CN110033612A - A kind of pedestrian's based reminding method, system and robot based on robot - Google Patents
A kind of pedestrian's based reminding method, system and robot based on robot Download PDFInfo
- Publication number
- CN110033612A CN110033612A CN201910420568.1A CN201910420568A CN110033612A CN 110033612 A CN110033612 A CN 110033612A CN 201910420568 A CN201910420568 A CN 201910420568A CN 110033612 A CN110033612 A CN 110033612A
- Authority
- CN
- China
- Prior art keywords
- pedestrian
- barrier
- robot
- initial pressure
- pressure gas
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention belongs to robotic technology fields, provide a kind of pedestrian's based reminding method, system and robot based on robot, and method includes: acquisition video information；Analyze the video information cognitive disorders object；When the barrier is pedestrian's barrier, according to the distance between pedestrian's barrier and robot data described in the acquiring video information；When the range data is less than or equal to safe distance, Xiang Suoshu pedestrian's barrier sprays initial pressure gas, and the pressure value of the initial pressure gas is within the scope of default secure threshold.When robot is when encountering pedestrian's barrier in the present invention, pedestrian's barrier is reminded by initial pressure gas, significantly more efficient reminding effect can be played for the pedestrian with physiological dysfunctions or with the pedestrian of earphone.
Description
Technical field
The present invention relates to robot field, espespecially a kind of pedestrian's based reminding method, system and robot based on robot.
Background technique
With the development of science and technology, artificial intelligence robot is increasingly used in all trades and professions, passed with substituting
The labour of system.
Robot can only be selected when advancing according to the route planned when encountering fixed obstacle and can not be successfully current
Again programme path.But if what is encountered is pedestrian's barrier, if it is possible to pedestrian's barrier is early reminded, then one
Aspect can be avoided robot and collide with pedestrian's barrier, cause to cause to damage to pedestrian or robot, on the other hand row
If people can avoid in time, can be wasted time and resource to avoid robot programme path again is allowed.
The alerting pattern of robot is typically all to pass through voice prompting or light flash or both phase currently on the market
In conjunction with mode, still, above-mentioned mode is for the row with physiological dysfunctions (for example become deaf or blind or both all standby)
People or with pedestrians such as earphones, can not warn pedestrian in time.Therefore, it is necessary to invent a kind of pedestrian based on robot
Effective prompting is made to pedestrian by based reminding method, system and robot.
Summary of the invention
Machine is worked as in the object of the present invention is to provide a kind of pedestrian's based reminding method, system and robot based on robot, realization
Device people reminds pedestrian's barrier when encountering pedestrian's barrier, through initial pressure gas, for physiological dysfunctions
Pedestrian can play significantly more efficient reminding effect with the pedestrian of earphone.
Technical solution provided by the invention is as follows:
The present invention provides a kind of pedestrian's based reminding method based on robot, comprising: obtains video information；Analyze the video
Information cognitive disorders object；When the barrier is pedestrian's barrier, according to pedestrian's barrier described in the acquiring video information
The distance between robot data；When the range data is less than or equal to safe distance, Xiang Suoshu pedestrian's barrier sprays
Initial pressure gas, the pressure value of the initial pressure gas is within the scope of default secure threshold.
Further, when the range data is less than or equal to safe distance, Xiang Suoshu pedestrian's barrier sprays initial pressure
The pressure value of strength body, the initial pressure gas specifically includes within the scope of default secure threshold: when the range data is small
When being equal to safe distance, the azimuth information of pedestrian's barrier is identified；Air-jet device is adjusted according to the azimuth information
Orientation, then acquisition time information；When the temporal information belongs to default season in summer, under the body of Xiang Suoshu pedestrian's barrier
Half position sprays the initial pressure gas, and the pressure value of the initial pressure gas is within the scope of default secure threshold；Work as institute
When stating temporal information and belonging to default season in winter, the body upper portion of Xiang Suoshu pedestrian's barrier sprays the initial pressure gas
Body.
Further, when the range data is less than or equal to safe distance, Xiang Suoshu pedestrian's barrier sprays initial pressure
Strength body, after the pressure value of the initial pressure gas is within the scope of default secure threshold further include: when ejection initial pressure
Start to reduce movement speed after gas, and obtains the real-time range data between pedestrian's barrier and the robot；
Obtain the mapping table between range data and the pressure value of pressed gas；According to the real-time range data and the mapping table tune
The pressure value of the pressed gas of whole ejection.
Further, according to the real-time range data and the mapping table adjustment spray pressed gas pressure value it
Afterwards further include: if the robot somewhere static preset duration, and pedestrian's barrier does not avoid, then plans road again
Line；If pedestrian's barrier evacuation, increases movement speed and moves on.
Further, when the range data is less than or equal to safe distance, Xiang Suoshu pedestrian's barrier sprays initial pressure
Strength body, after the pressure value of the initial pressure gas is within the scope of default secure threshold further include: according to default prompting side
Formula reminds pedestrian's barrier, and the default alerting pattern includes any one or more during voice, light and text are shown
?.
The present invention also provides a kind of pedestrian's system for prompting based on robot, comprising: obtain module, obtain video information；
Analysis module analyzes the video information cognitive disorders object for obtaining module and obtaining；The analysis module, when the obstacle
When object is pedestrian's barrier, according to pedestrian's barrier and robot described in the acquiring video information of the acquisition module acquisition
The distance between data, and the range data and safe distance are compared；Execution module, when the analysis module obtains
When the range data is less than or equal to safe distance, Xiang Suoshu pedestrian's barrier sprays initial pressure gas, the initial pressure
The pressure value of gas is within the scope of default secure threshold.
Further, the execution module specifically includes: recognition unit, when the analysis module obtains the range data
When less than or equal to safe distance, the azimuth information of pedestrian's barrier is identified；Execution unit is obtained according to the recognition unit
The azimuth information adjustment air-jet device orientation；Acquiring unit, acquisition time information；The execution unit is obtained when described
When the temporal information for taking unit to obtain belongs to default season in summer, the lower body half position of Xiang Suoshu pedestrian's barrier sprays institute
Initial pressure gas is stated, the pressure value of the initial pressure gas is within the scope of default secure threshold；The execution unit works as institute
The temporal information of acquiring unit acquisition is stated when belonging to default season in winter, the body upper portion spray of Xiang Suoshu pedestrian's barrier
The initial pressure gas out.
Further, further includes: the execution module starts to reduce movement speed after spraying initial pressure gas；
The acquisition module obtains pedestrian's barrier and the machine after execution module sprays initial pressure gas
Real-time range data between people；The acquisition module, obtains between preset range data and the pressure value of pressed gas
Mapping table；The execution module, according to the pressure for the pressed gas that the real-time range data and mapping table adjustment spray
Value；The execution module increases movement speed and moves on if pedestrian's barrier avoids；The execution module, if institute
Robot somewhere static preset duration is stated, and pedestrian's barrier does not avoid, then programme path again.
Further, further includes: reminding module sprays pressed gas to pedestrian's barrier in the execution module
Meanwhile pedestrian's barrier is reminded according to default alerting pattern, the default alerting pattern includes voice, light and text exhibition
It is any one or more in showing.
The present invention also provides a kind of robots, comprising: RGBD mould group obtains video information, analyzes the video of acquisition
Information cognitive disorders object；The RGBD mould group, when the barrier is pedestrian's barrier, according to the video information of acquisition
Obtain the distance between pedestrian's barrier and robot data；Air-jet device, when the RGBD mould group obtain described in away from
When being less than or equal to safe distance from data, Xiang Suoshu pedestrian's barrier sprays initial pressure gas, the initial pressure gas
Pressure value is within the scope of default secure threshold.
A kind of pedestrian's based reminding method, system and the machine based on robot provided through the invention everybody, can bring
It is following at least one the utility model has the advantages that
1, in the present invention, continuous video information is parsed by RGBD mould group, so as to directly believe from video
Pedestrian's barrier and the distance between pedestrian's barrier and robot data are identified in breath, avoid the need for configuration multiple types
Sensor obtain information.
2, in the present invention, pedestrian's barrier is reminded by pressed gas, it is ensured that even if having physiological dysfunctions or band
The pedestrian of earphone can effectively be reminded.
3, it in the present invention, is combined by the way that pressed gas prompting, voice broadcast, light flash and text importing etc. are a variety of
Mode remind pedestrian's barrier, so that it is guaranteed that can effectively remind to all types of pedestrians.
Detailed description of the invention
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to a kind of row based on robot
Above-mentioned characteristic, technical characteristic, advantage and its implementation of people's based reminding method, system and robot are further described.
Fig. 1 is a kind of flow chart of one embodiment of pedestrian's based reminding method based on robot of the present invention；
Fig. 2 is a kind of flow chart of second embodiment of pedestrian's based reminding method based on robot of the present invention；
Fig. 3 is a kind of flow chart of the third embodiment of pedestrian's based reminding method based on robot of the present invention；
Fig. 4 is a kind of structural schematic diagram of 4th embodiment of pedestrian's system for prompting based on robot of the present invention；
Fig. 5, Fig. 6 are a kind of structural schematic diagrams of 5th embodiment of robot of the present invention.
Drawing reference numeral explanation:
100 pedestrian's system for prompting based on robot
110 obtain 120 analysis module of module
130 execution module, 131 recognition unit, 132 execution unit, 133 acquiring unit
140 reminding units
1- robot
11-RGBD mould group 12- air-jet device 131-LCD 132- speaker
Specific embodiment
It, below will be to ordinarily in order to clearly illustrate the embodiment of the present invention or technical solution in the prior art
Bright book Detailed description of the invention a specific embodiment of the invention.It should be evident that the accompanying drawings in the following description is only of the invention one
A little embodiments for those of ordinary skill in the art without creative efforts, can also be according to these
Attached drawing obtains other attached drawings, and obtains other embodiments.
In order to make simplified form, part related to the present invention is only schematically shown in each figure, their not generations
Its practical structures as product of table.In addition, there is identical structure or function in some figures so that simplified form is easy to understand
Component, only symbolically depict one of those, or only marked one of those.Herein, "one" not only table
Show " only this ", can also indicate the situation of " more than one ".
The first embodiment of the present invention, as shown in Figure 1, a kind of pedestrian's based reminding method based on robot, comprising:
S100 obtains video information；
S200 analyzes the video information cognitive disorders object；
S300 is when the barrier is pedestrian's barrier, according to pedestrian's barrier and machine described in the acquiring video information
The distance between device people data；
For S400 when the range data is less than or equal to safe distance, Xiang Suoshu pedestrian's barrier sprays initial pressure gas
Body, the pressure value of the initial pressure gas is within the scope of default secure threshold.
Specifically, camera obtains the video information in monitoring range, when there are obstacles in video information in the present embodiment
When object hinders robot smoothly to pass through, RGBD mould group further identifies that the barrier is fixed obstacle or pedestrian's obstacle
Object.If it is fixed obstacle, then it is robot again programme path, avoids the fixed obstacle.If it is pedestrian's barrier,
The distance between pedestrian's barrier and robot data are then obtained from video information.
If the range data is less than or equal to safe distance, initial pressure gas is sprayed to pedestrian's barrier, prompt has
Pedestrian avoids in time.In order to avoid damaging to pedestrian, default safety threshold should be arranged in the pressure value of initial pressure gas
It is worth in range.
In addition, safe distance is to combine to be set in conjunction with the braking distance of robot and the spray distance of initial pressure gas
It sets.When the distance between pedestrian's barrier and robot data enter safe distance, robot is on the one hand to pedestrian's barrier
Spray initial pressure gas, it is to be ensured that the initial pressure gas can reach at pedestrian's barrier, while not cause harm to the human body.
If on the other hand pedestrian's barrier does not avoid in time, it is also to be ensured that robot can complete brake in safe distance,
Robot and pedestrian's barrier is avoided to send collision.
Robot prompts pedestrian's barrier in planning path by initial pressure gas in the present invention, and ensures that this is initial
Pressed gas does not cause harm to the human body always, to rise to the pedestrian with physiological dysfunctions or with the pedestrian of earphone
To significantly more efficient reminding effect.
The second embodiment of the present invention is the optimal enforcement example of above-mentioned first embodiment, as shown in Fig. 2, the present embodiment with
Above-mentioned first embodiment is compared, and main improve is, S400 is when the range data is less than or equal to safe distance, to the row
People's barrier sprays initial pressure gas, and the pressure value of the initial pressure gas is specifically wrapped within the scope of default secure threshold
It includes:
S410 identifies the azimuth information of pedestrian's barrier when the range data is less than or equal to safe distance；
S420 adjusts the orientation of air-jet device according to the azimuth information, then acquisition time information；
When the temporal information belongs to default season in summer, the lower body half position of Xiang Suoshu pedestrian's barrier sprays S430
The initial pressure gas, the pressure value of the initial pressure gas is within the scope of default secure threshold；
When the temporal information belongs to default season in winter, the body upper portion of Xiang Suoshu pedestrian's barrier sprays S440
The initial pressure gas；
For S400 when the range data is less than or equal to safe distance, Xiang Suoshu pedestrian's barrier sprays initial pressure gas
Body, after the pressure value of the initial pressure gas is within the scope of default secure threshold further include:
S500 reminds pedestrian's barrier according to default alerting pattern, and the default alerting pattern includes voice, light
With text show in it is any one or more.
Specifically, for robot, in addition to moving direction, remaining direction may also be existing out in the present embodiment
People's barrier is clashed with robot.For example, when thering is pedestrian to come up on the left of the robot, if pedestrian apart from robot compared with
Closely, it is possible to knock robot, such situation is also required to carry out early warning to pedestrian.
Therefore, it can be both provided with camera in multiple directions in robot, obtains the video information of all directions respectively,
Or camera carries out the video information that rotation obtains multiple directions.All video informations of acquisition are all analyzed, when
When having identified pedestrian's barrier, the distance between pedestrian's barrier and robot data are obtained from video information.
If the range data is less than or equal to safe distance, need to identify the azimuth information of pedestrian's barrier.Work as machine
When people's multiple directions are provided with camera and obtain the video information of corresponding direction respectively, judgement is that the camera in which direction obtains
The corresponding video information comprising pedestrian's barrier.When robot is the video information that rotating camera obtained a direction
When, judge the corresponding actual direction of video information comprising pedestrian's barrier that camera obtains.
The orientation that air-jet device is adjusted according to azimuth information, then obtains current temporal information.If temporal information category
In default season in summer, then initial pressure gas, the pressure of initial pressure gas are sprayed to the lower body half position of pedestrian's barrier
Value is within the scope of default secure threshold.If temporal information belongs to default season in winter, the general body of winter pedestrian wraps up relatively tighter
Real, pressed gas is sprayed on pedestrian on clothes and is less susceptible to experience, then sprays to the body upper portion of pedestrian's barrier initial
Pressed gas.
In addition, can analyze video information knowledge to guarantee that pressed gas can effectively be experienced by pedestrian's barrier
Other pedestrian's barrier easily experiences the physical feeling of initial pressure gas, then sprays initial pressure gas.Also, it can be with
It is minimum to the influence degree progress priority arrangement of human body, such as foot's highest priority, head priority according to different parts.
Meanwhile robot can also be arranged a variety of default alerting patterns and remind pedestrian's barrier, such as voice broadcast, light
Flashing, display screen text show etc., can according to need also select it is therein any one or more.
The present invention can by adjusting the orientation of air-jet device, to pedestrian's barrier in each direction that can be monitored into
Row prompt, to reach a possibility that comprehensive reduction pedestrian clashes with robot.And the selection of binding time information is different
Physical feeling carry out jet prompting, and a variety of alerting patterns of selection combine, so that alerting pattern is applicable in more multiclass as far as possible
The crowd of type reaches effective prompting.
The third embodiment of the present invention is the optimal enforcement example of above-mentioned first embodiment, as shown in figure 3, the present embodiment with
Above-mentioned first embodiment is compared, and main improve is, S400 is when the range data is less than or equal to safe distance, to the row
People's barrier sprays initial pressure gas, and the pressure value of the initial pressure gas is wrapped later within the scope of default secure threshold
It includes:
S600 start after spraying initial pressure gas reduce movement speed, and obtain pedestrian's barrier with it is described
Real-time range data between robot；
S650 obtains the mapping table between range data and the pressure value of pressed gas；
The pressure value for the pressed gas that S700 is sprayed according to the real-time range data and mapping table adjustment；
If the S750 robot somewhere static preset duration, and pedestrian's barrier does not avoid, then plans again
Route；
If S800 pedestrian's barrier evacuation, increases movement speed and moves on.
Specifically, camera obtains video information in the present embodiment, when analysis video information has identified pedestrian's barrier
When, the distance between pedestrian's barrier and robot data are obtained from video information.If the range data is less than or equal to peace
Full distance then sprays initial pressure gas to pedestrian's barrier, and pedestrian is prompted to avoid in time.
In order to reserve the reaction time of pedestrian's barrier, robot starts to reduce movement after spraying initial pressure gas
Speed, and continue to obtain video information, to obtain the real-time range data between pedestrian's barrier and robot.
In addition, distance is closer, the secure threshold of the pressure value of initial pressure gas is lower, therefore presets range data
Mapping table between the pressure value of pressed gas.After robot starts to spray initial pressure gas to pedestrian's barrier,
Although reducing movement speed, will continue to the movement of pedestrian's barrier, real-time range data can gradually become smaller, it is therefore desirable to root
The pressure value of corresponding pressed gas is obtained from mapping table according to true range data, and is persistently adjusted.
After if robot reduced movement speed to stopping moving, and stationary state keeps preset duration, pedestrian's barrier
Object is hindered not avoided, then in order to avoid unnecessary waiting, robot programme path again avoids pedestrian's barrier.
If pedestrian's barrier is avoided in time, before the movement speed that robot can increase continues according to original programme path
Into.Wherein, it includes: just to avoid before robot movement speed is not down to stopping movement that pedestrian's barrier avoids in time,
And robot reduces movement speed to stopping moving, but the duration that stationary state is kept be not above preset duration just into
Row evacuation.
The present invention is according to the real-time range data between robot and pedestrian's barrier, to the pressure of the gas pressure of ejection
Value is adjusted according to preset mapping table, and the pressure value being kept fixed is avoided to cause harm to the human body with the shortening of distance.
The fourth embodiment of the present invention, as shown in figure 4, a kind of pedestrian's system for prompting 100 based on robot, comprising:
Module 110 is obtained, video information is obtained；
Analysis module 120 analyzes the video information cognitive disorders object for obtaining module 110 and obtaining；
The analysis module 120 is obtained when the barrier is pedestrian's barrier according to the acquisition module 110
The distance between pedestrian's barrier and robot data described in the acquiring video information, and by the range data and safety away from
From being compared；
Execution module 130, when the analysis module 120 show that the range data is less than or equal to safe distance, to institute
It states pedestrian's barrier and sprays initial pressure gas, the pressure value of the initial pressure gas is within the scope of default secure threshold；
The execution module 130 specifically includes:
Recognition unit 131, when the analysis module 120 show that the range data is less than or equal to safe distance, identification
The azimuth information of pedestrian's barrier；
Execution unit 132, according to the orientation for the azimuth information adjustment air-jet device that the recognition unit 131 obtains；
Acquiring unit 133, acquisition time information；
The execution unit 132, when the temporal information that the acquiring unit 133 obtains belongs to default season in summer,
The initial pressure gas is sprayed to the lower body half position of pedestrian's barrier, the pressure value of the initial pressure gas exists
Within the scope of default secure threshold；
The execution unit 132, when the temporal information that the acquiring unit 133 obtains belongs to default season in winter,
The initial pressure gas is sprayed to the body upper portion of pedestrian's barrier；
Further include:
The execution module 130 starts to reduce movement speed after spraying initial pressure gas；
The acquisition module 110 obtains pedestrian's barrier after the execution module 130 sprays initial pressure gas
Hinder the real-time range data between object and the robot；
The acquisition module 110, obtains the mapping table between preset range data and the pressure value of pressed gas；
The execution module 130 adjusts the pressed gas sprayed according to the real-time range data and the mapping table
Pressure value；
The execution module 130 increases movement speed and moves on if pedestrian's barrier avoids；
The execution module 130, if the robot somewhere static preset duration, and pedestrian's barrier is not kept away
It allows, then programme path again；
Reminding module 140, while the execution module 130 sprays pressed gas to pedestrian's barrier, according to
Default alerting pattern reminds pedestrian's barrier, and the default alerting pattern includes appointing during voice, light and text are shown
It anticipates one or more.
The concrete operations mode of modules in the present embodiment has been carried out in above-mentioned corresponding embodiment of the method
Detailed description, therefore no longer repeated one by one.
The fifth embodiment of the present invention, as shown in Figure 5, Figure 6, a kind of robot 1, comprising:
RGBD mould group 11 obtains video information, analyzes the video information cognitive disorders object of acquisition；
The RGBD mould group 11, when the barrier is pedestrian's barrier, according to the acquiring video information of acquisition
The distance between pedestrian's barrier and robot data；
Air-jet device 12, when the range data that the RGBD mould group 11 obtains is less than or equal to safe distance, to institute
It states pedestrian's barrier and sprays initial pressure gas, the pressure value of the initial pressure gas is within the scope of default secure threshold；
The air-jet device 12 identifies pedestrian's barrier when the range data is less than or equal to safe distance
Azimuth information；
The orientation of air-jet device is adjusted according to the azimuth information, then acquisition time information；
When the temporal information belongs to default season in summer, described in the lower body half position ejection of Xiang Suoshu pedestrian's barrier
Initial pressure gas, the pressure value of the initial pressure gas is within the scope of default secure threshold；
When the temporal information belongs to default season in winter, described in the body upper portion ejection of Xiang Suoshu pedestrian's barrier
Initial pressure gas；
Start to reduce movement speed after spraying initial pressure gas, and obtains pedestrian's barrier and the machine
Real-time range data between people；
Obtain the mapping table between range data and the pressure value of pressed gas；
According to the pressure value for the pressed gas that the real-time range data and mapping table adjustment spray；
If the robot somewhere static preset duration, and pedestrian's barrier does not avoid, then programme path again；
If pedestrian's barrier evacuation, increases movement speed and moves on；
Auxiliary prompting device, including LCD131 and speaker 132 etc. remind pedestrian's obstacle according to default alerting pattern
Object, the default alerting pattern include any one or more during voice, light and text are shown.
The concrete operations mode of each device in the present embodiment has been carried out in above-mentioned corresponding embodiment of the method
Detailed description, therefore no longer repeated one by one.
It should be noted that above-described embodiment can be freely combined as needed.The above is only of the invention preferred
Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (10)
1. a kind of pedestrian's based reminding method based on robot characterized by comprising
Obtain video information；
Analyze the video information cognitive disorders object；
When the barrier is pedestrian's barrier, according between pedestrian's barrier and robot described in the acquiring video information
Range data；
When the range data is less than or equal to safe distance, Xiang Suoshu pedestrian's barrier sprays initial pressure gas, described first
The pressure value of beginning pressed gas is within the scope of default secure threshold.
2. pedestrian's based reminding method according to claim 1 based on robot, which is characterized in that when the range data is small
When being equal to safe distance, Xiang Suoshu pedestrian's barrier sprays initial pressure gas, and the pressure value of the initial pressure gas exists
It is specifically included within the scope of default secure threshold:
When the range data is less than or equal to safe distance, the azimuth information of pedestrian's barrier is identified；
The orientation of air-jet device is adjusted according to the azimuth information, then acquisition time information；
When the temporal information belongs to default season in summer, the lower body half position of Xiang Suoshu pedestrian's barrier sprays described initial
Pressed gas, the pressure value of the initial pressure gas is within the scope of default secure threshold；
When the temporal information belongs to default season in winter, the body upper portion of Xiang Suoshu pedestrian's barrier sprays described initial
Pressed gas.
3. pedestrian's based reminding method according to claim 1 based on robot, which is characterized in that when the range data is small
When being equal to safe distance, Xiang Suoshu pedestrian's barrier sprays initial pressure gas, and the pressure value of the initial pressure gas exists
After within the scope of default secure threshold further include:
Start to reduce movement speed after spraying initial pressure gas, and obtain pedestrian's barrier and the robot it
Between real-time range data；
Obtain the mapping table between range data and the pressure value of pressed gas；
According to the pressure value for the pressed gas that the real-time range data and mapping table adjustment spray.
4. pedestrian's based reminding method according to claim 3 based on robot, which is characterized in that according to the real-time range
After the pressure value for the pressed gas that data and mapping table adjustment spray further include:
If the robot somewhere static preset duration, and pedestrian's barrier does not avoid, then programme path again；
If pedestrian's barrier evacuation, increases movement speed and moves on.
5. pedestrian's based reminding method according to claim 1 based on robot, which is characterized in that when the range data is small
When being equal to safe distance, Xiang Suoshu pedestrian's barrier sprays initial pressure gas, and the pressure value of the initial pressure gas exists
After within the scope of default secure threshold further include:
Pedestrian's barrier is reminded according to default alerting pattern, the default alerting pattern includes voice, light and text exhibition
It is any one or more in showing.
6. a kind of pedestrian's system for prompting based on robot characterized by comprising
Module is obtained, video information is obtained；
Analysis module analyzes the video information cognitive disorders object for obtaining module and obtaining；
The analysis module is believed when the barrier is pedestrian's barrier according to the video that the acquisition module obtains
Breath obtains the distance between pedestrian's barrier and robot data, and the range data and safe distance are compared
Compared with；
Execution module, when the analysis module show that the range data is less than or equal to safe distance, Xiang Suoshu pedestrian's obstacle
Object sprays initial pressure gas, and the pressure value of the initial pressure gas is within the scope of default secure threshold.
7. pedestrian's system for prompting according to claim 6 based on robot, which is characterized in that the execution module is specific
Include:
Recognition unit identifies pedestrian's barrier when the analysis module show that the range data is less than or equal to safe distance
Hinder the azimuth information of object；
Execution unit, according to the orientation for the azimuth information adjustment air-jet device that the recognition unit obtains；
Acquiring unit, acquisition time information；
The execution unit, when the temporal information that the acquiring unit obtains belongs to default season in summer, Xiang Suoshu pedestrian
The lower body half position of barrier sprays the initial pressure gas, and the pressure value of the initial pressure gas is in default safety threshold
It is worth in range；
The execution unit, when the temporal information that the acquiring unit obtains belongs to default season in winter, Xiang Suoshu pedestrian
The body upper portion of barrier sprays the initial pressure gas.
8. pedestrian's system for prompting according to claim 6 based on robot, which is characterized in that further include:
The execution module starts to reduce movement speed after spraying initial pressure gas；
The acquisition module, when the execution module spray initial pressure gas after, obtain pedestrian's barrier with it is described
Real-time range data between robot；
The acquisition module, obtains the mapping table between preset range data and the pressure value of pressed gas；
The execution module, according to the pressure value for the pressed gas that the real-time range data and mapping table adjustment spray；
The execution module increases movement speed and moves on if pedestrian's barrier avoids；
The execution module, if the robot somewhere static preset duration, and pedestrian's barrier does not avoid, then again
Programme path.
9. pedestrian's system for prompting according to claim 6 based on robot, which is characterized in that further include:
Reminding module, while the execution module sprays pressed gas to pedestrian's barrier, according to default prompting side
Formula reminds pedestrian's barrier, and the default alerting pattern includes any one or more during voice, light and text are shown
?.
10. a kind of robot characterized by comprising
RGBD mould group obtains video information, analyzes the video information cognitive disorders object of acquisition；
The RGBD mould group, when the barrier is pedestrian's barrier, the row according to the acquiring video information of acquisition
The distance between people's barrier and robot data；
Air-jet device, when the range data that the RGBD mould group obtains is less than or equal to safe distance, Xiang Suoshu pedestrian's barrier
Object is hindered to spray initial pressure gas, the pressure value of the initial pressure gas is within the scope of default secure threshold.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910420568.1A CN110033612B (en) | 2019-05-21 | 2019-05-21 | Robot-based pedestrian reminding method and system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910420568.1A CN110033612B (en) | 2019-05-21 | 2019-05-21 | Robot-based pedestrian reminding method and system and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110033612A true CN110033612A (en) | 2019-07-19 |
| CN110033612B CN110033612B (en) | 2021-05-04 |
Family
ID=67242804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910420568.1A Active CN110033612B (en) | 2019-05-21 | 2019-05-21 | Robot-based pedestrian reminding method and system and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110033612B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979176A (en) * | 2019-11-28 | 2020-04-10 | 惠州市德赛西威汽车电子股份有限公司 | Vehicle-mounted warning method and system for reminding pedestrians |
| CN112034856A (en) * | 2020-09-08 | 2020-12-04 | 深圳优地科技有限公司 | Robot traveling method, device, equipment and storage medium |
| CN113135229A (en) * | 2021-04-15 | 2021-07-20 | 合肥瓦力觉启机器人科技有限公司 | Robot automatic obstacle avoidance moving chassis |
| WO2022127439A1 (en) * | 2020-12-17 | 2022-06-23 | 深圳市普渡科技有限公司 | Robot obstacle avoidance processing method and apparatus, device, and computer readable storage medium |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103984037A (en) * | 2014-04-30 | 2014-08-13 | 深圳市墨克瑞光电子研究院 | Obstacle detection method and device for mobile robot based on vision |
| WO2015143273A2 (en) * | 2014-03-21 | 2015-09-24 | Rensselaer Polytechnic Institute | Mobile human-friendly assistive robot |
| CN106064382A (en) * | 2016-06-08 | 2016-11-02 | 以恒激光科技（北京）有限公司 | A kind of patrol guard robot |
| CN106664391A (en) * | 2014-06-30 | 2017-05-10 | 日本电气株式会社 | Guidance processing device and guidance method |
| CN106994690A (en) * | 2017-04-28 | 2017-08-01 | 苏州商信宝信息科技有限公司 | The control method and its robot of a kind of automatic intelligent traction robot |
| CN107092252A (en) * | 2017-04-11 | 2017-08-25 | 杭州光珀智能科技有限公司 | A kind of robot automatic obstacle avoidance method and its device based on machine vision |
| CN108136589A (en) * | 2016-08-26 | 2018-06-08 | 深圳市赛亿科技开发有限公司 | The meal delivery robot and barrier-avoiding method of a kind of automatic obstacle-avoiding |
| KR20180089124A (en) * | 2017-01-31 | 2018-08-08 | (주) 한호기술 | Unmanned autonomous driving robot for pest control |
| CN108381565A (en) * | 2018-05-03 | 2018-08-10 | 福州市联奇智能科技有限公司 | A kind of robot with more identifications and release multiple fragrance |
| CN108527369A (en) * | 2018-04-13 | 2018-09-14 | 宁波德深机械设备有限公司 | The interference preventing method of industrial robot |
| CN108858233A (en) * | 2018-07-26 | 2018-11-23 | 芜湖市越泽机器人科技有限公司 | A kind of robot of the market based on human-computer interaction |
| CN109129478A (en) * | 2018-08-22 | 2019-01-04 | 深圳威琳懋生物科技有限公司 | The control method and storage medium of intelligent Patrol Robot |
-
2019
- 2019-05-21 CN CN201910420568.1A patent/CN110033612B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015143273A2 (en) * | 2014-03-21 | 2015-09-24 | Rensselaer Polytechnic Institute | Mobile human-friendly assistive robot |
| CN103984037A (en) * | 2014-04-30 | 2014-08-13 | 深圳市墨克瑞光电子研究院 | Obstacle detection method and device for mobile robot based on vision |
| CN106664391A (en) * | 2014-06-30 | 2017-05-10 | 日本电气株式会社 | Guidance processing device and guidance method |
| CN106064382A (en) * | 2016-06-08 | 2016-11-02 | 以恒激光科技（北京）有限公司 | A kind of patrol guard robot |
| CN108136589A (en) * | 2016-08-26 | 2018-06-08 | 深圳市赛亿科技开发有限公司 | The meal delivery robot and barrier-avoiding method of a kind of automatic obstacle-avoiding |
| KR20180089124A (en) * | 2017-01-31 | 2018-08-08 | (주) 한호기술 | Unmanned autonomous driving robot for pest control |
| CN107092252A (en) * | 2017-04-11 | 2017-08-25 | 杭州光珀智能科技有限公司 | A kind of robot automatic obstacle avoidance method and its device based on machine vision |
| CN106994690A (en) * | 2017-04-28 | 2017-08-01 | 苏州商信宝信息科技有限公司 | The control method and its robot of a kind of automatic intelligent traction robot |
| CN108527369A (en) * | 2018-04-13 | 2018-09-14 | 宁波德深机械设备有限公司 | The interference preventing method of industrial robot |
| CN108381565A (en) * | 2018-05-03 | 2018-08-10 | 福州市联奇智能科技有限公司 | A kind of robot with more identifications and release multiple fragrance |
| CN108858233A (en) * | 2018-07-26 | 2018-11-23 | 芜湖市越泽机器人科技有限公司 | A kind of robot of the market based on human-computer interaction |
| CN109129478A (en) * | 2018-08-22 | 2019-01-04 | 深圳威琳懋生物科技有限公司 | The control method and storage medium of intelligent Patrol Robot |
Non-Patent Citations (1)
| Title |
|---|
| 黄大志: "导盲机器人中超声波测距系统的研究", 《淮海工学院学报（自然科学版）》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979176A (en) * | 2019-11-28 | 2020-04-10 | 惠州市德赛西威汽车电子股份有限公司 | Vehicle-mounted warning method and system for reminding pedestrians |
| CN112034856A (en) * | 2020-09-08 | 2020-12-04 | 深圳优地科技有限公司 | Robot traveling method, device, equipment and storage medium |
| CN112034856B (en) * | 2020-09-08 | 2024-05-17 | 深圳优地科技有限公司 | Robot travelling method, device, equipment and storage medium |
| WO2022127439A1 (en) * | 2020-12-17 | 2022-06-23 | 深圳市普渡科技有限公司 | Robot obstacle avoidance processing method and apparatus, device, and computer readable storage medium |
| CN113135229A (en) * | 2021-04-15 | 2021-07-20 | 合肥瓦力觉启机器人科技有限公司 | Robot automatic obstacle avoidance moving chassis |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110033612B (en) | 2021-05-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110033612A (en) | A kind of pedestrian's based reminding method, system and robot based on robot | |
| CN109801511A (en) | A kind of anti-collision warning method and device | |
| CN106114506B (en) | A kind of lane keeping method and device | |
| CN105894735B (en) | A kind of intelligent vehicle-mounted fatigue monitoring system and method | |
| KR102110153B1 (en) | Sleepiness Suppression System And Method | |
| CN109367479A (en) | A kind of fatigue driving monitoring method and device | |
| CN110299006A (en) | A kind of vehicle collision alarm method, device and equipment | |
| CN108122371A (en) | Vehicle help-asking system, vehicle-mounted emergency device and vehicle | |
| CN109094458A (en) | The control method of safe driving of vehicle and control device for safe driving of vehicle | |
| CN109300268A (en) | A kind of warning light adjustment method and device based on image recognition | |
| CN108677855A (en) | Sprinkling truck automatic control system | |
| CN109840510A (en) | Monitoring method, device, storage medium and the electronic equipment of fatigue driving | |
| CN203552404U (en) | Driver fatigue monitor system | |
| WO2020206995A1 (en) | Roadside cooperative guidance system based on main line two-way green waves | |
| AT384835B (en) | METHOD FOR EQUIPING A THREAD, MEANS FOR IMPLEMENTING THE METHOD, AND METHOD FOR PRODUCING THE ACTIVE INGREDIENT | |
| AT524233B1 (en) | Signaling device for generating a light signal when driving a vehicle | |
| JP6342147B2 (en) | Driving support device and driving support method | |
| CN106514655A (en) | Robot control system capable of enabling user to conveniently monitor operation state of robot in real time | |
| CN106192802A (en) | Intelligent roadblock system and control method thereof | |
| CN208498477U (en) | A kind of driver's fatigue suggestion device | |
| CN110021141A (en) | Guide method for early warning, apparatus and system | |
| DE102017217876B4 (en) | Apparatus and method for improving the sense of space of a user | |
| CN110208805A (en) | A kind of tramcar obstacle detection method | |
| CN205942442U (en) | Agricultural machinery construction group of planes cooperation bootstrap system | |
| CN110141817A (en) | A kind of patrol fire-fighting robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210812 Address after: 200335 Room 401, floor 4, building 2, No. 33, Guangshun Road, Changning District, Shanghai Patentee after: Noah robot technology (Shanghai) Co.,Ltd. Address before: 201400 room 2340, building 2, Lane 1800, Xinyang highway, Fengxian District, Shanghai Patentee before: SHANGHAI MUMU JUCONG ROBOT TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |