CN108555909A - A kind of target seeking method, AI robots and computer readable storage medium - Google Patents
A kind of target seeking method, AI robots and computer readable storage medium Download PDFInfo
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- CN108555909A CN108555909A CN201810343773.8A CN201810343773A CN108555909A CN 108555909 A CN108555909 A CN 108555909A CN 201810343773 A CN201810343773 A CN 201810343773A CN 108555909 A CN108555909 A CN 108555909A
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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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Abstract
The invention discloses a kind of target seeking methods, are applied to artificial intelligence AI robots, including：Operational order is obtained, the operational order is used to indicate carry out goal seeking；Target object to be found is determined according to the operational order；When the operational order includes being used to indicate described to be not found wait the first position information for finding target object present position and in the first position information described when finding target object, or when the operational order does not include the first position information, the second position information associated by target object to be found described in determination；According to the second position information, the target object to be found is found.The present invention further simultaneously discloses a kind of AI robots and computer readable storage medium.
Description
Technical field
It can the present invention relates to a kind of AI robot fields more particularly to target seeking method, AI robots and computer
Read storage medium.
Background technology
With the development of science and technology with the progress of computer technology so that artificial intelligence AI is had in every field
The shadow of (Artificial Intelligence).
Especially in robot field, AI robots are even more to apply to the various fields such as life and industry, are human society
Economic development be made that and hugely contribute, while bring to people’s lives it is greatly convenient.For example, AI robots can be with
It substitutes people and looks for target object, which only needs user to send out a phonetic order, you can automatically carries out target object
Searching, in the today for advocating efficiency energetically, it is greatly convenient to be provided to people’s lives, therefore, becomes people's life
Important affiliate living.
However, in the related art, AI robots are typically the location information in the operational order inputted according to user
Target object is found, if including location information or AI robots according to the position in operational order in operational order
For confidence breath when not finding target object, which all will be unable to normally realize the searching of target object, cause to find at
Power is low, and operating flexibility is poor.
Invention content
In order to solve the problems existing in the prior art, an embodiment of the present invention is intended to provide a kind of target seeking method, AI machines
People and computer readable storage medium, although it includes position not include in location information or operational order in operational order
Confidence breath but according to the location information and in the case of target object to be found is not found, AI robots also can automatically into
The search of row target object to be found is found, so as to improve the success rate of searching；And the operational order issued not by
The limitation of location information, thus the flexibility of operation can also be improved.
What the technical solution of the embodiment of the present invention was realized in：
An embodiment of the present invention provides a kind of target seeking methods, are applied to AI robots, the method includes：
Operational order is obtained, the operational order is used to indicate carry out goal seeking；
Target object to be found is determined according to the operational order；
When the operational order include be used to indicate the target object present position to be found first position information and
Be not found in the first position information it is described when finding target object, or when the operational order is including described the
When one location information, the second position information associated by target object to be found described in determination；
According to the second position information, the target object to be found is found.
In said program, the second position information associated by target object to be found described in the determination, including：
Whether target object to be found described in judgement is associated with electronic equipment；
If so, the geographical location information that the electronic equipment is positioned is determined as the second position information；
If it is not, the then corresponding historical position information of target object to be found according to, at least one second of determination
Confidence ceases.
In said program, when the corresponding historical position information of target object to be found according to, determine at least described in one
It is described that the target object to be found is found according to the second position information when information of the second position, including：
Target object to be found described in statistics is located at the number of each second position information；
According to the number, the priority of each second position information is determined；
The target object to be found is sought successively according to the descending of the priority of each second position information
It looks for.
In said program, if the target object to be found is object, described determined according to the operational order waits finding
Target object, including：
According to the operational order, the corresponding operation object of the operational order is identified；
According to the operation object, determine described in target object to be found.
In said program, the second position information associated by target object to be found described in the determination, including：
According to the corresponding historical position information of the operation object, at least one second position information is determined.
The embodiment of the present invention additionally provides a kind of AI robots, and the AI robots include：Processor and for storing
The memory for the computer program that can be run on a processor；Wherein,
The processor is for when running the computer program, executing：
Operational order is obtained, the operational order is used to indicate carry out goal seeking；
Target object to be found is determined according to the operational order；
When the operational order include be used to indicate the target object present position to be found first position information and
Be not found in the first position information it is described when finding target object, or when the operational order is including described the
When one location information, the second position information associated by target object to be found described in determination；
According to the second position information, the target object to be found is found.
In said program, the processor is for when running the computer program, executing：
Whether target object to be found described in judgement is associated with electronic equipment；
If so, the geographical location information that the electronic equipment is positioned is determined as the second position information；
If it is not, the then corresponding historical position information of target object to be found according to, at least one second of determination
Confidence ceases.
In said program, the processor is for when running the computer program, executing：
Target object to be found described in statistics is located at the number of each second position information；
According to the number, the priority of each second position information is determined；
The target object to be found is sought successively according to the descending of the priority of each second position information
It looks for.
The embodiment of the present invention additionally provides a kind of AI robots, and the AI robots include：Acquisition module, first determine mould
Block, the second determining module and searching module；Wherein,
The acquisition module, for obtaining operational order, the operational order is used to indicate carry out goal seeking；
First determining module, for determining target object to be found according to the operational order；
Second determining module includes being used to indicate residing for the target object to be found for working as the operational order
It the first position information of position and is not found in the first position information described when finding target object, or works as institute
When stating operational order not including the first position information, the second confidence associated by target object to be found described in determination
Breath；
The searching module, for according to the second position information, being found to the target object to be found.
The embodiment of the present invention additionally provides a kind of computer readable storage medium, is deposited in the computer readable storage medium
Computer executable instructions are contained, the computer program of the computer executable instructions realizes above-mentioned mesh when being executed by processor
Mark finding method.
Target seeking method and AI provided in an embodiment of the present invention robot obtains operational order first, and the operation refers to
Order is used to indicate carry out goal seeking；Target object to be found is determined according to the operational order；Then, when the operational order
Including being used to indicate the first position information of the target object present position to be found and not sought in the first position information
Described in finding when finding target object, or when the operational order does not include the first position information, described in determination
Second position information associated by target object to be found；Finally, according to the second position information, to the target to be found
Object is found.
As it can be seen that in the embodiment of the present invention, the case where AI robots can not include first position information in operational order
Under, the operational order can be also responded, by the second position information associated by target object to be found described in determination, independently goes to seek
Target object to be found is looked for, so as to improve the flexibility of operation.If also, operational order includes first position letter
Breath, but AI robots do not search out target object to be found in the first position information；At this point, AI robots can't
Terminate the response to the operational order, but will continue to respond the operational order, passes through target object institute to be found described in determination
Associated second position information automatically goes to continually look for target object to be found, so as to improve the success rate of searching.
Description of the drawings
Fig. 1 is the implementation process schematic diagram of target seeking method of the embodiment of the present invention；
Fig. 2 is AI of embodiment of the present invention robots composed structure schematic diagram；
Fig. 3 is AI robot hardware's composed structure schematic diagrames of the embodiment of the present invention.
Specific implementation mode
It can be seen that the goal seeking scheme applied in the related technology in AI robots from the description of background technology, seek
Look for ground success rate low, and operating flexibility is poor.
By taking indoor scene as an example, certain user needs to find child in room by AI robots, is issued to AI robots
Such as " parlor is gone to look for child ", AI robots parse the operational order, obtain target object to be found " child " and position operational order
After confidence ceases " parlor ", the operational order will be responded, child is looked in designated position.
However, in practical applications, which is generally not known the specific location of child, therefore, the user is to AI machines
The operational order that device people issues is only limitted to " going for child ", or thinks the place such as parlor that child most possibly goes in the user
" parlor is gone to look for child ".In the related technology, in the first scenario, where child is looked for since AI robots do not receive,
It may can't respond the operational order；In the latter case, AI robots go behind parlor and are not found child, may
Terminate the operational order of searching child.Therefore, it is low there is searching success rate in the related technology, and operating flexibility is poor
Problem.
Based on this, goal seeking scheme provided in an embodiment of the present invention, AI robots can not include in operational order
In the case of the information of first position, the operational order can be also responded, passes through associated by target object to be found described in determination
Two location informations independently look for target object to be found, so as to improve the flexibility of operation.If also, operation refers to
Order includes first position information, but AI robots do not search out target object to be found in the first position information；
At this point, AI robots can't terminate the response to the operational order, but it will continue to respond the operational order, by determining institute
The second position information associated by target object to be found is stated, automatically goes to continually look for target object to be found, so as to
Improve the success rate found.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.It should
Understand, the specific embodiments described herein are merely illustrative of the present invention, is not intended to limit the present invention.
Fig. 1 is the implementation process schematic diagram of target seeking method of the embodiment of the present invention.Shown in referring to Fig.1, the present embodiment
Target seeking method includes the following steps：
Step 101, operational order is obtained, the operational order is used to indicate carry out goal seeking；
The target seeking method of the present embodiment is applied to AI robots, it is therefore an objective in the operational order issued including using
The first position information of the target object present position to be found described in instruction, but be not found in the first position information
In the case of the target object to be found, or in the case where the operational order does not include the first position information,
The AI robots also can independently look for target object to be found, and success rate is found to achieve the purpose that improve.
In the embodiment of the present invention, which can be phonetic order, can also be clicking operation instruction；Under meanwhile
The operation object for sending out the operational order can be people, it is also possible to intelligent electronic device such as intelligent sound box, in short, the operational order
It is indicated for carrying out goal seeking.In the present embodiment, which will be described in detail by taking phonetic order as an example.
Step 102, target object to be found is determined according to the operational order；
In the embodiment of the present invention, the target object to be found can be personage, can also be animal, also or static
Object.When it is personage or animal to find target object, the target pair to be found can be directly obtained from operational order
As such as phonetic order " going for child ", which is target object to be found.When it is object to find target object, by
There is ownership in object, such as phonetic order " going for mobile phone ", since the mobile phone may be the mobile phone of mother, it is also possible to the hand of father
Machine.Therefore, described that target object packet to be found is determined according to the operational order if the target object to be found is object
It includes：According to the operational order, the corresponding operation object of the operational order is identified；According to the operation object, determine described in
Target object to be found.
For example for, when it is mother to identify the corresponding operation object of operational order, AI robots can basis
Identify that the target object to be found in phonetic order " going for mobile phone " is the mobile phone of mother.
Further, in the corresponding operation object of identification operational order, AI robots can also may be used by camera function
With by face identification functions, also or speech identifying function identifies the sound in phonetic order, to determine the operational order
Corresponding operation object.Due to speech identifying function, the visual identitys function such as face identification functions is the prior art, therefore,
Specific identification realization process here will not repeat it.
In addition, whether it includes first that AI robots after getting operational order, can also detect in the operational order
Location information, if so, then directly goal seeking can be carried out according to the first position information；If nothing, step 103 is executed.Further
Ground can also execute step 103 if AI robots do not find target object to be found in first position information.
Step 103, when the operational order includes be used to indicate the target object present position to be found first
Confidence ceases and is not found in the first position information described when finding target object, or works as the operational order not
When including the first position information, the second position information associated by target object to be found described in determination；
The embodiment of the present invention can apply scene indoors, can also apply in outdoor scene, when using scene indoors
When, since indoor scene has certain significant, and there are visual identity function in AI robots, and therefore, AI robots can identify
To indoor specific location, by taking room as an example, when issuing phonetic order, can only need to issue a Position Approximate, such as
" parlor is gone to look for child ", at this point, first position information " parlor " is a Position Approximate.When applying in outdoor scene, this
When, first position information can be geographical location information, such as GPS position information.It, will be with using scene indoors in the present embodiment
For be described in detail.
In addition, there are two types of mode determine described in second position information associated by target object to be found：
First way is：Whether target object to be found described in judgement is associated with electronic equipment, for example, AI robots exist
Before voice responsive instructs " going for child ", it can detect whether the child is associated with electronic equipment such as intelligence in the local database
Wrist-watch, and the electronic equipment has positioning function；If being associated with, the geographical location information that the smartwatch is positioned is obtained,
And the geographical location information is determined as second position information.
The second way is：If detecting, target object to be found is not associated with electronic equipment, first obtains and waits finding
The corresponding historical position information of target object, the historical position information is for the AI robots by visual identity function in daily institute
The target object to be found seen often position；Then, according to the corresponding historical position of the target object to be found
Information determines at least one second position information.
Further, when described when it is object to find target object, target object to be found is closed described in the determination
The second position information of connection, including：According to the corresponding historical position information of the operation object, at least one second is determined
Confidence ceases.That is, by determine operation object often position, to determine the target pair to be found for belonging to operation object
As the position that may be in.
Step 104, according to the second position information, the target object to be found is found.
In the embodiment of the present invention, according to the second position information, to the target object to be found find has three
Kind mode：
First way：When searching target object is associated with electronic equipment, and the electronic equipment has communication function,
The AI robots may directly call the electronic equipment, to notify target object to be found.
The second way is：When searching target object is associated with electronic equipment, the AI robots are in the electronic equipment
The geographical location information positioned looks for the target object to be found.
The third mode is：When searching target object is associated with electronic equipment, according to the target object to be found
At least one second position information determined by corresponding historical position information, seeks the target object to be found
It looks for.Specifically, target object to be found described in statistics is located at the number of each second position information；According to the number,
Determine the priority of each second position information；Descending according to the priority of each second position information is right successively
The target object to be found is found.In this approach, according to the descending of the priority of each second position information
The target object to be found is found successively, on the one hand can improve the efficiency of searching, on the other hand can also be improved
The success rate of searching.
In addition, AI robots can also detect personage or animal by opening thermal infrared, when detecting target
When, cameras capture biological characteristic is opened, carries out determining whether mesh to be found according to the back or front feature of personage or animal
Mark object.More intelligently, AI robots can also be the case where detecting personage, but not obtaining the feedback information of the personage
Under, the personage is independently inquired to find target object to be found.
To sum up, in the embodiment of the present invention, AI robots can in operational order include first position information the case where
Under, the operational order can be also responded, by the second position information associated by target object to be found described in determination, independently goes to seek
Target object to be found is looked for, so as to improve the flexibility of operation.If also, operational order includes first position letter
Breath, but AI robots do not search out target object to be found in the first position information；At this point, AI robots can't
Terminate the response to the operational order, but will continue to respond the operational order, passes through target object institute to be found described in determination
Associated second position information automatically goes to continually look for target object to be found, so as to improve the success rate of searching.
The method of embodiment to realize the present invention, the embodiment of the present invention additionally provides a kind of AI robots, for realizing upper
The detail for stating target seeking method reaches identical effect.
Fig. 2 is AI of embodiment of the present invention robots composed structure schematic diagram, with reference to shown in Fig. 2, the AI machines in the present embodiment
Device people includes：Acquisition module 21, the first determining module 22, the second determining module 23 and searching module 24；Wherein,
The acquisition module 21, for obtaining operational order, the operational order is used to indicate carry out goal seeking；
First determining module 22, for determining target object to be found according to the operational order；
Second determining module 23 includes being used to indicate the target object institute to be found for working as the operational order
Locate the first position information of position and be not found in the first position information described when finding target object, or works as
When the operational order does not include the first position information, the second confidence associated by target object to be found described in determination
Breath；
The searching module 24, for according to the second position information, being found to the target object to be found.
Optionally, whether second determining module 23 is associated with electricity specifically for target object to be found described in judgement
Sub- equipment；If so, the geographical location information that the electronic equipment is positioned is determined as the second position information；If it is not,
The then corresponding historical position information of target object to be found according to, at least one second position information of determination.
Optionally, when the corresponding historical position information of target object to be found according to, at least one described second is determined
When location information, the searching module 24 is located at each second position specifically for target object to be found described in statistics
The number of information；According to the number, the priority of each second position information is determined；According to each second position
The descending of the priority of information successively finds the target object to be found.
Optionally, if the target object to be found is object, first determining module 22 is specifically used for according to
Operational order identifies the corresponding operation object of the operational order；According to the operation object, determine described in target pair to be found
As.
Optionally, if the target object to be found is object, second determining module 23 is additionally operable to according to the behaviour
Make the corresponding historical position information of object, determines at least one second position information.
In practical applications, the acquisition module 21, the first determining module 22, the second determining module 23 and searching module 24
It can be realized by the processor combination user interface in AI robots.
The AI robots that above-described embodiment provides only are carried out with the division of above-mentioned each program module when carrying out goal seeking
For example, in practical application, can be completed as needed and by above-mentioned processing distribution by different program modules, i.e., by AI machines
The internal structure of device people is divided into different program modules, to complete all or part of processing described above.In addition, above-mentioned
The AI robots that embodiment provides belong to same design with target seeking method embodiment, and specific implementation process refers to method reality
Example is applied, which is not described herein again.
The method of embodiment to realize the present invention, the embodiment of the present invention additionally provides a kind of AI robots, for realizing upper
The detail for stating target seeking method reaches identical effect.
Fig. 3 is AI robot hardware's composed structure schematic diagrames of the embodiment of the present invention, with reference to shown in Fig. 3, in the present embodiment
AI robots include：Processor 31, the memory 32 for storing the computer program that can be run on processor 31 and
User interface 33；Wherein,
The user interface 33 can receive the operational order of user；
The processor 31 is connect with the user interface 33, to receive the operational order of user, by run it is described based on
When calculation machine program, the method that said one or multiple technical solutions provide is executed.
Specifically, the processor 31 is for when running the computer program, executing：
Operational order is obtained, the operational order is used to indicate carry out goal seeking；
Target object to be found is determined according to the operational order；
When the operational order include be used to indicate the target object present position to be found first position information and
Be not found in the first position information it is described when finding target object, or when the operational order is including described the
When one location information, the second position information associated by target object to be found described in determination；
According to the second position information, the target object to be found is found.
Optionally, the processor 31 when for running the computer program, executes：
Whether target object to be found described in judgement is associated with electronic equipment；
If so, the geographical location information that the electronic equipment is positioned is determined as the second position information；
If it is not, the then corresponding historical position information of target object to be found according to, at least one second of determination
Confidence ceases.
Optionally, the processor 31 when for running the computer program, executes：
Target object to be found described in statistics is located at the number of each second position information；
According to the number, the priority of each second position information is determined；
The target object to be found is sought successively according to the descending of the priority of each second position information
It looks for.
Optionally, the processor 31 when for running the computer program, executes：
According to the operational order, the corresponding operation object of the operational order is identified；
According to the operation object, determine described in target object to be found.
Optionally, the processor 31 when for running the computer program, executes：
According to the corresponding historical position information of the operation object, at least one second position information is determined.
Certainly, when practical application, as shown in figure 3, various components are coupled by bus system 34.It is understood that total
Linear system system 34 is for realizing the connection communication between these components.Bus system 34 further includes electricity in addition to including data/address bus
Source bus, controlling bus and status signal bus in addition.But for the sake of clear explanation, various buses are all designated as always in figure 3
Linear system system 34.
The present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage has and can hold
Line program, the executable code processor 31 realize following steps when executing：
Operational order is obtained, the operational order is used to indicate carry out goal seeking；
Target object to be found is determined according to the operational order；
When the operational order include be used to indicate the target object present position to be found first position information and
Be not found in the first position information it is described when finding target object, or when the operational order is including described the
When one location information, the second position information associated by target object to be found described in determination；
According to the second position information, the target object to be found is found.
Optionally, when the executable code processor 31 executes, to implement mesh to be found described in the determination
The step of marking the second position information associated by object：
Whether target object to be found described in judgement is associated with electronic equipment；
If so, the geographical location information that the electronic equipment is positioned is determined as the second position information；
If it is not, the then corresponding historical position information of target object to be found according to, at least one second of determination
Confidence ceases.
Optionally, when the corresponding historical position information of target object to be found according to, at least one described second is determined
It is described according to the second position information to implement when the executable code processor 31 executes when location information,
The step of target object to be found is found：
Target object to be found described in statistics is located at the number of each second position information；
According to the number, the priority of each second position information is determined；
The target object to be found is sought successively according to the descending of the priority of each second position information
It looks for.
Optionally, if the target object to be found is object, when the executable code processor 31 executes, with tool
Body realizes described the step of determining target object to be found according to the operational order：
According to the operational order, the corresponding operation object of the operational order is identified；
According to the operation object, determine described in target object to be found.
Optionally, if the target object to be found is object, when the executable code processor 31 executes, with tool
Body realizes the step of second position information associated by target object to be found described in the determination：
According to the corresponding historical position information of the operation object, at least one second position information is determined.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention.It is all
All any modification, equivalent and improvement made by within the spirit and scope of the present invention etc. are all contained in the protection model of the present invention
Within enclosing.
Claims (10)
1. a kind of target seeking method is applied to artificial intelligence AI robots, which is characterized in that the method includes：
Operational order is obtained, the operational order is used to indicate carry out goal seeking；
Target object to be found is determined according to the operational order；
When the operational order includes being used to indicate the first position information of the target object present position to be found and in institute
State first position information be not found it is described when finding target object, or when the operational order is including described first
When confidence ceases, the second position information associated by target object to be found described in determination；
According to the second position information, the target object to be found is found.
2. according to the method described in claim 1, it is characterized in that, associated by target object to be found described in the determination
Two location informations, including：
Whether target object to be found described in judgement is associated with electronic equipment；
If so, the geographical location information that the electronic equipment is positioned is determined as the second position information；
If it is not, the then corresponding historical position information of target object to be found according to, at least one second confidence of determination
Breath.
3. according to the method described in claim 1, it is characterized in that, when the corresponding history bit of target object to be found according to
Confidence ceases, described according to the second position information when determining at least one second position information, to the target to be found
Object is found, including：
Target object to be found described in statistics is located at the number of each second position information；
According to the number, the priority of each second position information is determined；
The target object to be found is found successively according to the descending of the priority of each second position information.
If 4. according to the method described in claim 1, it is characterized in that, the target object to be found be object, the basis
The operational order determines target object to be found, including：
According to the operational order, the corresponding operation object of the operational order is identified；
According to the operation object, determine described in target object to be found.
5. according to the method described in claim 4, it is characterized in that, associated by target object to be found described in the determination
Two location informations, including：
According to the corresponding historical position information of the operation object, at least one second position information is determined.
6. a kind of AI robots, which is characterized in that the AI robots include：Processor and for store can handle
The memory of the computer program run on device；Wherein,
The processor is for when running the computer program, executing：
Operational order is obtained, the operational order is used to indicate carry out goal seeking；
Target object to be found is determined according to the operational order；
When the operational order includes being used to indicate the first position information of the target object present position to be found and in institute
State first position information be not found it is described when finding target object, or when the operational order is including described first
When confidence ceases, the second position information associated by target object to be found described in determination；
According to the second position information, the target object to be found is found.
7. AI robots according to claim 6, which is characterized in that the processor is for running the computer program
When, it executes：
Whether target object to be found described in judgement is associated with electronic equipment；
If so, the geographical location information that the electronic equipment is positioned is determined as the second position information；
If it is not, the then corresponding historical position information of target object to be found according to, at least one second confidence of determination
Breath.
8. AI robots according to claim 6, which is characterized in that the processor is for running the computer program
When, it executes：
Target object to be found described in statistics is located at the number of each second position information；
According to the number, the priority of each second position information is determined；
The target object to be found is found successively according to the descending of the priority of each second position information.
9. a kind of AI robots, which is characterized in that the AI robots include：Acquisition module, the first determining module, second determine
Module and searching module；Wherein,
The acquisition module, for obtaining operational order, the operational order is used to indicate carry out goal seeking；
First determining module, for determining target object to be found according to the operational order；
Second determining module includes being used to indicate the target object present position to be found for working as the operational order
First position information and be not found in the first position information it is described when finding target object, or as the behaviour
When instructing not including the first position information, the second position information associated by target object to be found described in determination；
The searching module, for according to the second position information, being found to the target object to be found.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
Realize that claim 1 to 5 is any when the computer program of executable instruction, the computer executable instructions is executed by processor
Target seeking method described in.
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