CN109828576A - Gestural control method, device, equipment and medium for unmanned dispensing machine people - Google Patents
Gestural control method, device, equipment and medium for unmanned dispensing machine people Download PDFInfo
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- CN109828576A CN109828576A CN201910135248.1A CN201910135248A CN109828576A CN 109828576 A CN109828576 A CN 109828576A CN 201910135248 A CN201910135248 A CN 201910135248A CN 109828576 A CN109828576 A CN 109828576A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
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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
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Abstract
The application provides a kind of gestural control method, device, electronic equipment and readable medium for unmanned dispensing machine people, this method comprises: carrying out identification to the gesture of user generates recognition result；Determine the operational mode of unmanned dispensing machine people, wherein operational mode includes driving mode, gesture picking mode；And when in the recognition result, the credible and described operational mode is gesture picking mode, the unmanned dispensing machine people is moved to progress predetermined operation at the user.Gestural control method, device, electronic equipment and the readable medium for unmanned dispensing machine people of the application, the flexibility that the picking time can be shortened, improve picking process, and can avoid in identifying code picking scheme, identifying code is lost or is forgotten and identifying code input equipment is exposed to the defect that caused equipment is easy to damage except car body.
Description
Technical field
This application involves unmanned distribution technology field more particularly to a kind of gesture control sides for unmanned dispensing machine people
Method, device, electronic equipment and computer-readable medium.
Background technique
Automatic Pilot technology is quickly grown at present, and unmanned technical application is increasingly becoming research in logistics distribution
Hot spot, unmanned dispensing machine people dispatching will become following development trend.However pickup is carried out but by unmanned dispensing machine people
Lack mature scheme.Existing unmanned dispensing machine people picking scheme with input identifying code unpack picking based on.However, input
Identifying code unpacks picking with following technological deficiencies:
(1) user need to face unmanned dispensing machine people, and in being manually entered identifying code on interactive interface come picking of unpacking, need
Certain Shake-out Time is wanted, user experience is poor；
(2) lose or forget that identifying code will lead to user and can not unpack picking；
(3) the operation equipment for identifying code input must be exposed to except car body, easily damages, causes user can not
Unpacking picking.
Summary of the invention
In view of this, the application provides a kind of gestural control method, device, electronic equipment for unmanned dispensing machine people
And computer-readable medium, the flexibility that the picking time can be shortened, improve picking process, and can avoid identifying code picking scheme
In, identifying code is lost or is forgotten and identifying code input equipment is exposed to the defect that caused equipment is easy to damage except car body.
Other characteristics and advantages of the application will be apparent from by the following detailed description, or partially by the application
Practice and acquistion.
According to the embodiment of the present application in a first aspect, propose a kind of gestural control method for unmanned dispensing machine people,
This method comprises: carrying out identification to the gesture of user generates recognition result；Determine the operational mode of unmanned dispensing machine people,
In, operational mode includes driving mode, gesture picking mode；And the credible and described operational mode is hand in the recognition result
When gesture picking mode, the unmanned dispensing machine people is moved to progress predetermined operation at the user.
In a kind of exemplary embodiment of the application, in the recognition result, the credible and described operational mode takes for gesture
When goods mode, the unmanned dispensing machine people is moved to progress predetermined operation at the user further include: acquisition is described, and nobody matches
Send the current state of robot container；And it is credible in the recognition result, and the operational mode is gesture picking mode, and
It is gesture picking mode by the on-the-fly mode change when current state of the container meets the second predetermined condition.
In a kind of exemplary embodiment of the application, it includes: to obtain in the given time in advance that the recognition result is credible
Determine multiple first gestures of number；Identification is carried out to the multiple first gesture and generates multiple first recognition results；And institute
When stating the confidence level of multiple first recognition results greater than predetermined ratio, determine that the recognition result is credible.
In a kind of exemplary embodiment of the application, the current state of the container meets the second predetermined condition and includes:
When judging that the container is in off state, confirm that the current state of the container meets the second predetermined condition.
In a kind of exemplary embodiment of the application, in the recognition result, the credible and described operational mode takes for gesture
When goods mode, the unmanned dispensing machine people is moved to progress predetermined operation at the user further include: is tied according to the identification
Fruit determines gesture identification marker；Pattern identification position is determined according to the operational mode；And in the gesture identification marker
And the pattern identification position is when meeting third predetermined condition, the unmanned dispensing machine people be moved at the user carry out it is pre-
Fixed operation.
In a kind of exemplary embodiment of the application, the gesture identification marker and the pattern identification position meet
Third predetermined condition includes: to indicate that the recognition result is credible and the pattern identification position in the gesture identification marker
When indicating that the operational mode is gesture picking mode, determine that the gesture identification marker and the pattern identification position meet
Third predetermined condition.
In a kind of exemplary embodiment of the application, the unmanned dispensing machine people is moved at the user and carries out in advance
Fixed operation includes: that the unmanned dispensing machine human hair goes out voice prompting user's picking, and is moved at the user；Described in acquisition
The speed of unmanned dispensing machine people；And when the speed is zero, sends and unpack to the container of the unmanned dispensing machine people
Instruction.
In a kind of exemplary embodiment of the application, the speed include when front and back wheel speed, current front wheel angle with
And the front wheel angle in a upper sampling period.
In a kind of exemplary embodiment of the application, the recognition result and the operational mode meet predetermined condition also
Include: to send voice prompting sound when the current state of the container is not all of closed state, the goods is closed with prompt
Case.Parallel processing is carried out to the recognition result, the operational mode and the speed, to judge whether it meets predetermined item
Part.
According to the second aspect of the embodiment of the present application, a kind of gesture control device for unmanned dispensing machine people is proposed,
The device includes: gesture recognition module, carries out identification for the gesture to user and generates recognition result；Mode module, for true
The operational mode of fixed unmanned dispensing machine people；And judgment module, for the credible and described operational mode in the recognition result
When for gesture picking mode, the unmanned dispensing machine people is moved to progress predetermined operation at the user.
According to the third aspect of the embodiment of the present application, a kind of electronic equipment is proposed, which includes: one or more
Processor；Storage device, for storing one or more programs；When one or more of programs are by one or more of places
It manages device to execute, so that one or more of processors realize the gesture described in any of the above embodiments for unmanned dispensing machine people
Control method.
According to the fourth aspect of the embodiment of the present application, a kind of computer-readable medium is proposed, be stored thereon with computer journey
Sequence, which is characterized in that realized when described program is executed by processor as described in any one of the above embodiments for unmanned dispensing machine people
Gestural control method.
It can according to gestural control method, device, electronic equipment and the computer for unmanned dispensing machine people of the application
Medium is read, the flexibility that the picking time can be shortened, improve picking process, and can avoid in identifying code picking scheme, identifying code
Lose or forgets and identifying code input equipment is exposed to the defect that caused equipment is easy to damage except car body.
It should be understood that the above general description and the following detailed description are merely exemplary, this can not be limited
It is open.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and together with specification it is used to explain the principle of the application.Drawings discussed below is only some embodiments of the present application,
For those of ordinary skill in the art, without creative efforts, it can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of gestural control method and dress for unmanned dispensing machine people shown according to an exemplary embodiment
The system block diagram set.
Fig. 2 is a kind of stream of gestural control method for unmanned dispensing machine people shown according to an exemplary embodiment
Cheng Tu.
Fig. 3 is a kind of stream of gestural control method for unmanned dispensing machine people shown according to an exemplary embodiment
Cheng Tu.
Fig. 4 is a kind of stream of gestural control method for unmanned dispensing machine people shown according to an exemplary embodiment
Cheng Tu.
Fig. 5 is a kind of stream of gestural control method for unmanned dispensing machine people shown according to an exemplary embodiment
Cheng Tu.
Fig. 6 is a kind of gestural control method for unmanned dispensing machine people shown according to another exemplary embodiment
Flow chart.
Fig. 7 is a kind of gestural control method for unmanned dispensing machine people shown according to another exemplary embodiment
Flow chart.
Fig. 8 is a kind of frame of gesture control device for unmanned dispensing machine people shown according to an exemplary embodiment
Figure.
Fig. 9 is a kind of gesture control device for unmanned dispensing machine people shown according to another exemplary embodiment
Block diagram.
Figure 10 is a kind of gesture control for for unmanned dispensing machine people shown according to an exemplary embodiment
The block diagram of electronic equipment.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be real in a variety of forms
It applies, and is not understood as limited to embodiment set forth herein；On the contrary, thesing embodiments are provided so that the present invention will be comprehensively and complete
It is whole, and the design of example embodiment is comprehensively communicated to those skilled in the art.Identical appended drawing reference indicates in figure
Same or similar part, thus repetition thereof will be omitted.
Described feature, structure or characteristic can be incorporated in one or more embodiments in any suitable manner
In.In the following description, many details are provided to provide and fully understand to embodiments of the present invention.However,
It will be appreciated by persons skilled in the art that technical solution of the present invention can be practiced and omit it is one or more in specific detail,
Or it can be using other methods, constituent element, device, step etc..In other cases, it is not shown in detail or describes known side
Method, device, realization or operation are to avoid fuzzy each aspect of the present invention.
Attached drawing is only schematic illustrations of the invention, and identical appended drawing reference indicates same or similar part in figure, because
And repetition thereof will be omitted.Some block diagrams shown in the drawings not necessarily must with it is physically or logically independent
Entity is corresponding.These functional entitys can be realized using software form, or in one or more hardware modules or integrated electricity
These functional entitys are realized in road, or these function are realized in heterogeneous networks and/or processor device and/or microcontroller device
It can entity.
Flow chart shown in the drawings is merely illustrative, it is not necessary to including all content and step, nor
It must be executed by described sequence.For example, the step of having can also decompose, and the step of having can merge or part merges,
Therefore the sequence actually executed is possible to change according to the actual situation.
Example embodiment of the present invention is described in detail with reference to the accompanying drawing.
Fig. 1 is a kind of gestural control method and dress for unmanned dispensing machine people shown according to an exemplary embodiment
The system block diagram set.
Server 105 can be to provide the server of various services, such as utilize terminal device 101,102,103 to user
The gestural control system for unmanned dispensing machine people operated provides the back-stage management server supported and (only shows
Example).Back-stage management server analyze etc. to data such as the gesture control requests received processing, and by processing result
(such as the order-for voice prompting sound of unpacking and instruct, send is merely illustrative) feeds back to terminal device.
Server 105 for example can carry out identification to the gesture of user and generate recognition result；Server 105 can for example determine nothing
The operational mode of people dispensing machine people, wherein operational mode includes driving mode, gesture picking mode；Server 105 can be such as
When in the recognition result, the credible and described operational mode is gesture picking mode, the unmanned dispensing machine people is moved to described
Predetermined operation is carried out at user.
Server 105 can be the server of an entity, also may be, for example, that multiple servers form, in server 105
A part can be for example as the gesture control task submission system for unmanned dispensing machine people in the application, for obtaining
The task of the gesture control order for unmanned dispensing machine people will be executed；And a part in server 105 can also example
Such as the gestural control system for unmanned dispensing machine people in the application, identification generation is carried out for the gesture to user
Recognition result；Determine the operational mode of unmanned vehicle, wherein operational mode includes driving mode, gesture picking mode；And institute
When stating that recognition result is credible and the operational mode is gesture picking mode, the unmanned dispensing machine people is moved to the user
Place carries out predetermined operation.
It should be noted that the gestural control method provided by the embodiment of the present application for unmanned dispensing machine people can be with
It is executed by server 105, correspondingly, the device of the gesture control for unmanned dispensing machine people can be set in server 105
In.And it is supplied to user and is normally at terminal device for submitting gesture control task and obtaining the request end of gesture control result
101, in 102,103.
Fig. 2 is a kind of stream of gestural control method for unmanned dispensing machine people shown according to an exemplary embodiment
Cheng Tu.Wherein, unmanned dispensing machine people include but is not limited to be the forms such as unmanned vehicle, unmanned plane.What is shown according to fig. 2 is used for nothing
The gestural control method of people's vehicle, the flexibility that the picking time can be shortened, improve picking process, and can avoid identifying code picking side
In case, identifying code is lost or is forgotten and identifying code input equipment is exposed to the defect that caused equipment is easy to damage except car body.
Next, with reference to Fig. 2, the gestural control method for unmanned vehicle in the application exemplary embodiment is illustrated.
In step S210, identification is carried out to the gesture of user and generates recognition result.Wherein, when user wants picking,
Can unmanned vehicle close to when corresponding picking gesture is made to unmanned vehicle.Gesture is used to verify the identity of the user, when described
User is the unmanned vehicle when picking user, the recognition result of gesture be it is credible, when the user is not the unmanned vehicle
When picking user, the recognition result of gesture is insincere.The identification of gesture can be for example by identifying picture.Example
Such as, when user makes gesture motion, image recognition is carried out by shooting multiple gesture photos, and to multiple gesture photos, with
Judge user gesture its whether be picking gesture.
In step S220, the operational mode of unmanned vehicle is determined, wherein operational mode may include that driving mode, gesture take
Goods mode.In these modes, unmanned vehicle treats the environment of surrounding, it will takes different strategies.For example, in driving mode
Under, for unmanned vehicle when encountering pedestrian, can select to detour and continue Travel vehicle in the process of running will be in different operational modes.
In these modes, the environment that unmanned vehicle treats surrounding will take different plans.Under gesture picking mode, unmanned vehicle is encountering
When barrier, can first determine whether the barrier is target pedestrian, if it is pedestrian can be waited to make deliberate action picking,
And according to the picking gesture of pedestrian be its picking of unpacking, it otherwise can follow target pedestrian.
In step S230, when in the recognition result, the credible and described operational mode is gesture picking mode, the nothing
People's vehicle is moved to progress predetermined operation at the user.Illustrate that user is target user when the recognition result is credible, that is, has out
The user of case picking demand.When operational mode is gesture picking mode, the factors such as speed of service of unmanned vehicle satisfaction is opened for user
The condition of case picking, such as, but not limited to unmanned vehicle are out of service, and detect that unmanned vehicle rests against place of safety etc..
According to example embodiment, the current state of the unmanned vehicle container can also be obtained；And the recognition result can
Letter, and the operational mode is gesture picking mode, and when current state the second predetermined condition of satisfaction of the container, it will be described
On-the-fly mode change is gesture picking mode.Wherein, the current state of unmanned vehicle container can indicate whether container closes case.For example,
The sensor of detectable chamber door position can be installed in the container of unmanned vehicle, and acquire sensor letter within each sampling period
Number, the chamber door position signal of the acquisition can indicate whether unmanned vehicle container closes, i.e., the current state of the described unmanned vehicle container.
Wherein, judge the credible step of the recognition result can include: obtain the multiple of predetermined number in the given time
First gesture；Identification is carried out to the multiple first gesture and generates multiple first recognition results；And know the multiple first
When the confidence level of other result is greater than predetermined ratio, determine that the recognition result is credible.It wherein, can be by camera in the given time
Shoot the picture of predetermined quantity, i.e., multiple first gestures.Wherein, predetermined time and predetermined quantity can be according to the parameters or reality of camera
Border situation determines.And multiple first gestures can be identified by image-recognizing method, to judge whether it is gesture of unpacking,
Generate multiple first recognition results.When recognizing a certain first gesture is to unpack gesture, it is believed that the first of the first gesture is known
Other result is credible.Predetermined ratio can be percentages, in multiple first recognition results, believable result percentage
When greater than the predetermined ratio, it is believed that recognition result is credible.Wherein, it includes: to work as that the current state of container, which meets the second predetermined condition,
When judging that container is in off state, confirm that the current state of container meets the second predetermined condition.
According to example embodiment, step S230, which may also include that, determines gesture identification marker according to the recognition result；Root
Pattern identification position is determined according to the operational mode；And meet the in the gesture identification marker and the pattern identification position
When three predetermined conditions, the unmanned vehicle is moved to progress predetermined operation at the user.Wherein, gesture identification marker and mode
Marker can be Boolean, but the present invention the specific data mode of gesture identification marking position and pattern identification position is not made it is special
It limits.For example, when recognition result is credible, gesture identification marker can value be 1, when recognition result is insincere, gesture is known
Other marker can value be 0.In another example when operational mode be gesture picking mode when, pattern identification position can value be 1, work as fortune
When row mode is not gesture picking mode, pattern identification position can value be 0.
Wherein, indicate that recognition result is credible and pattern identification position instruction operational mode is hand in gesture identification marker
When gesture picking mode, determine that gesture identification marker and pattern identification position meet third predetermined condition.
Wherein, the unmanned vehicle is moved to progress predetermined operation at the user can include: the unmanned vehicle issues voice
User's picking is prompted, and is moved at the user；Obtain the speed of the unmanned vehicle；And when the speed is zero, to
The container of the unmanned vehicle sends instruction of unpacking.Wherein, it when unmanned vehicle detects active user and its distance farther out, moves
In front of to active user.And unmanned vehicle speed is obtained in real time, when speed is zero, instruction of unpacking is sent to the container of unmanned vehicle,
For user's picking.
According to example embodiment, the speed may include when front and back wheel speed, current front wheel angle and upper sampling week
The front wheel angle of phase.Wherein, when after wheel speed be zero and current front wheel angle and the front wheel angle in a upper sampling period difference
When being zero, it can determine whether that the speed for unmanned vehicle is zero, i.e. unmanned vehicle has stopped.
Wherein, parallel processing is carried out to recognition result, operational mode and speed, to judge whether it meets predetermined item
Part.For example, using recognition result, operational mode, speed as the incoming progress logic judgment of parallel thread, to judge whether it meets
Predetermined condition.In addition, the current state of container also can be used as parallel thread, to carry out above-mentioned judgement.
Wherein, also voice prompting sound can be sent when the current state of the container is not all of closed state, with prompt
Close the container.Wherein, when the current state of the container is not all of closed state, show there is container to be in open shape
State.For example, transmittable voice prompting sound, for prompting user to close case；In another example can be set, in delay time a delay time
When container is not detected still afterwards all to close, voice prompting sound is sent, the container opened to prompt user to close.
According to the gestural control method for unmanned dispensing machine people of the application, by the way that gesture identification is used for unmanned vehicle
Dispatching, and logic judgment is carried out to the current state of container, the operational mode of unmanned vehicle and speed, it is unpacked with controlling unmanned vehicle
Picking.The gestural control method for unmanned dispensing machine people of the application can shorten the picking time, improve picking process
Flexibility, and can avoid in identifying code picking scheme, identifying code is lost or is forgotten and identifying code input equipment is exposed to car body
Except caused equipment defect easy to damage.
Fig. 3 is a kind of stream of gestural control method for unmanned dispensing machine people shown according to an exemplary embodiment
Cheng Tu.Referring to Fig. 3, the gestural control method for unmanned vehicle can include:
Step S310 obtains multiple first gestures of predetermined number in the given time.Wherein, the predetermined time can be unit
Time, for example, the gesture of user can be shot by high speed camera, predetermined number can be shot within the unit time for high speed camera
Photograph number.Acquired is multiple first gestures.It should be understood that predetermined time and predetermined number can be according to the actual situation
Setting, the present invention are not exemplified as limiting with above-mentioned.
Step S320 carries out identification to the multiple first gesture and generates multiple first recognition results.Wherein, figure can be passed through
As recognition methods identifies multiple first gestures, judge whether it is picking gesture of unpacking, and generate multiple first identifications
As a result.Multiple first recognition results can be unpack picking gesture or non-unpacking picking gesture.
Step S330 determines the identification knot when the confidence level of the multiple first recognition result is greater than predetermined ratio
Fruit is credible.It wherein, be ratio shared by the result of picking gesture of unpacking is confidence level in multiple first recognition results, when can
When reliability is greater than predetermined ratio, it is believed that the recognition result is credible, i.e., the gesture of user is picking gesture of unpacking.Predetermined ratio
Specific value can be determined according to experiment.
Fig. 4 is a kind of stream of gestural control method for unmanned dispensing machine people shown according to an exemplary embodiment
Cheng Tu.Referring to Fig. 4, the gestural control method for unmanned vehicle can include:
Step S410 determines gesture identification marker according to the recognition result.Wherein, gesture identification marker can be cloth
That type numerical value.When the recognition result be it is credible when, gesture identification marker can value 1, when the recognition result is insincere,
Gesture identification marker can value 0.
Step S420 determines pattern identification position according to the operational mode.Wherein, pattern identification position can be Boolean type number
Value.When operational mode be gesture picking mode when, pattern identification position can value 1, when operational mode be non-gesture picking mode when,
It pattern identification position can value 0.
Step S430, when the gesture identification marker and the pattern identification position meet third predetermined condition, institute
It states unmanned vehicle and is moved to progress predetermined operation at the user.Wherein, third predetermined condition can be gesture identification marker and mould
The value of formula marker meets some requirements.As illustrated in step S410, S420, third predetermined condition can be gesture identification mark
Know position value 1, and pattern identification position value 1.
According to example embodiment, also it can send voice when the current state of the container is not all of closed state and mention
Show sound, the container is closed with prompt.Wherein, it can send to container with inquiry instruction, to inquire the current state of container, if goods
The current state that case returns is not all of closed state, then shows have container to be in the state of unpacking.It is can be transmitted at this time for prompting
The voice prompting sound of user pass case.
Fig. 5 is a kind of stream of gestural control method for unmanned dispensing machine people shown according to an exemplary embodiment
Cheng Tu.Referring to Fig. 5, unmanned vehicle is moved at the user method for carrying out predetermined operation can include:
Step S510, the unmanned vehicle issues voice prompting user picking, and is moved at the user.
Step S520 obtains the speed of the unmanned vehicle.Wherein, speed may include the rotation before front and back wheel speed, current
The front wheel angle in angle and a upper sampling period.Wheel speed can indicate the travel speed of unmanned vehicle afterwards, front wheel angle can indicate without
The driving direction of people's vehicle.
Step S530, when the speed is zero, the container of Xiang Suoshu unmanned vehicle sends instruction of unpacking.Wherein, speed is
The case where zero can be zero for rear wheel speed, and the front wheel angle difference in current front wheel angle and a upper sampling period is zero.
Fig. 6 is a kind of gestural control method for unmanned dispensing machine people shown according to another exemplary embodiment
Flow chart.Referring to Fig. 6, the gestural control method for unmanned vehicle can include:
First using gesture identification as a result, the current state of container and the current operational mode of unmanned vehicle are as parallel line
Journey, and three concurrent messages are passed in gesture logic unit in real time.
Step S610 judges whether gesture identification result is credible.Wherein, believable judgement can be by knowing within the unit time
Other result is to unpack percentage shared by gesture to be judged.For example, be passed to 10 gesture identifications within the unit time as a result,
It is 9 that unpacking gesture is wherein identified as in gesture identification result, and being identified as non-unpacking gesture is 1.Settable one is predetermined
Ratio, such as it is set as 80%.It is 90% that then gesture identification result, which is percentage shared by unpacking gesture, is greater than predetermined ratio 80%
Then judge gesture identification credible result, if credible enter step S620, otherwise return step S610, execution recycle next time.
Step S620, setting temporary mode is mode of unpacking, and starts timing 8 seconds, to reset temporary mode for current mould
Formula.Wherein, temporary mode is a supplementary variable, simultaneously non-sensor detected value.The change of temporary mode numerical value can't change
The current operational mode of unmanned vehicle.Temporary mode can be inputted to gesture logic unit, and return step S610, execution follow next time
Ring.
Step S630 obtains the current state of container, and compares the chest state before obtaining in real time, judges chest shape
Whether state becomes to close case by unpacking, and container is if it is changed home position 1, if container is otherwise changed home position 0.
Container can be changed to marker and input gesture logic unit, and return step S630, execution recycles next time.
Step S640 obtains the current operational mode of unmanned vehicle, and the priority of itself and temporary mode is compared.It can also
Directly judge the priority of itself and unpacking mode, the present invention is to this and is not particularly limited.Wherein, priority is in aforementioned implementation
For example, details are not described herein again in example.The default value of temporary mode can be the mode of highest priority.If current fortune
Row mode priority is higher than temporary mode, then return step S640, and execution recycles next time.If current operational mode is preferential
Grade is lower than temporary mode, then by priority tag position 1, priority tag position is inputted gesture logic unit, and return step
S640, execution recycle next time.
Step S650, in gesture logic unit, if judge temporary mode for unpack mode, and container variation marker be
1, and priority tag position is 1, then is mode of unpacking by the on-the-fly mode change of unmanned vehicle, otherwise return step S650, executes
It recycles next time.
Fig. 7 is a kind of gestural control method for unmanned dispensing machine people shown according to another exemplary embodiment
Flow chart.Referring to Fig. 7, the gestural control method for unmanned vehicle can include:
First using gesture identification result, current vehicle speed and the current operational mode of unmanned vehicle as parallel thread, and will
Three concurrent messages are passed in container logic unit in real time.Secondly there are one container state thread in container logic unit,
It will run simultaneously with above three parallel thread.
Step 705, judge whether gesture identification result is credible, previous embodiment has carried out in detail believable judgment method
Thin to introduce, details are not described herein again.If gesture identification credible result enters step S720, otherwise return step S705, execute next
Secondary circulation.
Step S710 by gesture identification home position 1, and is passed to container logic unit, return step S705, is executed
It recycles next time.
Step S715 parses the current vehicle speed of unmanned vehicle.Current vehicle speed is resolved to when front and back wheel speed and preceding rotation
Angle, and the front wheel angle for retaining a upper sampling period (obtains current vehicle speed if it is first time, last front wheel angle is
0).Current vehicle speed after parsing is passed to container logic unit, and return step S715, execution recycles next time.
Step S720 obtains unmanned vehicle present mode of operation, and judges whether present mode of operation is mode of unpacking, if
It is to execute step S725, otherwise return step S720, execution recycle next time.
Step S725, by pattern identification position 1, and starts timing 1s, and it is to work as that unmanned vehicle operational mode is then updated more than 1s
Preceding newest operational mode, return step S720, execution recycle next time.Wherein, when 1s is the delay set according to actual conditions
Between, but the present invention is not limited thereto.
Step S730, in container logic unit, by the output result of receiving step S710, S715, S725.In addition, goods
Container state thread in case logic unit will issue an inquiry instruction to container first, and to inquire container state, container will be returned
It returns current state and gives container logic unit, if current container is whole closed states, execute step S745.If not all
Closed state thens follow the steps S735.
Step S735 postpones 5 seconds calling voice modules and realizes sounding, to prompt user to close case.
Step S740, gesture identification mark position 0, return step S730, execution recycle next time.
Step S745, if judging gesture identification marker for 1, and pattern identification position is 1, executes step S750, otherwise returns
Step S730 is returned, execution recycles next time.
Step S750, voice prompting user's picking, unmanned vehicle continues to slowly close to user at this time.When detecting
When user is near unmanned vehicle, unmanned vehicle parking.
Step S755, the speed parsed by step S715, judgement is when front and back wheel speed and the angle of current front-wheel
Whether the nose wheel angle of degree and last time are 0.If so, executing step S760, otherwise return step S730, is executed next
Secondary circulation, unmanned vehicle continue to walking until with user close to parking.
Step S760 begins trying 3 times and unpacks during acting this if unmanned vehicle has closely gone to parking in front of user,
Instruction of unpacking will be sent to cargo compartment, chest can then feed back current chest state, then follow the steps if unpacked in 3 times
S765, the return step S730 if failing to unpack, execution recycle next time.
Step S765, whole states before being emptied after unpacking, such as pattern identification position, gesture identification marker and work as
Preceding speed, and return step S730, execution recycle next time.
According to the gestural control method for unmanned dispensing machine people of the application, by the way that gesture identification is used for unmanned vehicle
Dispatching, and logic judgment is carried out to the current state of container, the operational mode of unmanned vehicle and speed, it is unpacked with controlling unmanned vehicle
Picking.The gestural control method for unmanned dispensing machine people of the application can shorten the picking time, improve picking process
Flexibility, and can avoid in identifying code picking scheme, identifying code is lost or is forgotten and identifying code input equipment is exposed to car body
Except caused equipment defect easy to damage.To sum up, the gestural control method for unmanned dispensing machine people of the application proposes
One kind by unmanned vehicle autonomous to user near, user unmanned vehicle close to during make picking gesture to unmanned vehicle
With the scheme of picking, the program pass through gesture logic and container logic identification and judge user gesture correctness and nobody
Whether car state meets the unpacking condition of parking, can make in front of unmanned vehicle autonomous to user after user's checking success, and stop
Vehicle is unpacked for user's picking.
Fig. 8 is a kind of frame of gesture control device for unmanned dispensing machine people shown according to an exemplary embodiment
Figure.Referring to Fig. 8, the gesture control device for unmanned dispensing machine people may include: gesture recognition module 810, mode module
820 and judgment module 830.
In the gesture control device for unmanned vehicle, gesture recognition module 810 is for identifying the gesture of user
Generate recognition result.Wherein, the identification of gesture can be for example by identifying picture.For example, making gesture motion in user
When, carry out image recognition by shooting multiple gesture photos, and to multiple gesture photos, with judge user gesture its whether be
Picking gesture.
Mode module 820 is used to determine the operational mode of unmanned vehicle.Wherein, operational mode may include driving mode, gesture
Picking mode and unpacking mode.In these modes, unmanned vehicle treats the environment of surrounding, it will takes different strategies.Before
Operational mode is illustrated in literary embodiment, details are not described herein again.
Judgment module 830 be used in the recognition result the credible and described operational mode be gesture picking mode when, it is described
Unmanned vehicle is moved to progress predetermined operation at the user.Illustrate that user is target user when the recognition result is credible, that is, has
The user for picking demand of unpacking.When operational mode is gesture picking mode, it is user that the factors such as speed of service of unmanned vehicle, which meet,
The condition for picking of unpacking, such as, but not limited to unmanned vehicle is out of service, and detects that unmanned vehicle rests against place of safety etc..
According to example embodiment, judgment module 830 can also be used to determine gesture identification marker according to the recognition result；
Pattern identification position is determined according to the operational mode；And meet in the gesture identification marker and the pattern identification position
When third predetermined condition, the unmanned vehicle is moved to progress predetermined operation at the user.
According to the gesture control device for unmanned dispensing machine people of the application, by the way that gesture identification is used for unmanned vehicle
Dispatching, and logic judgment is carried out to the current state of container, the operational mode of unmanned vehicle and speed, for.The use of the application
The picking time can be shortened in the gesture control device of unmanned dispensing machine people, improve the flexibility of picking process, and can avoid
In identifying code picking scheme, identifying code is lost or is forgotten and identifying code input equipment is exposed to caused equipment except car body
Defect easy to damage.
Fig. 9 is a kind of gesture control device for unmanned dispensing machine people shown according to another exemplary embodiment
Block diagram.Referring to Fig. 9, the gesture control device for unmanned vehicle can include: container block of state 910, container logic module 920,
Gesture logic module 930 and unmanned vehicle mode module 940.
In the gesture control device for unmanned vehicle, user makes gesture, gesture identification to unmanned vehicle when an opportunity arises
Result input gesture logic module 930 in, gesture logic module 930 is for judging whether the gesture is picking gesture.In addition,
Gesture logic module 930 is also used to obtain the current operational mode of unmanned vehicle (such as driving mode, gesture picking from unmanned vehicle
Mode and unpacking mode)；And the current state of container is obtained from container logic module 920.Receive above-mentioned 3 it is defeated
After entering (unmanned vehicle present mode of operation, container current state, gesture identification result), gesture logic module 930 will be exported
Whether one model results, the i.e. operational mode of unmanned vehicle are changed to mode of unpacking.
At the same time, container logic module 920 will also monitor gesture identification result from unmanned vehicle, unmanned vehicle is presently in
Mode and current vehicle speed, after processing of above 3 signals Jing Guo the logic unit, it will to container issue inquiry instruction or
Person unpacks instruction to complete the unpacking operation to chest and close case prompt.
According to the gesture control device for unmanned dispensing machine people of the application, by the way that gesture identification is used for unmanned vehicle
Dispatching, and logic judgment is carried out to the current state of container, the operational mode of unmanned vehicle and speed, it is unpacked with controlling unmanned vehicle
Picking.The gesture control device for unmanned dispensing machine people of the application can shorten the picking time, improve picking process
Flexibility, and can avoid in identifying code picking scheme, identifying code is lost or is forgotten and identifying code input equipment is exposed to car body
Except caused equipment defect easy to damage.To sum up, the gesture control device for unmanned dispensing machine people of the application proposes
One kind by unmanned vehicle autonomous to user near, user unmanned vehicle close to during make picking gesture to unmanned vehicle
With the scheme of picking, the program pass through gesture logic and container logic identification and judge user gesture correctness and nobody
Whether car state meets the unpacking condition of parking, can make in front of unmanned vehicle autonomous to user after user's checking success, and stop
Vehicle is unpacked for user's picking.
Figure 10 is a kind of block diagram of electronic equipment for unmanned dispensing machine people shown according to an exemplary embodiment.
The electronic equipment 1000 of this embodiment according to the application is described referring to Figure 10.The electricity that Figure 10 is shown
Sub- equipment 1000 is only an example, should not function to the embodiment of the present disclosure and use scope bring any restrictions.
As shown in Figure 10, computer system 1000 include central processing unit (CPU) 1001, can according to be stored in only
It reads the program in memory (ROM) 1002 or is loaded into random access storage device (RAM) 1003 from storage part 1008
Program and execute various movements appropriate and processing.For example, central processing unit 1001 can be executed such as Fig. 2, Fig. 3, Fig. 4, figure
5, step shown in one or more of Fig. 6, Fig. 7.
In RAM 1003, it is also stored with various programs and data needed for system operatio, such as gesture identification result, nothing
The current operating status etc. of people's vehicle.CPU 1001, ROM 1002 and RAM1003 are connected with each other by bus 1004.Input/defeated
(I/O) interface 1005 is also connected to bus 1004 out.
I/O interface 1005 is connected to lower component: the importation 1006 including touch screen, keyboard etc.；Including such as liquid
The output par, c 1007 of crystal display (LCD) etc. and loudspeaker etc.；Storage part 1008 including flash memory etc.；And including all
The communications portion 1009 of such as wireless network card, High_speed NIC.Communications portion 1009 executes communication via the network of such as internet
Processing.Driver 1010 is also connected to I/O interface 1005 as needed.Detachable media 1011, such as semiconductor memory, magnetic
Disk etc. is mounted on as needed on driver 1010, in order to be mounted into as needed from the computer program read thereon
Store part 1008.
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented
Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, the present invention is implemented
The technical solution of example can be embodied in the form of software products, which can store in a non-volatile memories
In medium (can be CD-ROM, USB flash disk, mobile hard disk etc.), including some instructions are used so that a calculating equipment (can be a
People's computer, server, mobile terminal or smart machine etc.) it executes according to the method for the embodiment of the present invention, such as Fig. 2, figure
3, step shown in one or more of Fig. 4, Fig. 5, Fig. 6, Fig. 7.
In addition, above-mentioned attached drawing is only the schematic theory of processing included by method according to an exemplary embodiment of the present invention
It is bright, rather than limit purpose.It can be readily appreciated that the time that above-mentioned processing shown in the drawings did not indicated or limited these processing is suitable
Sequence.In addition, be also easy to understand, these processing, which can be, for example either synchronously or asynchronously to be executed in multiple modules.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the application
His embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Adaptive change follow general principle of the invention and the common knowledge in the art do not applied including the present invention or
Conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by claim
It points out.
It should be understood that the present invention is not limited to the detailed construction that there have shown, attached drawing mode or implementation method,
On the contrary, it is intended to cover comprising various modifications and equivalence setting in the spirit and scope of the appended claims.
Claims (12)
1. a kind of gestural control method for unmanned dispensing machine people characterized by comprising
Identification is carried out to the gesture of user and generates recognition result；
Determine the operational mode of unmanned dispensing machine people, wherein operational mode includes driving mode, gesture picking mode；And
When in the recognition result, the credible and described operational mode is gesture picking mode, the unmanned dispensing machine people is moved to
Predetermined operation is carried out at the user.
2. the method as described in claim 1, which is characterized in that in the recognition result, the credible and described operational mode is gesture
When picking mode, the unmanned dispensing machine people is moved to progress predetermined operation at the user further include:
Obtain the current state of the unmanned dispensing machine people container；And
It is credible in the recognition result, and the operational mode is gesture picking mode, and the current state of the container meets
It is gesture picking mode by the on-the-fly mode change when the second predetermined condition.
3. the method as described in claim 1, which is characterized in that the recognition result is credible to include:
Multiple first gestures of predetermined number are obtained in the given time；
Identification is carried out to the multiple first gesture and generates multiple first recognition results；And
When the confidence level of the multiple first recognition result is greater than predetermined ratio, determine that the recognition result is credible.
4. method according to claim 2, which is characterized in that the current state of the container meets the second predetermined condition packet
It includes:
When judging that the container is in off state, confirm that the current state of the container meets the second predetermined condition.
5. the method as described in claim 1, which is characterized in that in the recognition result, the credible and described operational mode is gesture
When picking mode, the unmanned dispensing machine people is moved to progress predetermined operation at the user further include:
Gesture identification marker is determined according to the recognition result；
Pattern identification position is determined according to the operational mode；And
When the gesture identification marker and the pattern identification position meet third predetermined condition, the unmanned dispensing machine
People is moved to progress predetermined operation at the user.
6. method as claimed in claim 5, which is characterized in that the gesture identification marker and the pattern identification position are full
Sufficient third predetermined condition includes:
Indicate that the recognition result is credible and the pattern identification position indicates the operation mould in the gesture identification marker
When formula is gesture picking mode, determine that the gesture identification marker and the pattern identification position meet third predetermined condition.
7. method as claimed in claim 5, which is characterized in that the unmanned dispensing machine people is moved at the user and carries out
Predetermined operation includes:
The unmanned dispensing machine human hair goes out voice prompting user's picking, and is moved at the user；
Obtain the speed of the unmanned dispensing machine people；And
When the speed is zero, instruction of unpacking is sent to the container of the unmanned dispensing machine people.
8. the method for claim 7, which is characterized in that the speed includes working as front and back wheel speed, current front wheel angle
And the front wheel angle in a upper sampling period.
9. the method for claim 7, which is characterized in that the recognition result is credible and the operational mode takes for gesture
Goods mode further include:
Parallel processing is carried out to the recognition result, the operational mode and the speed.
10. a kind of gesture control device for unmanned dispensing machine people characterized by comprising
Gesture recognition module carries out identification for the gesture to user and generates recognition result；
Mode module, for determining the operational mode of unmanned dispensing machine people；And
Judgment module, in the recognition result the credible and described operational mode be gesture picking mode when, it is described that nobody matches
Robot is sent to be moved to progress predetermined operation at the user.
11. a kind of electronic equipment characterized by comprising
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now method as described in any in claim 1-9.
12. a kind of computer-readable medium, is stored thereon with computer program, which is characterized in that described program is held by processor
The method as described in any in claim 1-9 is realized when row.
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| CN201910135248.1A CN109828576B (en) | 2019-02-22 | 2019-02-22 | Gesture control method, device, equipment and medium for unmanned distribution robot |
| PCT/CN2020/073599 WO2020168896A1 (en) | 2019-02-22 | 2020-01-21 | Gesture control method and apparatus for unmanned distribution robot, and device and medium |
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| CN201910135248.1A CN109828576B (en) | 2019-02-22 | 2019-02-22 | Gesture control method, device, equipment and medium for unmanned distribution robot |
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| CN109828576B (en) | 2022-09-06 |
| WO2020168896A1 (en) | 2020-08-27 |
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