CN110033612B - Robot-based pedestrian reminding method and system and robot - Google Patents
Robot-based pedestrian reminding method and system and robot Download PDFInfo
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- CN110033612B CN110033612B CN201910420568.1A CN201910420568A CN110033612B CN 110033612 B CN110033612 B CN 110033612B CN 201910420568 A CN201910420568 A CN 201910420568A CN 110033612 B CN110033612 B CN 110033612B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
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- 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
Abstract
The invention belongs to the technical field of robots, and provides a pedestrian reminding method, a system and a robot based on the robot, wherein the method comprises the following steps: acquiring video information; analyzing the video information to identify obstacles; when the obstacle is a pedestrian obstacle, acquiring distance data between the pedestrian obstacle and the robot according to the video information; and when the distance data is smaller than or equal to a safety distance, spraying initial pressure gas to the pedestrian obstacle, wherein the pressure value of the initial pressure gas is within a preset safety threshold range. When the robot touches the pedestrian barrier, the initial pressure gas reminds the pedestrian barrier, and a more effective reminding effect can be achieved for the pedestrian with physiological dysfunction or the pedestrian with the earphone.
Description
Technical Field
The invention relates to the field of robots, in particular to a pedestrian reminding method and system based on a robot and the robot.
Background
With the development of science and technology, artificial intelligence robots are increasingly applied to various industries to replace traditional labor force.
When the robot travels according to the planned route, the robot can only choose to re-plan the route when the robot encounters a fixed obstacle and cannot pass smoothly. However, if what hit is pedestrian's barrier, if can remind this pedestrian's barrier early, then can avoid robot and pedestrian's barrier to bump on the one hand, lead to giving pedestrian or robot to become the damage, on the other hand pedestrian if can avoid in time, can avoid letting the robot retrain route, extravagant time and resource.
At present, the reminding mode of the robot in the market is generally a mode of voice prompt or light flashing or a mode of combining the voice prompt and the light flashing, but the above mode cannot timely warn pedestrians with physiological dysfunction (such as deafness or blindness or both) or pedestrians with earphones and the like. Therefore, it is necessary to invent a pedestrian reminding method, system and robot based on robot to effectively remind pedestrians.
Disclosure of Invention
The invention aims to provide a pedestrian reminding method, a pedestrian reminding system and a robot based on the robot, which can remind pedestrians of obstacles through initial pressure gas when the robot touches the obstacles, and can play a more effective reminding role for pedestrians with physiological dysfunction or pedestrians with earphones.
The technical scheme provided by the invention is as follows:
the invention provides a pedestrian reminding method based on a robot, which comprises the following steps: acquiring video information; analyzing the video information to identify obstacles; when the obstacle is a pedestrian obstacle, acquiring distance data between the pedestrian obstacle and the robot according to the video information; and when the distance data is smaller than or equal to a safety distance, spraying initial pressure gas to the pedestrian obstacle, wherein the pressure value of the initial pressure gas is within a preset safety threshold range.
Further, when the distance data is less than or equal to a safety distance, an initial pressure gas is sprayed out of the pedestrian obstacle, and a pressure value of the initial pressure gas within a preset safety threshold range specifically comprises: when the distance data is less than or equal to a safe distance, identifying the direction information of the pedestrian obstacle; adjusting the direction of the air injection device according to the direction information, and then acquiring time information; when the time information belongs to a preset summer time order, the initial pressure gas is sprayed to the lower half part of the body of the pedestrian barrier, and the pressure value of the initial pressure gas is within a preset safety threshold range; and when the time information belongs to a preset winter season, the initial pressure gas is sprayed to the upper half part of the body of the pedestrian barrier.
Further, when the distance data is less than or equal to a safety distance, an initial pressure gas is sprayed to the pedestrian obstacle, and a pressure value of the initial pressure gas is within a preset safety threshold range, and then the method further comprises: after the initial pressure gas is sprayed out, the moving speed is reduced, and real-time distance data between the pedestrian barrier and the robot is acquired; acquiring a mapping table between the distance data and the pressure value of the pressure gas; and adjusting the pressure value of the ejected pressure gas according to the real-time distance data and the mapping table.
Further, after adjusting the pressure value of the ejected pressure gas according to the real-time distance data and the mapping table, the method further comprises the following steps: if the robot is static at a certain position for a preset time and the pedestrian barrier is not avoided, re-planning a route; and if the pedestrian barrier is avoided, increasing the moving speed to continue advancing.
Further, when the distance data is less than or equal to a safety distance, an initial pressure gas is sprayed to the pedestrian obstacle, and a pressure value of the initial pressure gas is within a preset safety threshold range, and then the method further comprises: reminding the pedestrian barrier according to a preset reminding mode, wherein the preset reminding mode comprises any one or more of voice, light and character display.
The invention also provides a pedestrian reminding system based on the robot, which comprises: the acquisition module acquires video information; the analysis module analyzes the video information acquired by the acquisition module and identifies obstacles; the analysis module is used for acquiring distance data between the pedestrian barrier and the robot according to the video information acquired by the acquisition module and comparing the distance data with a safe distance when the barrier is the pedestrian barrier; and the execution module is used for spraying initial pressure gas to the pedestrian barrier when the distance data obtained by the analysis module is smaller than or equal to a safety distance, and the pressure value of the initial pressure gas is within a preset safety threshold range.
Further, the execution module specifically includes: the identification unit is used for identifying the direction information of the pedestrian obstacle when the distance data obtained by the analysis module is smaller than or equal to a safe distance; the execution unit is used for adjusting the direction of the air injection device according to the direction information acquired by the identification unit; an acquisition unit that acquires time information; the execution unit is used for spraying the initial pressure gas to the lower half part of the body of the pedestrian barrier when the time information acquired by the acquisition unit belongs to a preset summer time order, and the pressure value of the initial pressure gas is within a preset safety threshold range; and the execution unit is used for spraying the initial pressure gas to the upper half part of the body of the pedestrian barrier when the time information acquired by the acquisition unit belongs to a preset winter season.
Further, the method also comprises the following steps: the execution module starts to reduce the moving speed after the initial pressure gas is sprayed out; the acquisition module is used for acquiring real-time distance data between the pedestrian barrier and the robot after the execution module ejects initial pressure gas; the acquisition module acquires a mapping table between preset distance data and a pressure value of the pressure gas; the execution module adjusts the pressure value of the ejected pressure gas according to the real-time distance data and the mapping table; the execution module increases the moving speed to continue advancing if the pedestrian barrier is avoided; and the execution module is used for re-planning a route if the robot is static at a certain position for a preset time and the pedestrian barrier is not avoided.
Further, the method also comprises the following steps: the reminding module is used for reminding the pedestrian barrier according to a preset reminding mode while the execution module sprays pressure gas to the pedestrian barrier, and the preset reminding mode comprises any one or more of voice, light and character display.
The present invention also provides a robot comprising: the RGBD module acquires video information, analyzes the acquired video information and identifies obstacles; when the obstacle is a pedestrian obstacle, the RGBD module acquires distance data between the pedestrian obstacle and the robot according to the acquired video information; and when the distance data acquired by the RGBD module is smaller than or equal to a safe distance, the gas injection device injects initial pressure gas to the pedestrian barrier, and the pressure value of the initial pressure gas is within a preset safe threshold range.
The robot-based pedestrian reminding method, the robot-based pedestrian reminding system and the robot provided by the invention can bring at least one of the following beneficial effects:
1. in the invention, continuous video information is analyzed through the RGBD module, so that the pedestrian obstacles and the distance data between the pedestrian obstacles and the robot can be directly identified from the video information, and the need of configuring various sensors to acquire information is avoided.
2. According to the invention, the barrier of the pedestrian is reminded through the pressure gas, so that the pedestrian can be effectively reminded even if the pedestrian has physiological dysfunction or carries an earphone.
3. According to the invention, the pedestrian barrier is reminded in a manner of combining various manners such as pressure gas reminding, voice broadcasting, light flashing, character displaying and the like, so that effective reminding for all types of pedestrians is ensured.
Drawings
The above features, technical features, advantages and implementations of a robot-based pedestrian alerting method, system and robot will be further described in the following detailed description of preferred embodiments in a clearly understandable manner with reference to the accompanying drawings.
FIG. 1 is a flow chart of a first embodiment of a robot-based pedestrian alert method of the present invention;
FIG. 2 is a flowchart of a second embodiment of a robot-based pedestrian alert method of the present invention;
FIG. 3 is a flow chart of a pedestrian reminding method based on a robot according to a third embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a fourth embodiment of a robot-based pedestrian warning system of the present invention;
fig. 5 and 6 are schematic structural views of a fifth embodiment of the robot according to the present invention.
The reference numbers illustrate:
100 pedestrian reminding system based on robot
110 acquisition module 120 analysis module
130 execution module 131 recognition unit 132 execution unit 133 acquisition unit
140 reminder unit
1-robot
11-RGBD module 12-air injection device 131-LCD 132-sound box
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain specific embodiments of the present invention with reference to the drawings of the specification. It is obvious that the drawings in the following description are only some examples of the invention, from which other drawings and embodiments can be derived by a person skilled in the art without inventive effort.
For the sake of simplicity, only the parts relevant to the present invention are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
A first embodiment of the present invention, as shown in fig. 1, is a pedestrian reminding method based on a robot, including:
s100, acquiring video information;
s200, analyzing the video information to identify an obstacle;
s300, when the obstacle is a pedestrian obstacle, acquiring distance data between the pedestrian obstacle and the robot according to the video information;
s400, when the distance data is smaller than or equal to a safety distance, spraying initial pressure gas to the pedestrian obstacle, wherein the pressure value of the initial pressure gas is within a preset safety threshold range.
Specifically, in this embodiment, the camera acquires video information in the monitoring range, and when an obstacle exists in the video information and hinders the robot to pass smoothly, the RGBD module further identifies whether the obstacle is a fixed obstacle or a pedestrian obstacle. And if the obstacle is a fixed obstacle, re-planning a route for the robot to avoid the fixed obstacle. And if the robot is the pedestrian obstacle, acquiring distance data between the pedestrian obstacle and the robot from the video information.
And if the distance data is less than or equal to the safe distance, spraying initial pressure gas to the barrier of the pedestrian to prompt that the pedestrian avoids in time. In order to avoid injury to pedestrians, the pressure value of the initial pressure gas should be set within a preset safety threshold range.
In addition, the safety distance is set in combination with the braking distance of the robot and the ejection distance of the initial pressure gas. When the distance data between the pedestrian barrier and the robot enters the safe distance, the robot sprays initial pressure gas to the pedestrian barrier on one hand, and the initial pressure gas can reach the pedestrian barrier and does not hurt the human body. On the other hand, if the pedestrian barrier is not avoided in time, the robot is ensured to complete braking within a safe distance, and the robot and the pedestrian barrier are prevented from sending collision.
The robot provided by the invention prompts obstacles of pedestrians on a planned path through the initial pressure gas and ensures that the initial pressure gas does not cause harm to human bodies all the time, thereby playing a more effective reminding role for the pedestrians with physiological dysfunction or the pedestrians with earphones.
A second embodiment of the present invention is an optimized embodiment of the first embodiment, and as shown in fig. 2, compared with the first embodiment, the present embodiment is mainly improved in that, when the distance data is less than or equal to a safe distance, S400 ejects an initial pressure gas to the pedestrian obstacle, and a pressure value of the initial pressure gas within a preset safe threshold range specifically includes:
s410, when the distance data is smaller than or equal to a safe distance, identifying the direction information of the pedestrian obstacle;
s420, adjusting the direction of the air injection device according to the direction information, and then acquiring time information;
s430, when the time information belongs to a preset summer time order, spraying the initial pressure gas to the lower half part of the body of the pedestrian barrier, wherein the pressure value of the initial pressure gas is within a preset safety threshold range;
s440, when the time information belongs to a preset winter season, spraying the initial pressure gas to the upper half part of the body of the pedestrian barrier;
s400, when the distance data is smaller than or equal to a safety distance, spraying initial pressure gas to the pedestrian obstacle, wherein the pressure value of the initial pressure gas is within a preset safety threshold range, and then the method further comprises the following steps:
s500, reminding the pedestrian barrier according to a preset reminding mode, wherein the preset reminding mode comprises any one or more of voice, light and character display.
Specifically, in the present embodiment, for the robot, in addition to the moving direction, there is a possibility that a pedestrian obstacle collides with the robot in the other directions. For example, when a pedestrian comes from the left side of the robot, if the pedestrian is close to the robot, the pedestrian may collide with the robot, and warning prompt for the pedestrian is also needed in such a situation.
Therefore, the robot can be provided with cameras in multiple directions to respectively acquire video information in each direction, or the cameras can rotate to acquire video information in multiple directions. And analyzing all the acquired video information, and acquiring distance data between the pedestrian obstacle and the robot from the video information when the pedestrian obstacle is identified.
If the distance data is less than or equal to the safe distance, the direction information of the pedestrian obstacle needs to be identified. When cameras are arranged in multiple directions of the robot to respectively acquire video information of corresponding directions, the corresponding video information including pedestrian obstacles acquired by the camera in which direction is judged. When the robot rotates the camera to acquire the video information in the direction, the actual direction corresponding to the video information including the pedestrian obstacle acquired by the camera is judged.
And adjusting the direction of the air injection device according to the direction information, and then acquiring current time information. And if the time information belongs to a preset summer time, spraying initial pressure gas to the lower half part of the body of the pedestrian barrier, wherein the pressure value of the initial pressure gas is within a preset safety threshold range. If the time information belongs to the preset winter season, the pedestrian is wrapped tightly in winter, and the pedestrian is not easy to feel when the pressure gas is sprayed on the clothes, the initial pressure gas is sprayed to the upper half part of the body of the pedestrian barrier.
In addition, in order to ensure that the pressure gas can be effectively sensed by the pedestrian obstacle, the video information can be analyzed to identify the body part of the pedestrian obstacle, which is easy to sense the initial pressure gas, and then the initial pressure gas is sprayed out. In addition, the priority ranking can be carried out according to the influence degree of different parts on the human body, for example, the priority of the feet is the highest, and the priority of the head is the lowest.
Simultaneously, the robot can also set up multiple warning modes of predetermineeing and remind pedestrian's barrier, for example voice broadcast, light scintillation, display screen characters show etc. can still select arbitrary one or more wherein as required.
The invention can prompt the pedestrian barriers in all the monitored directions by adjusting the direction of the air injection device so as to comprehensively reduce the possibility of collision between pedestrians and robots. And different body parts are selected according to the time information to perform air injection reminding, and multiple reminding modes are selected to be combined, so that the reminding mode is suitable for more types of people as much as possible, and effective reminding is achieved.
A third embodiment of the present invention is an optimized embodiment of the first embodiment, and as shown in fig. 3, compared with the first embodiment, the present embodiment is mainly improved in that, when the distance data is less than or equal to a safe distance, S400 ejects an initial pressure gas to the pedestrian obstacle, and a pressure value of the initial pressure gas after being within a preset safe threshold range includes:
s600, after the initial pressure gas is sprayed out, the moving speed is reduced, and real-time distance data between the pedestrian barrier and the robot is acquired;
s650, acquiring a mapping table between the distance data and the pressure value of the pressure gas;
s700, adjusting the pressure value of the ejected pressure gas according to the real-time distance data and the mapping table;
s750, if the robot is static at a certain position for a preset time and the pedestrian barrier is not avoided, re-planning a route;
and S800, if the pedestrian barrier is avoided, increasing the moving speed to continue advancing.
Specifically, in this embodiment, the camera acquires video information, and when the video information is analyzed to identify a pedestrian obstacle, the camera acquires distance data between the pedestrian obstacle and the robot from the video information. And if the distance data is less than or equal to the safe distance, spraying initial pressure gas to the barrier of the pedestrian to prompt the pedestrian to avoid in time.
In order to reserve the reaction time of the pedestrian obstacle, the robot starts to reduce the moving speed after the initial pressure gas is sprayed out, and continuously acquires video information, thereby acquiring real-time distance data between the pedestrian obstacle and the robot.
In addition, the closer the distance, the lower the safety threshold value of the pressure value of the initial pressure gas, and therefore a mapping table between the distance data and the pressure value of the pressure gas is set in advance. After the robot starts to eject the initial pressure gas to the pedestrian obstacle, although the moving speed is reduced, the robot continues to move to the pedestrian obstacle, and the real-time distance data gradually decreases.
If the robot reduces the moving speed to stop moving and the pedestrian barrier is not avoided after the static state is kept for the preset time, the robot plans the route again to avoid the pedestrian barrier in order to avoid unnecessary waiting. If the pedestrian barrier is avoided in time, the robot can increase the moving speed to continue to advance according to the original planned route. Wherein, pedestrian's barrier in time dodges includes: avoiding is performed before the moving speed of the robot is not reduced to stop moving, and avoiding is performed when the moving speed of the robot is reduced to stop moving but the robot is kept in a static state for a time period which does not exceed a preset time period.
According to the invention, the pressure value of the pressure of the sprayed gas is adjusted according to the preset mapping table according to the real-time distance data between the robot and the pedestrian barrier, so that the condition that the constant pressure value is kept to cause harm to the human body along with the shortening of the distance is avoided.
A fourth embodiment of the present invention, as shown in fig. 4, is a pedestrian reminding system 100 based on a robot, comprising:
an obtaining module 110, which obtains video information;
an analysis module 120, which analyzes the video information acquired by the acquisition module 110 to identify an obstacle;
the analysis module 120, when the obstacle is a pedestrian obstacle, acquiring distance data between the pedestrian obstacle and the robot according to the video information acquired by the acquisition module 110, and comparing the distance data with a safe distance;
the execution module 130 is configured to, when the distance data obtained by the analysis module 120 is less than or equal to a safety distance, eject initial pressure gas to the pedestrian obstacle, where a pressure value of the initial pressure gas is within a preset safety threshold range;
the execution module 130 specifically includes:
the identification unit 131 is used for identifying the direction information of the pedestrian obstacle when the analysis module 120 obtains that the distance data is smaller than or equal to a safe distance;
an execution unit 132 for adjusting the orientation of the air injection device according to the orientation information acquired by the identification unit 131;
an acquisition unit 133 that acquires time information;
the executing unit 132, when the time information acquired by the acquiring unit 133 belongs to a preset summer time command, ejects the initial pressure gas to the lower half part of the body of the pedestrian obstacle, wherein the pressure value of the initial pressure gas is within a preset safety threshold range;
the execution unit 132, when the time information acquired by the acquisition unit 133 belongs to a preset winter season, ejects the initial pressure gas to the upper half part of the body of the pedestrian obstacle;
further comprising:
the execution module 130 starts to reduce the moving speed after the initial pressure gas is sprayed;
the acquiring module 110 acquires real-time distance data between the pedestrian obstacle and the robot after the executing module 130 ejects the initial pressure gas;
the obtaining module 110 obtains a mapping table between preset distance data and a pressure value of the pressure gas;
the execution module 130 adjusts the pressure value of the ejected pressure gas according to the real-time distance data and the mapping table;
the execution module 130, if the pedestrian obstacle is avoided, increasing the moving speed to continue to advance;
the execution module 130 replans a route if the robot is stationary at a certain position for a preset time and the pedestrian barrier is not avoided;
the reminding module 140 reminds the pedestrian barrier according to a preset reminding mode while the execution module 130 sprays the pressure gas to the pedestrian barrier, wherein the preset reminding mode includes any one or more of voice, light and character display.
The specific operation modes of the modules in this embodiment have been described in detail in the corresponding method embodiments, and thus are not described in detail again.
A fifth embodiment of the present invention is a robot 1, as shown in fig. 5 and 6, including:
the RGBD module 11 acquires video information, analyzes the acquired video information and identifies obstacles;
the RGBD module 11 is configured to, when the obstacle is a pedestrian obstacle, obtain distance data between the pedestrian obstacle and the robot according to the obtained video information;
the gas injection device 12 is used for injecting initial pressure gas to the pedestrian obstacle when the distance data acquired by the RGBD module 11 is smaller than or equal to a safe distance, wherein the pressure value of the initial pressure gas is within a preset safe threshold range;
the air injection device 12 is used for identifying the direction information of the pedestrian obstacle when the distance data is less than or equal to a safe distance;
adjusting the direction of the air injection device according to the direction information, and then acquiring time information;
when the time information belongs to a preset summer time order, the initial pressure gas is sprayed to the lower half part of the body of the pedestrian barrier, and the pressure value of the initial pressure gas is within a preset safety threshold range;
when the time information belongs to a preset winter season, the initial pressure gas is sprayed to the upper half part of the body of the pedestrian barrier;
after the initial pressure gas is sprayed out, the moving speed is reduced, and real-time distance data between the pedestrian barrier and the robot is acquired;
acquiring a mapping table between the distance data and the pressure value of the pressure gas;
adjusting the pressure value of the ejected pressure gas according to the real-time distance data and the mapping table;
if the robot is static at a certain position for a preset time and the pedestrian barrier is not avoided, re-planning a route;
if the pedestrian barrier is avoided, increasing the moving speed to continue advancing;
the auxiliary reminding device comprises an LCD131, a sound box 132 and the like, and reminds the pedestrian obstacles according to a preset reminding mode, wherein the preset reminding mode comprises any one or more of voice, light and character display.
The specific operation modes of the apparatuses in this embodiment have been described in detail in the corresponding method embodiments, and therefore are not described in detail again.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A pedestrian reminding method based on a robot is characterized by comprising the following steps:
acquiring video information of a plurality of directions;
analyzing the video information to identify obstacles;
when the obstacle is a pedestrian obstacle, acquiring distance data between the pedestrian obstacle and the robot according to the video information;
when the distance data is smaller than or equal to a safety distance, spraying initial pressure gas to the pedestrian barrier, wherein the pressure value of the initial pressure gas is within a preset safety threshold range;
when the distance data is less than or equal to a safe distance, the step of spraying initial pressure gas to the pedestrian obstacle comprises the following steps:
when the distance data is less than or equal to a safe distance, identifying the direction information of the pedestrian obstacle;
adjusting the direction of the air injection device according to the direction information, and then acquiring time information;
when the time information belongs to a preset summer time order, the initial pressure gas is sprayed to the lower half part of the body of the pedestrian barrier, and the pressure value of the initial pressure gas is within a preset safety threshold range;
and when the time information belongs to a preset winter season, the initial pressure gas is sprayed to the upper half part of the body of the pedestrian barrier.
2. The robot-based pedestrian reminding method according to claim 1, wherein when the distance data is less than or equal to a safe distance, an initial pressure gas is ejected to the pedestrian obstacle, and a pressure value of the initial pressure gas is within a preset safe threshold range, and then the method further comprises:
after the initial pressure gas is sprayed out, the moving speed is reduced, and real-time distance data between the pedestrian barrier and the robot is acquired;
acquiring a mapping table between the distance data and the pressure value of the pressure gas;
and adjusting the pressure value of the ejected pressure gas according to the real-time distance data and the mapping table.
3. The robot-based pedestrian reminding method according to claim 2, wherein the step of adjusting the pressure value of the ejected pressure gas according to the real-time distance data and the mapping table further comprises:
if the robot is static at a certain position for a preset time and the pedestrian barrier is not avoided, re-planning a route;
and if the pedestrian barrier is avoided, increasing the moving speed to continue advancing.
4. The robot-based pedestrian reminding method according to claim 1, wherein when the distance data is less than or equal to a safe distance, an initial pressure gas is ejected to the pedestrian obstacle, and a pressure value of the initial pressure gas is within a preset safe threshold range, and then the method further comprises:
reminding the pedestrian barrier according to a preset reminding mode, wherein the preset reminding mode comprises any one or more of voice, light and character display.
5. A pedestrian reminding system based on a robot is characterized by comprising:
the acquisition module acquires video information in multiple directions;
the analysis module analyzes the video information acquired by the acquisition module and identifies obstacles;
the analysis module is used for acquiring distance data between the pedestrian barrier and the robot according to the video information acquired by the acquisition module and comparing the distance data with a safe distance when the barrier is the pedestrian barrier;
the execution module is used for spraying initial pressure gas to the pedestrian barrier when the distance data obtained by the analysis module is smaller than or equal to a safe distance, and the pressure value of the initial pressure gas is within a preset safe threshold range;
the execution module specifically comprises:
the identification unit is used for identifying the direction information of the pedestrian obstacle when the distance data obtained by the analysis module is smaller than or equal to a safe distance;
the execution unit is used for adjusting the direction of the air injection device according to the direction information acquired by the identification unit;
an acquisition unit that acquires time information;
the execution unit is used for spraying the initial pressure gas to the lower half part of the body of the pedestrian barrier when the time information acquired by the acquisition unit belongs to a preset summer time order, and the pressure value of the initial pressure gas is within a preset safety threshold range;
and the execution unit is used for spraying the initial pressure gas to the upper half part of the body of the pedestrian barrier when the time information acquired by the acquisition unit belongs to a preset winter season.
6. The robot-based pedestrian alert system of claim 5, further comprising:
the execution module starts to reduce the moving speed after the initial pressure gas is sprayed out;
the acquisition module is used for acquiring real-time distance data between the pedestrian barrier and the robot after the execution module ejects initial pressure gas;
the acquisition module acquires a mapping table between preset distance data and a pressure value of the pressure gas;
the execution module adjusts the pressure value of the ejected pressure gas according to the real-time distance data and the mapping table;
the execution module increases the moving speed to continue advancing if the pedestrian barrier is avoided;
and the execution module is used for re-planning a route if the robot is static at a certain position for a preset time and the pedestrian barrier is not avoided.
7. The robot-based pedestrian alert system of claim 5, further comprising:
the reminding module is used for reminding the pedestrian barrier according to a preset reminding mode while the execution module sprays pressure gas to the pedestrian barrier, and the preset reminding mode comprises any one or more of voice, light and character display.
8. A robot, comprising:
the RGBD module acquires video information in multiple directions, analyzes the acquired video information and identifies obstacles;
when the obstacle is a pedestrian obstacle, the RGBD module acquires distance data between the pedestrian obstacle and the robot according to the acquired video information;
the gas injection device is used for injecting initial pressure gas to the pedestrian barrier when the distance data acquired by the RGBD module is smaller than or equal to a safe distance, and the pressure value of the initial pressure gas is within a preset safe threshold range;
the gas injection device also identifies the direction information of the pedestrian barrier when the distance data is less than or equal to the safe distance, adjusts the direction of the gas injection device according to the direction information and then acquires time information; when the time information belongs to a preset summer time order, the initial pressure gas is sprayed to the lower half part of the body of the pedestrian barrier, and the pressure value of the initial pressure gas is within a preset safety threshold range; and when the time information belongs to a preset winter season, the initial pressure gas is sprayed to the upper half part of the body of the pedestrian barrier.
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| CN112506204B (en) * | 2020-12-17 | 2022-12-30 | 深圳市普渡科技有限公司 | Robot obstacle meeting processing method, device, equipment and computer readable storage medium |
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