CN110070016A - A kind of robot control method, device and storage medium - Google Patents
A kind of robot control method, device and storage medium Download PDFInfo
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- CN110070016A CN110070016A CN201910295605.0A CN201910295605A CN110070016A CN 110070016 A CN110070016 A CN 110070016A CN 201910295605 A CN201910295605 A CN 201910295605A CN 110070016 A CN110070016 A CN 110070016A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
This application discloses a kind of robot control method, device and storage mediums, are related to control technology field, and the interaction to solve the problem of robot in the prior art and people is natural not enough, not smart enoughization.This method comprises: the image of robot acquisition target object；If recognizing the title of the target object according to described image, the title of the target object is shown.In this way, showing the title recognized on the screen of robot, different contents can be shown for different users, so that the interaction of robot and target object is more intelligent.For target object, the content of display is content closely related with itself, and cordial feeling and pleasantly surprised sense can be brought to user, so that human-computer interaction is more naturally smooth, to improve the experience of user.
Description
Technical field
This application involves control technology field more particularly to a kind of robot control methods, device and storage medium.
Background technique
With the rapid development of science and technology, robot is gradually applied in various fields, same in the field of hospitalit
It has been applied to robot.Good hospitalit requires robot that can make a response in the First view for seeing people, and to detecting
People carry out voice broadcast.
However, in the prior art, robot is only able to detect people, and the interaction of robot and people is natural not enough, inadequate intelligence
Energyization.
Summary of the invention
Application embodiment provides a kind of robot control method, device and storage medium, to solve in the prior art, machine
The problem of interaction of device people and people is natural not enough, not smart enoughization.
In a first aspect, the embodiment of the present application provides a kind of robot control method, this method comprises:
The image of robot acquisition target object；
If recognizing the title of the target object according to described image, the title of the target object is shown.
Second aspect, the embodiment of the present application provide a kind of robot controller, which includes:
First acquisition module, for acquiring the image of target object；
First display module shows the mesh if the title for recognizing the target object according to described image
Mark the title of object.
The third aspect, another embodiment of the application additionally provide a kind of robot, including at least one processor；
And；
The memory being connect at least one described processor communication；Wherein, the memory be stored with can by it is described extremely
The instruction that a few processor executes, described instruction are executed by least one described processor, so that at least one described processing
Device is able to carry out a kind of robot control method provided by the embodiments of the present application.
Fourth aspect, another embodiment of the application additionally provide a kind of computer storage medium, wherein the computer is deposited
Storage media is stored with computer executable instructions, and the computer executable instructions are for making computer execute the embodiment of the present application
One of robot control method.
A kind of robot control method, device and storage medium provided by the embodiments of the present application, by acquiring target object
Image so that determining the title of target object according to acquired image, and the title recognized is displayed on the screen.This
Sample shows the title recognized on the screen of robot, different contents can be shown for different users, so that machine
The interaction of device people and target object is more intelligent.For target object, the content of display is closely related interior with itself
Hold, cordial feeling and pleasantly surprised sense can be brought to user, so that human-computer interaction is more naturally smooth, to improve the experience of user.
Other features and advantage will illustrate in the following description, also, partly become from specification
It obtains it is clear that being understood and implementing the application.The purpose of the application and other advantages can be by written explanations
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the application scenarios schematic diagram of the robot control method in the embodiment of the present application；
Fig. 2 is the flow diagram of robot control method in the embodiment of the present application；
Fig. 3 is the unidentified flow diagram to target object in the embodiment of the present application；
Fig. 4 is the flow diagram that target object is determined in the embodiment of the present application；
Fig. 5 is the structural schematic diagram of robot controller in the embodiment of the present application；
Fig. 6 is the structural schematic diagram according to the robot of the application embodiment.
Specific embodiment
Interaction in order to solve the problem of robot in the prior art and people is natural not enough, not smart enoughization, the application
A kind of robot control method, device and storage medium are provided in embodiment.It is provided to better understand the embodiment of the present application
Technical solution, here to the basic principle of the program do briefly describe:
A kind of robot control method, device and storage medium provided by the embodiments of the present application, by acquiring target object
Image so that determining the title of target object according to acquired image, and the title recognized is displayed on the screen.This
Sample shows the title recognized on the screen of robot, different contents can be shown for different users, so that machine
The interaction of device people and target object is more intelligent.For target object, the content of display is closely related interior with itself
Hold, cordial feeling and pleasantly surprised sense can be brought to user, so that human-computer interaction is more naturally smooth, to improve the experience of user.
As shown in Figure 1, for the schematic diagram of a scenario of the robot control provided in the embodiment of the present application.Include in this scenario
Robot 11, server 12 and multiple users (such as user 13 and user 14), under the scene, robot 11 can be with by detection
It regard the user 13 nearest apart from robot 11 as target object, and acquires the image of user 13；Robot 11 is by the figure of acquisition
Recognition of face is carried out according to the image of acquisition as being sent to server 12, and by server 12, if recognizing the title of user 13,
The title of user 13 is then sent to robot 11.The robot 11 shows the title of user 13.And robot 11 broadcasts
Title and preset voice messaging to user 13 synthesize after voice.For example, the name for recognizing user 13 is that " king is small
It is bright ", gender is male, then broadcasts voice are as follows: " Mr. Wang little Ming welcomes you." and " king is small for display on the screen of robot 11
It is bright ".
It should be noted that recognition of face and speech synthesis can be executed by server 12 in the embodiment of the present application,
It can also be executed by the robot 11 for having analysis processing capacity.It can also partially be held by robot 11, partially by server 12
Row (such as server 12 carries out speech synthesis, and robot 11 carries out recognition of face), the application does not limit this.
Robot control method is described in detail below by specific embodiment.Fig. 2 is robot control method
Flow diagram, comprising the following steps:
Step 201: the image of robot acquisition target object.
Wherein, the target object of acquisition is the user being intended to interaction, and interaction is intended to refer to that user has a mind to and machine
People interacts, as user is close to robot.If the user to pass by front of robot may only pass by, not have
The user that interaction is intended to.On how to specifically determine the target object that there is interaction to be intended to, it hereafter will do it detailed description, do not do herein
It repeats.
Step 202: if recognizing the title of the target object according to described image, showing the name of the target object
Claim.
In one embodiment, the facial image of target object can be determined from the image of acquisition by vision algorithm,
And recognition of face is carried out to facial image, it is determined whether for the user being stored in advance in user database.Wherein, which provides
Facial image, corresponding title and the other information of user are stored in material library.Facial image can be passed through when recognition of face
Search the title of corresponding user.If recognizing user by recognition of face, the name of the user being read, for showing
Show on the screen of robot.Such as: the name for recognizing user is " Wang little Ming ", then " king is shown on the screen of robot
Xiao Ming ".
In this way, showing the title recognized on the screen of robot, can be shown for different users different
Content, so that the interaction of robot and target object is more intelligent.For target object, the content of display is close with itself
Relevant content is cut, cordial feeling can be brought to make human-computer interaction to user more naturally smooth, to improve the experience of user.
In the embodiment of the present application, the state of robot may include sleep state and wake-up states.In a sleep state, machine
The screen of device people is in standby, and is such as in screen protection state, is shown smiling face's expression under the screen protection state.Robot
In a sleep state with the operation that can carry out above-mentioned steps 201- step 202 under wake-up states, i.e., for having interaction meaning
The target object of figure can show the content comprising its title.Specifically:
If 1), robot is in sleep state, robot shows the title of the target object.
In addition, after robot shows the title of the target object, can also be waken up if robot is in sleep state
The robot.In this way, robot in a dormant state when, when detect interaction intention target object after, Neng Gouji
When wake up robot, family can be used and be rapidly performed by interaction, without waiting for wakeup time, to improve the experience of user.
2), if robot is in wake-up states, but currently without execute man-machine interactive task (i.e. there is currently no with machine
The object of people's interaction), then after robot shows the title of the target object, calling out before the screen of robot is restored to
Interface under the state of waking up, continues to stay awake for.
In the embodiment of the present application, in order to improve the effect of human-computer interaction, when carrying out recognition of face, if having recognized use
The name at family can also carry out voice broadcast, specific implementable are as follows: if recognizing the title of the target object, to broadcast root
The voice synthesized according to the title of the target object and preset voice messaging.For example, the name for recognizing user is that " king is small
It is bright ", gender is male, then broadcasts voice are as follows: " Mr. Wang little Ming welcomes you ".
Wherein, preset voice messaging be can be pre-configured information, such as: welcome you, your voices letter such as good
Breath.Certainly when it is implemented, can be pre-configured with by the provider of robot, can also by robot the owner according to demand
Configuration.Such as client machine people is configurable to " you are good by * *, I is customer service leopard a girl secretary concurrently a lover, what has, and can I help you? ".
By speech synthesis, by include target object title voice broadcast to the target object, can be for not
Same user broadcasts different voice contents, to bring cordial feeling and pleasantly surprised sense to user, further increases the experience of user.
And in order to further increase user to the viscosity of robot, make that robot is more intelligent to be interacted, it can be with
It is stored in advance the access purpose of user, the purpose of access is, for example, that site visit, employee's working check card, reserves and discuss etc..Wherein,
The access purpose of user can store in robot local, also can store in the server, the application does not limit this.
In recognition of face, in addition to the name of aforementioned available target object, outside the information such as gender, target also can read
The access purpose of object.Therefore, the access purpose of target object can also be added when broadcasting voice, it is specific implementable are as follows: if knowing
It is clipped to the title and access purpose of the target object, then broadcasts the title according to the target object, access purpose and institute
State the voice of preset voice messaging synthesis.For example, if detecting, the name of user is " Wang little Ming ", and gender is male, accesses mesh
Are as follows: site visit then broadcasts voice are as follows: " Mr. Wang little Ming welcomes to our company visit, and wishes that you visit happiness." this
The access purpose of target object is added in the voice of casting by sample, can further be improved the effect of human-computer interaction, be improved
User is to the viscosity of robot, to improve the experience of user.
Above description is by identifying to the image of acquisition, and successful situation is identified, below in sleep
The case where robot of state unidentified title to target object, is described further.Fig. 3 is unidentified to target object
Title flow diagram, comprising the following steps:
Step 301: if the unidentified title to the target object, wakes up the robot.
Step 302: acquiring the image of the target object again.
Step 303: if showing the target according to the title of the image recognition acquired again to the target object
The title of object.
Recognition of face is again attempted to, guarantees user experience.
In one embodiment, if the first time unidentified title to target object, preset voice letter can be broadcasted
Breath, wakes up the robot later.The image for acquiring target object again, if according to acquired image again to target object
Recognition of face is carried out again, if recognizing the title of target object, the name recognized can be shown on the screen of robot
Claim, due to having broadcasted voice when identifying first time, in order to improve user experience, recognizes the name of target object for the second time
Claim without being broadcasted.Certainly, when it is implemented, can also broadcast, the application does not limit this.
In the embodiment of the present application, for the image for how acquiring target object again, following two situation can be divided, had
When body is implemented, an execution can be selected according to actual needs:
Situation one: being strict with the target object of front and back twice is same natural person
It in the embodiment of the present application, can be by this target object and the when acquiring the image of target object again
Target object in one acquisition image compares, and judges whether the target object acquired twice is same natural person.If two
The similarity of the target object of secondary acquisition is greater than default similarity, it is determined that the target object acquired twice is same natural person；
In the case where determining the target object acquired twice is same natural person, recognition of face is carried out again to the target object.
If recognizing the name of target object, the title that the robot shows the target object is controlled.In this way, due to for the first time
The title recognized, is displayed on the screen after recognition of face by the unidentified title to target object again, and identification can be improved
Accuracy, reduce error.
If the similarity of the target object acquired twice is not more than default similarity, it is determined that the target object acquired twice
It is not same natural person.In the case where the target object acquired twice is not same natural person, then abandon executing subsequent step
Suddenly, that is, do not need to be carried out according to the image that acquires again recognition of face and its later the step of.
Situation two: strict demand is had no to the target object of front and back twice
In the embodiment of the present application, in unidentified successful situation for the first time, then the image of target object is acquired again；
That is, obtaining the image of robot acquisition, the user being intended to interaction is then searched out from image, and acquire its face figure
As without needing whether the target object confirmed Qian Hou twice is same natural person as situation one.
For to sum up, if first time recognition of face identifies not successfully, recognition of face can be carried out by acquiring image again
The accuracy rate of the recognition of face of robot, the as far as possible name of the casting of control robot or displaying target object can be improved in operation
Claim, to user with cordial feeling.
In the embodiment of the present application, it in order to save the resource of robot, has not been able to identify the target object repeatedly
Title after, then stop the image for acquiring the target object, it is specific implementable are as follows: if continuous preset times are unidentified to described
The title of target object then stops the operation for acquiring the image of the target object again.
When it is implemented, preset times can be set as 2 times.In this way, after multiple recognition failures, stop identification, it can be with
It allows robot not repeat identification to go down, saves the resource of robot.
The target object for how determining and being intended to interaction is simply described in above-described embodiment, below to how determining
The target object being intended to interaction is described in detail.It in the embodiment of the present application, can be by between user and robot
Distance and angle determine whether to there is the target object that interaction is intended to, as shown in figure 4, it is specific it is implementable be following steps:
Step 401: determining the facial angle of the distance between each object and the robot and each object.
In one embodiment, each object refers to the general name in the image of acquisition including object, that is, includes interactive meaning
The object of figure and the object being intended to without interaction.
Step 402: determining that distance is less than pre-determined distance and facial angle is less than the object of predetermined angle for target object.
When it is implemented, pre-determined distance can be set as to 1.3 meters, predetermined angle is set as 60 degree.In order to guarantee to determine mesh
The accuracy for marking object, need to meet two above condition, in this way, passing through the distance between target object and the robot and institute
The facial angle of target object is stated, collected target object can be made more acurrate.
In the embodiment of the present application, if detecting, multiple objects are appeared in the image of acquisition, can determine the figure respectively
As the distance between interior each object and robot and facial angle, and satisfactory object is determined as to have what interaction was intended to
Target object.It is specific implementable for following two aspect:
1), select an object as target object:
If the distance of multiple objects is less than pre-determined distance and facial angle is less than predetermined angle, at least one is therefrom selected
Object is as the target object that there is interaction intention.For example, if there are 3 objects to meet the requirements, can therefrom select and machine
The smallest object of the distance and facial angle of people is as the target object that there is interaction intention.
2), select multiple objects as target object:
Certainly, it if the distance of multiple objects is less than pre-determined distance and facial angle is less than predetermined angle, can also therefrom select
It takes using multiple objects as the target object that there is interaction intention.For example, acquiring 3 targets respectively if there is 3 target objects
The information such as name, the gender of object.Such as the information of 3 target objects is respectively as follows: user 1: name king Xiao Ming, gender male；With
Family 2: name Zhang San, gender female；User 3: name Li Si, gender male.And when being broadcasted, can each target object in turn
Casting, such as " Mr. Wang little Ming welcomes you for first casting.", then broadcast that " Mrs Zhang San welcomes you." " Li Si is first for finally casting
It is raw, welcome you.", it is of course also possible to be broadcasted simultaneously, such as " Mr. Wang little Ming, Mrs Zhang San, Mr. Li Si welcome
You ".
Based on identical inventive concept, the embodiment of the present application also provides a kind of robot controllers.As shown in figure 5,
The device includes:
First acquisition module 501, for acquiring the image of target object；
First display module 502, if the title for recognizing the target object according to described image, described in display
The title of target object.
Further, if the robot is in sleep state, described device further include:
First wake-up module, for waking up the robot.
Further, described device further include:
Broadcasting module broadcasts the title according to the target object if the title for recognizing the target object
With the voice of preset voice messaging synthesis.
Further, it if broadcasting module is specifically used for recognizing the title of the target object and access purpose, broadcasts
The voice that report is synthesized according to the title of the target object, access purpose and the preset voice messaging.
Further, described device further include:
Second wake-up module, if waking up the robot for the unidentified title to the target object；
Second acquisition module, for acquiring the image of the target object again；
Second display module, if being shown for the title according to the image recognition acquired again to the target object
Show the title of the target object.
Further, second acquisition module, if it is unidentified to the target object to be also used to continuous preset times
Title then stops the operation for acquiring the image of the target object again.
Further, described device further include:
Determining module, for determining target object in the following way: determine between each object and the robot away from
From the facial angle with each object；Determine that distance is less than pre-determined distance and facial angle is less than the object of predetermined angle for mesh
Mark object.
After the method and device for the robot control for describing the application illustrative embodiments, next, introducing
According to the robot of the another exemplary embodiment of the application.
Person of ordinary skill in the field it is understood that the various aspects of the application can be implemented as system, method or
Program product.Therefore, the various aspects of the application can be with specific implementation is as follows, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as circuit, " module " or " system ".
In some possible embodiments, according to an embodiment of the present application, robot can include at least at least one
Processor and at least one processor.Wherein, memory is stored with program code, when program code is executed by processor,
So that processor executes the robot control method according to the various illustrative embodiments of the application of this specification foregoing description
In step 201-202.
The robot 60 of this embodiment according to the application is described referring to Fig. 6.The robot 60 that Fig. 6 is shown
An only example, should not function to the embodiment of the present application and use scope bring any restrictions.
As shown in fig. 6, the component of robot 60 can include but is not limited to: at least one above-mentioned processor 61, it is above-mentioned extremely
A few memory 62, the bus 63 for connecting different system components (including memory 62 and processor 61).
Bus 63 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, processor or the local bus using any bus structures in a variety of bus structures.
Memory 62 may include the readable medium of form of volatile memory, such as random access memory (RAM) 621
And/or cache memory 622, it can further include read-only memory (ROM) 623.
Memory 62 can also include program/utility 625 with one group of (at least one) program module 624, this
The program module 624 of sample includes but is not limited to: operating system, one or more application program, other program modules and journey
It may include the realization of network environment in ordinal number evidence, each of these examples or certain combination.
Robot 60 can also be communicated with one or more external equipments 64 (such as sensing equipment etc.), can also with one or
Person is multiple to enable a user to the equipment interacted with robot 60 communication, and/or with enable the robot 60 and one or more
Any equipment (such as router, modem etc.) communication that other robots are communicated.This communication can be by defeated
Enter/export the progress of (I/O) interface 65.Also, robot 60 can also pass through network adapter 66 and one or more network
(such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.As shown, network adapter
66 are communicated by bus 63 with other modules for robot 60.It will be appreciated that though being not shown in the figure, machine can be combined
People 60 uses other hardware and/or software module, including but not limited to: microcode, device driver, redundant processor, outside
Disk drive array, RAID system, tape drive and data backup storage system etc..
In some possible embodiments, the various aspects of robot control method provided by the present application can also be realized
For a kind of form of program product comprising program code, when program product is run on a computing device, program code is used
In make computer equipment execute this specification foregoing description according to the robot of the various illustrative embodiments of the application control
Method in step, execute step 201-202 as shown in Figure 2.
Program product can be using any combination of one or more readable mediums.Readable medium can be readable signal Jie
Matter or readable storage medium storing program for executing.Readable storage medium storing program for executing for example may be-but not limited to-electricity, magnetic, optical, electromagnetic, infrared
The system of line or semiconductor, device or device, or any above combination.The more specific example of readable storage medium storing program for executing is (non-
The list of exhaustion) include: electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM),
Read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, the read-only storage of portable compact disc
Device (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The robot control method of the application embodiment can use portable compact disc read only memory (CD-ROM)
And including program code, and can be run in robot.However, the program product of the application is without being limited thereto, in this document,
Readable storage medium storing program for executing can be any tangible medium for including or store program, which can be commanded execution system, device
Either device use or in connection.
Readable signal medium may include in a base band or as the data-signal that carrier wave a part is propagated, wherein carrying
Readable program code.The data-signal of this propagation can take various forms, including --- but being not limited to --- electromagnetism letter
Number, optical signal or above-mentioned any appropriate combination.Readable signal medium can also be other than readable storage medium storing program for executing it is any can
Read medium, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or
Program in connection.
The program code for including on readable medium can transmit with any suitable medium, including --- but being not limited to ---
Wirelessly, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
It should be noted that although being referred to several unit or sub-units of device in the above detailed description, this stroke
It point is only exemplary not enforceable.In fact, according to presently filed embodiment, it is above-described two or more
The feature and function of unit can embody in a unit.Conversely, the feature and function of an above-described unit can
It is to be embodied by multiple units with further division.
In addition, although in the accompanying drawings sequentially to describe the operation of the application method, this does not require that or implies
These operations must be sequentially executed according to this, or have to carry out operation shown in whole and be just able to achieve desired result.It is attached
Add ground or it is alternatively possible to omit certain steps, multiple steps are merged into a step and are executed, and/or by a step point
Solution is execution of multiple steps.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with side
In the computer-readable memory of formula work, so that it includes instruction dress that instruction stored in the computer readable memory, which generates,
The manufacture set, the command device are realized in one box of one or more flows of the flowchart and/or block diagram or multiple
The function of being specified in box.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although the preferred embodiment of the application has been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the application range.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
Claims (10)
1. a kind of robot control method, which is characterized in that the described method includes:
The image of robot acquisition target object；
If recognizing the title of the target object according to described image, the title of the target object is shown.
2. the method according to claim 1, wherein the method is also if the robot is in sleep state
Include:
Wake up the robot.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
If recognizing the title of the target object, casting is closed according to the title of the target object and preset voice messaging
At voice.
4. according to the method described in claim 3, it is characterized in that, if the title for recognizing the target object, broadcasts
The voice that report is synthesized according to the title of the target object and preset voice messaging, specifically includes:
If recognizing the title and access purpose of the target object, the title according to the target object, access are broadcasted
The voice of purpose and the preset voice messaging synthesis.
5. according to the method described in claim 2, it is characterized in that, the method also includes:
If the unidentified title to the target object, wakes up the robot；
The image of the target object is acquired again；
If showing the title of the target object according to the title of the image recognition acquired again to the target object.
6. according to the method described in claim 5, it is characterized in that, the method also includes:
If the unidentified title to the target object of continuous preset times, stops the image for acquiring the target object again
Operation.
7. the method according to claim 1, wherein determining target object in the following way:
Determine the facial angle of the distance between each object and the robot and each object；
Determine that distance is less than pre-determined distance and facial angle is less than the object of predetermined angle for target object.
8. a kind of robot controller, which is characterized in that described device includes:
First acquisition module, for acquiring the image of target object；
First display module shows the target pair if the title for recognizing the target object according to described image
The title of elephant.
9. a kind of computer-readable medium, is stored with computer executable instructions, which is characterized in that the computer is executable to be referred to
It enables for executing the method as described in any claim in claim 1-7.
10. a kind of robot characterized by comprising
At least one processor；And the memory being connect at least one described processor communication；Wherein, the memory is deposited
The instruction that can be executed by least one described processor is contained, described instruction is executed by least one described processor, so that institute
It states at least one processor and is able to carry out method as described in any claim in claim 1-7.
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