guide system for being used to monitor position of human body according to claim 1, it is characterised in that institute's rheme
Two power wheels on shifting formwork block (3) are symmetrical set, and the robot body is not synchronized by two power wheels of control
Spend to the straight trip of human body direction, left-hand rotation or turn right.
9. a kind of control method for the intelligent guide to visitors equipment for being used to monitor position of human body, it is characterised in that comprise the following steps：
Step A, presets human skeleton posture in the control module；
Step B, human skeleton posture is obtained by body-sensing apparatus module；
Step C, compares the human skeleton posture of acquisition and default skeletal gesture by human skeleton posture comparison module, output
Instruction；
Step D, the control module are moved according to output order by power plant module command displacement module.
10. a kind of control method of intelligent guide to visitors equipment for being used to monitor position of human body according to claim 9, its feature
It is, it is further comprising the steps of：
Step E, obtains the distance of robot body and human body in real time；
Step F, if distance is more than predetermined threshold value, control robot body is to the straight trip of human body direction, left-hand rotation or turns right, until machine
The distance of device human body and human body is less than predetermined threshold value；
Step G, after robot body stops tracking position of human body, obtains the height of human body in real time；
Step H, the rotation angle of display module is adjusted according to the height of human body, and the rotation angle is 45 degree~135 degree.
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| CN201711219158.8A CN107984477A (en) | 2017-11-28 | 2017-11-28 | A kind of intelligent guide system and control method for being used to monitor position of human body |
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| CN201711219158.8A CN107984477A (en) | 2017-11-28 | 2017-11-28 | A kind of intelligent guide system and control method for being used to monitor position of human body |
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| CN108406782A (en) * | 2018-05-29 | 2018-08-17 | 朱晓丹 | A kind of financial counseling intelligent robot easy to use |
| CN108762500A (en) * | 2018-05-23 | 2018-11-06 | 深圳市创艺工业技术有限公司 | A kind of intelligent robot |
| CN109173172A (en) * | 2018-09-25 | 2019-01-11 | 中山大学附属第医院 | A kind of rehabilitation training of upper limbs system and method based on deep vision |
| CN110623799A (en) * | 2019-09-20 | 2019-12-31 | 北京理工大学 | Control method and device of intelligent wheelchair |
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| CN107292254A (en) * | 2017-06-12 | 2017-10-24 | 乐歌人体工学科技股份有限公司 | Near-infrared human body apparatus for detecting position and posture and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108762500A (en) * | 2018-05-23 | 2018-11-06 | 深圳市创艺工业技术有限公司 | A kind of intelligent robot |
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Application publication date: 20180504 |