CN110531769A - Method and device is determined for robot movement routine - Google Patents
Method and device is determined for robot movement routine Download PDFInfo
- Publication number
- CN110531769A CN110531769A CN201910802166.8A CN201910802166A CN110531769A CN 110531769 A CN110531769 A CN 110531769A CN 201910802166 A CN201910802166 A CN 201910802166A CN 110531769 A CN110531769 A CN 110531769A
- Authority
- CN
- China
- Prior art keywords
- robot
- navigation
- image
- path
- movement routine
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000012545 processing Methods 0.000 claims description 30
- 238000003860 storage Methods 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 15
- 230000006870 function Effects 0.000 description 8
- 238000004891 communication Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 7
- 238000012549 training Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000005236 sound signal Effects 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 3
- 238000013527 convolutional neural network Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- KLDZYURQCUYZBL-UHFFFAOYSA-N 2-[3-[(2-hydroxyphenyl)methylideneamino]propyliminomethyl]phenol Chemical compound OC1=CC=CC=C1C=NCCCN=CC1=CC=CC=C1O KLDZYURQCUYZBL-UHFFFAOYSA-N 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 201000001098 delayed sleep phase syndrome Diseases 0.000 description 1
- 208000033921 delayed sleep phase type circadian rhythm sleep disease Diseases 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000032696 parturition Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/214—Generating training patterns; Bootstrap methods, e.g. bagging or boosting
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/04—Architecture, e.g. interconnection topology
- G06N3/045—Combinations of networks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Artificial Intelligence (AREA)
- General Engineering & Computer Science (AREA)
- Evolutionary Computation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Biophysics (AREA)
- Computational Linguistics (AREA)
- Health & Medical Sciences (AREA)
- Remote Sensing (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Computing Systems (AREA)
- Biomedical Technology (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Aviation & Aerospace Engineering (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Biology (AREA)
- Image Analysis (AREA)
Abstract
The present invention provides one kind to determine method and device for robot movement routine.Wherein, the movement routine determines that method includes: to obtain image to be processed, and the image to be processed includes the crowd that lines up lined up in region corresponding to guidance path, and the guidance path includes at least one navigation total path and multiple navigation subpaths；The image to be processed is identified based on troop's identification model, to line up first row group area locating for crowd described in determination；The movement routine of robot is switched into the navigation subpath corresponding to first row group area from navigation total path, not only Dynamic Programming can be carried out according to actual scene dynamic change, but also improve machine task efficiency.
Description
Technical field
The present invention relates to field of artificial intelligence, in particular to a kind of to determine method and dress for robot movement routine
It sets.
Background technique
With the emergence and development of the technologies such as cloud computing, artificial intelligence, big data, along with the application of new technology, intelligence
Hardware gradually came into the visual field of ordinary consumer in recent years, and wherein intelligent robot industry has obtained rapid growth, at present
Robot device has covered parent-offspring's early education, safety education, has accompanied the various industries such as monitoring, commerce services in the market, is related to giving birth to
Every aspect living.
Existing robot navigation's Path Planning Technique is typically all fixed route, or encounters barrier and just detour,
Dynamic Programming will not be carried out according to actual scene dynamic change.
Existing navigation path planning seems stiff, and operational paradigm is not high.
Summary of the invention
The present invention provides one kind and determines method and device for robot movement routine, to be become according to actual scene dynamic
Change and carry out Dynamic Programming, improves machine task efficiency.
According to the one side of the disclosure, it provides one kind and determines method for robot movement routine, specifically include: obtaining
Image to be processed, the image to be processed include the crowd that lines up lined up in region corresponding to guidance path, the navigation road
Diameter includes at least one navigation total path and multiple navigation subpaths；The image to be processed is identified based on troop's identification model,
To line up first row group area locating for crowd described in determination；The movement routine of robot is switched into correspondence from navigation total path
In the navigation subpath of first row group area.
In one possible implementation, the navigation total path passage path node is connect with navigation subpath, institute
State method further include: in the case where robot is moved to the path node, by the movement routine of robot from the total road of navigating
Diameter switches to the navigation subpath.
In one possible implementation, the image to be processed is identified based on troop's identification model, described in determination
Line up first row group area locating for crowd, comprising: the images to be recognized is input in troop's identification model, is obtained
The quantity of human body head and position in images to be recognized；The column of guidance path are determined according to the quantity of the human body head and position
It whether include lining up crowd in group area.
In one possible implementation, the robot movement routine determines that method is true by robot movement routine
Determine system execution, the robot movement routine determines that system includes at least at least one first robot, the figure to be identified
As the first image acquisition component by being set to first robot acquires.
In one possible implementation, the robot movement routine determines that system includes at least multiple second machines
People, the images to be recognized are acquired by being set to the second image acquisition component of second robot；The multiple second
Robot, which is respectively arranged in, each lines up region.
According to another aspect of the present disclosure, it provides a kind of robot movement routine and determines system, specifically include image and adopt
Collect module, for obtaining image to be processed, the image to be processed includes lining up to line up in region corresponding to guidance path
Crowd, the guidance path include at least one navigation total path and multiple navigation subpaths；
Image processing module, for identifying the image to be processed based on troop's identification model, to line up people described in determination
First row group area locating for group；The movement routine of robot is switched to from navigation total path corresponding to first row group area
Navigate subpath.
In one possible implementation, the navigation total path passage path node is connect with navigation subpath: institute
State image processing module, it may also be used in the case where robot is moved to the path node, by the movement routine of robot
The navigation subpath is switched to from navigation total path.
In one possible implementation, the image to be processed is identified based on troop's identification model, described in determination
Line up first row group area locating for crowd, comprising: the images to be recognized is input in troop's identification model, is obtained
The quantity of human body head and position in images to be recognized；The column of guidance path are determined according to the quantity of the human body head and position
It whether include lining up crowd in group area.
According to another aspect of the present disclosure, a kind of computer readable storage medium is provided, computer journey is stored thereon with
Sequence instruction, the computer program instructions realize the above method when being executed by processor.
Determine that method, the present invention can obtain image to be processed, base according to the robot movement routine of the embodiment of the present disclosure
The image to be processed is identified in troop's identification model, to line up first row group area locating for crowd described in determination；By machine
The movement routine of people switches to the navigation subpath corresponding to first row group area from navigation total path, not only can be according to reality
Scene dynamics change and carry out Dynamic Programming, and improve machine task efficiency.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 shows the flow chart that method is determined for robot movement routine according to the embodiment of the present disclosure.
Fig. 2 shows the block diagrams that system is determined for robot movement routine according to the embodiment of the present disclosure.
Fig. 3 and Fig. 4 be shown respectively according to the embodiment of the present disclosure for robot movement routine determine system AT STATION or
The practical scene figure of airport security mouth.
Fig. 5 shows the block diagram of a kind of electronic equipment according to the embodiment of the present disclosure.
Fig. 6 shows the block diagram of a kind of electronic equipment according to the embodiment of the present disclosure.
Specific embodiment
Various exemplary embodiments, feature and the aspect of the disclosure are described in detail below with reference to attached drawing.It is identical in attached drawing
Appended drawing reference indicate element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings, remove
It non-specifically points out, it is not necessary to attached drawing drawn to scale.
Dedicated word " exemplary " means " being used as example, embodiment or illustrative " herein.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, indicates that there may be three kinds of passes
System, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, these three situations of individualism B.In addition, herein
Middle term "at least one" indicate a variety of in any one or more at least two any combination, it may for example comprise A,
B, at least one of C can indicate to include any one or more elements selected from the set that A, B and C are constituted.
In addition, giving numerous details in specific embodiment below in order to which the disclosure is better described.
It will be appreciated by those skilled in the art that without certain details, the disclosure equally be can be implemented.In some instances, for
Method, means, element and circuit well known to those skilled in the art are not described in detail, in order to highlight the purport of the disclosure.
Fig. 1 shows the flow chart that method is determined for robot movement routine according to the embodiment of the present disclosure.The face is known
Other method can be executed by intelligent robot equipment or other processing equipments (such as server), wherein terminal device can be
User equipment (User Equipment, UE), mobile device, user terminal, terminal, cellular phone, wireless phone, individual digital
Handle (Personal Digital Assistant, PDA), handheld device, calculating equipment, mobile unit, wearable device etc..
In some possible implementations, this is used for robot movement routine and determines that method can be called in memory by processor
The mode of the computer-readable instruction of storage is realized.
As shown in Figure 1, which comprises
Step S11, obtains image to be processed, and the image to be processed includes lining up in region corresponding to guidance path
Line up crowd, the guidance path includes at least one navigation total path and multiple navigation subpaths.
In this implementation, the image to be processed can be to be obtained by the image acquisition device for being set to robot
It arrives, can be an image, the frame image being also possible in one section of video.It may include multiple in the image to be processed
Facial image and/or human body image.As an example, the image to be processed can be multidigit passenger in (station or airport) safety check
Mouth lines up the scene figure of ticket checking.
In the present embodiment, the multidigit passenger for lining up crowd and lining up ticket checking in (station or airport) security check lines up
Region, which can be, lines up region locating for crowd.Wherein, corresponding one of each ticketing spot lines up region, each to line up region pair
There should be a navigation subpath.It in one possible implementation, may include lining up multiple in the image to be processed
Wait in line what is checked to line up crowd in region.
In one possible implementation, the guidance path can be the movement routine of robot, guidance path by
Navigate total path and multiple navigation subpaths, and navigation total path is for connecting multiple navigation subpaths.As an example, from navigation
Subpath A switching falls navigation during the B of path, needs first to be switched to navigation total path from navigation subpath A, then from navigation
Total path is switched to navigation subpath B.
Step S12 identifies the image to be processed based on troop's identification model, to line up locating for crowd the described in determination
One lines up region.
Wherein, whether troop's identification model can be any type of neural network, wrap in image to be processed for identification
It includes and lines up crowd, and then the location of crowd will be lined up and be determined as first row group area.
Wherein, troop's identification model can with when any type of image recognition model, such as convolutional neural networks, this realization
In mode, the training process of troop's identification model be may include steps of, and establish data set, establish model, and training pattern is built
Vertical prediction model, specifically includes:
Step1, it establishes data set: controlling the camera of embedded device with fixed frequency and shoot picture, to what is taken
Image graphic is labeled, and realizes the detection to pedestrian head；
Step2, it establishes model: abstract characteristics extraction being carried out to picture using convolutional neural networks, obtained result is made
With maximum restrainable algorithms (NMS) operation, the foundation of implementation model；
Step3, training pattern: stochastic gradient descent algorithm (SGD) training pattern is used；
Step4, it establishes prediction model: taking the grid center of each picture as a reference point, predict the central point of head portrait,
The prediction of implementation model, the i.e. detection of pedestrian position.
Preferably, it is established in data set step in above-mentioned Step1, the filming frequency of camera is 50Hz.
It is established in data set step in above-mentioned Step1, mark is to pedestrian head image coordinate high-visible in figure
It indicates, format is (x, y, w, h)；Wherein, x is pedestrian head image abscissa value in picture, and y is that pedestrian head image is being schemed
Ordinate value in piece, w are width of the pedestrian head image in picture, and h is height of the pedestrian head image in picture；Picture
The upper left corner is coordinate origin, and horizontally to the right, y-axis direction is straight down for x-axis direction.
Preferably, in the step of establishing model in above-mentioned Step2, abstract characteristics are carried out to picture using convolutional neural networks
Detailed process is as follows for extraction: the full articulamentum by removing VGG16 obtains the character representation of picture, additional to add 1x1 convolution
Core, the convolutional layer of 12 channels (2x (5+1)) carry out the Detection task of picture, realize the feature extraction of picture.
Preferably, in specific implementation, in the step of establishing model in above-mentioned Step2, mode input is the video of 544x544
Image exports the prediction result for 17x17x12；The 17x17 represents picture and is divided into 17x17 grid；Each grid can
To obtain 2 prediction results.
Preferably, the system environments of training pattern is configured to Ubuntu 16.04, Pytorch 0.4.1 in above-mentioned Step3,
Torchvison 0.20, Opencv0.3.4, development language python3.6, stochastic gradient descent algorithm SGD used
Habit rate is 10^3.
Preferably, in specific implementation, in the step of establishing prediction model in above-mentioned Step4, pedestrian's head portrait is in picture
Wide high pass anchor (Anchor Box) determines, using 1/17 and 0.5/17 two kind of grid size.
The movement routine of robot is switched to the navigation corresponding to first row group area from navigation total path by step S13
Subpath.
In one embodiment, the navigation total path passage path node is connect with navigation subpath, and the method is also
It include: to switch to the movement routine of robot from navigation total path in the case where robot is moved to the path node
The navigation subpath.
In this implementation, the navigation total path includes multiple path nodes, and each path node is sub with navigation respectively
The movement routine of robot is switched to the navigation from navigation total path when robot switches movement routine by path connection
Subpath.
The present invention can obtain image to be processed, the image to be processed be identified based on troop's identification model, to determine
It states and lines up first row group area locating for crowd；The movement routine of robot is switched to from navigation total path corresponding to first row
The navigation subpath of group area not only can carry out Dynamic Programming according to actual scene dynamic change, but also improve robot
Working efficiency.
In one embodiment, the image to be processed is identified based on troop's identification model, to line up crowd described in determination
Locating first row group area, comprising: the images to be recognized is input in troop's identification model, obtains figure to be identified
The quantity of human body head and position as in；The lining up in region of guidance path is determined according to the quantity of the human body head and position
It whether include lining up crowd.
In this implementation, it can determine that band is by image by counting the quantity of human body head in image to be processed
The quantity of human body head, by lining up first row group area locating for crowd described in the determination of the location of robot.
In one embodiment, the robot movement routine determines that method determines that system is held by robot movement routine
Row, the robot movement routine determine that system includes at least at least one first robot, and the images to be recognized is by setting
It is placed in the first image acquisition component acquisition of first robot.
In this implementation, robot movement routine determines that method can determine that system is held by robot movement routine
Row, first robot can be moved according to the guidance path planned in advance, be provided to line up the crowd that lines up in region
Send the services such as water, voice broadcast, ticket checking notice.
In one embodiment, the robot movement routine determines that system includes at least multiple second robots, described
Images to be recognized is acquired by being set to the second image acquisition component of second robot；The multiple second robot point
It is not installed on and each lines up region.
In this implementation, the robot movement routine determine system can also include multiple second robots, first
Robot, multiple second robots carry out information exchange by wireless network connection mode and service, and each second robot uses
In acquiring each crowd that lines up for lining up region respectively, and collected image to be processed is sent to the first robot.
As an example, second robot can be installed on each ticketing spot, region is lined up with shooting and waits in line to examine
Ticket lines up crowd.
In one embodiment, Fig. 2 shows the signals that the robot movement routine according to the embodiment of the present disclosure determines system
Figure, as shown in Fig. 2, the robot movement routine determines that system includes image capture module 210 and image processing module 220.
Wherein, image capture module 210, for obtaining image to be processed, the image to be processed includes corresponding to navigation
The crowd that lines up lined up in region in path, the guidance path include at least one navigation total path and multiple sub- roads of navigation
Diameter；
Image processing module 220, for identifying the image to be processed based on troop's identification model, to line up described in determination
First row group area locating for crowd；The movement routine of robot is switched to from navigation total path corresponding to first row group area
Navigation subpath.
The present invention can obtain image to be processed, the image to be processed be identified based on troop's identification model, to determine
It states and lines up first row group area locating for crowd；The movement routine of robot is switched to from navigation total path corresponding to first row
The navigation subpath of group area not only can carry out Dynamic Programming according to actual scene dynamic change, but also improve robot
Working efficiency.
In one possible implementation, the navigation total path passage path node is connect with navigation subpath；Institute
State image processing module, it may also be used in the case where robot is moved to the path node, by the movement routine of robot
The navigation subpath is switched to from navigation total path.
In one possible implementation, the image to be processed is identified based on troop's identification model, described in determination
Line up first row group area locating for crowd, comprising: the images to be recognized is input in troop's identification model, is obtained
The quantity of human body head and position in images to be recognized；The column of guidance path are determined according to the quantity of the human body head and position
It whether include lining up crowd in group area.
Fig. 3 and Fig. 4 be shown respectively according to the embodiment of the present disclosure for robot movement routine determine system AT STATION or
The practical scene figure of airport security mouth.As shown in Figure 3 and Figure 4, described to determine that system can be used for for robot movement routine
The security check position on station or airport.
Wherein, station or airport are provided with multiple security checks, and a fixed hilllock robot can be set in each security check, use
Whether there is the crowd that lines up of queuing before identification security check, mobile hilllock robot can on a patrol duty, can as example
To be gone on patrol according to zigzag line walking, line up crowd if having, moves hilllock robot from navigation total path and switch to the navigation
Subpath is gone on patrol, if nothing, is moved hilllock robot and is continued to be gone on patrol according to navigation total path, mobile during patrol
Hilllock robot can carry out the operations such as fixed point rotary, confirmation positioning and/or broadcasting voice corpus.
In other implementation, mobile hilllock robot can also make casting letter during on a patrol duty
Breath service, collects dangerous material service, such as moves hilllock robot and can carry out casting prompting during patrol and " collect lighter
How do you do, combustible and explosive articles cannot band board a plane, by lighter inside other violated storage baskets for being placed in face of me
Oh~avoid enter into Mag & Bag Area open again packet check thank you~", so that passenger can be put into lighter mobile hilllock machine
Inside a stomacher frame on the person.
In the present embodiment, other than 5 separated time stream of people line of how much determinations, 10 separated time stream of people lines and 10 separated times that number can be lined up
Stream of people's line, wherein the 5 separated time stream of peoples can accommodate 8~12 people, and the 10 separated time stream of peoples can accommodate 10~25 people, 10 separated times with stranger
Stream can accommodate 22~30 people.
Fig. 5 is the block diagram of a kind of electronic equipment 800 shown according to an exemplary embodiment.For example, electronic equipment 800 can
To be mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, Medical Devices are good for
Body equipment, the terminals such as personal digital assistant.
Referring to Fig. 5, electronic equipment 800 may include following one or more components: processing component 802, memory 804,
Power supply module 806, multimedia component 808, audio component 810, the interface 812 of input/output (I/O), sensor module 814,
And communication component 816.
The integrated operation of the usual controlling electronic devices 800 of processing component 802, such as with display, call, data are logical
Letter, camera operation and record operate associated operation.Processing component 802 may include one or more processors 820 to hold
Row instruction, to perform all or part of the steps of the methods described above.In addition, processing component 802 may include one or more moulds
Block, convenient for the interaction between processing component 802 and other assemblies.For example, processing component 802 may include multi-media module, with
Facilitate the interaction between multimedia component 808 and processing component 802.
Memory 804 is configured as storing various types of data to support the operation in electronic equipment 800.These data
Example include any application or method for being operated on electronic equipment 800 instruction, contact data, telephone directory
Data, message, picture, video etc..Memory 804 can by any kind of volatibility or non-volatile memory device or it
Combination realize, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM) is erasable
Except programmable read only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, fastly
Flash memory, disk or CD.
Power supply module 806 provides electric power for the various assemblies of electronic equipment 800.Power supply module 806 may include power supply pipe
Reason system, one or more power supplys and other with for electronic equipment 800 generate, manage, and distribute the associated component of electric power.
Multimedia component 808 includes the screen of one output interface of offer between the electronic equipment 800 and user.
In some embodiments, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch surface
Plate, screen may be implemented as touch screen, to receive input signal from the user.Touch panel includes one or more touches
Sensor is to sense the gesture on touch, slide, and touch panel.The touch sensor can not only sense touch or sliding
The boundary of movement, but also detect duration and pressure associated with the touch or slide operation.In some embodiments,
Multimedia component 808 includes a front camera and/or rear camera.When electronic equipment 800 is in operation mode, as clapped
When taking the photograph mode or video mode, front camera and/or rear camera can receive external multi-medium data.It is each preposition
Camera and rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio component 810 is configured as output and/or input audio signal.For example, audio component 810 includes a Mike
Wind (MIC), when electronic equipment 800 is in operation mode, when such as call mode, recording mode, and voice recognition mode, microphone
It is configured as receiving external audio signal.The received audio signal can be further stored in memory 804 or via logical
Believe that component 816 is sent.In some embodiments, audio component 810 further includes a loudspeaker, is used for output audio signal.
I/O interface 812 provides interface between processing component 802 and peripheral interface module, and above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include, but are not limited to: home button, volume button, start button and lock
Determine button.
Sensor module 814 includes one or more sensors, for providing the state of various aspects for electronic equipment 800
Assessment.For example, sensor module 814 can detecte the state that opens/closes of electronic equipment 800, the relative positioning of component, example
As the component be electronic equipment 800 display and keypad, sensor module 814 can also detect electronic equipment 800 or
The position change of 800 1 components of electronic equipment, the existence or non-existence that user contacts with electronic equipment 800, electronic equipment 800
The temperature change of orientation or acceleration/deceleration and electronic equipment 800.Sensor module 814 may include proximity sensor, be configured
For detecting the presence of nearby objects without any physical contact.Sensor module 814 can also include optical sensor,
Such as CMOS or ccd image sensor, for being used in imaging applications.In some embodiments, which may be used also
To include acceleration transducer, gyro sensor, Magnetic Sensor, pressure sensor, temperature sensor, laser radar sensing
Device, 3D Camera sensor or ultrasonic sensor.
Communication component 816 is configured to facilitate the communication of wired or wireless way between electronic equipment 800 and other equipment.
Electronic equipment 800 can access the wireless network based on communication standard, such as WiFi, 2G or 3G or their combination.Show at one
In example property embodiment, communication component 816 receives broadcast singal or broadcast from external broadcasting management system via broadcast channel
Relevant information.In one exemplary embodiment, the communication component 816 further includes near-field communication (NFC) module, short to promote
Cheng Tongxin.For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band can be based in NFC module
(UWB) technology, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, electronic equipment 800 can be by one or more application specific integrated circuit (ASIC), number
Word signal processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing the above method.
In the exemplary embodiment, a kind of non-volatile computer readable storage medium storing program for executing is additionally provided, for example including calculating
The memory 804 of machine program instruction, above-mentioned computer program instructions can be executed by the processor 820 of electronic equipment 800 to complete
The above method.
Fig. 6 is the block diagram of a kind of electronic equipment 1900 shown according to an exemplary embodiment.For example, electronic equipment 1900
It may be provided as a server.Referring to Fig. 6, electronic equipment 1900 includes processing component 1922, further comprise one or
Multiple processors and memory resource represented by a memory 1932, can be by the execution of processing component 1922 for storing
Instruction, such as application program.The application program stored in memory 1932 may include it is one or more each
Module corresponding to one group of instruction.In addition, processing component 1922 is configured as executing instruction, to execute the above method.
Electronic equipment 1900 can also include that a power supply module 1926 is configured as executing the power supply of electronic equipment 1900
Management, a wired or wireless network interface 1950 is configured as electronic equipment 1900 being connected to network and an input is defeated
(I/O) interface 1958 out.Electronic equipment 1900 can be operated based on the operating system for being stored in memory 1932, such as
Android, Ubuntu, FreeRTOS or similar.
In the exemplary embodiment, a kind of non-volatile computer readable storage medium storing program for executing is additionally provided, for example including calculating
The memory 1932 of machine program instruction, above-mentioned computer program instructions can by the processing component 1922 of electronic equipment 1900 execute with
Complete the above method.
The disclosure can be system, method and/or computer program product.Computer program product may include computer
Readable storage medium storing program for executing, containing for making processor realize the computer-readable program instructions of various aspects of the disclosure.
Computer readable storage medium, which can be, can keep and store the tangible of the instruction used by instruction execution equipment
Equipment.Computer readable storage medium for example can be-- but it is not limited to-- storage device electric, magnetic storage apparatus, optical storage
Equipment, electric magnetic storage apparatus, semiconductor memory apparatus or above-mentioned any appropriate combination.Computer readable storage medium
More specific example (non exhaustive list) includes: portable computer diskette, hard disk, random access memory (RAM), read-only deposits
It is reservoir (ROM), erasable programmable read only memory (EPROM or flash memory), static random access memory (SRAM), portable
Compact disk read-only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, for example thereon
It is stored with punch card or groove internal projection structure and the above-mentioned any appropriate combination of instruction.Calculating used herein above
Machine readable storage medium storing program for executing is not interpreted that instantaneous signal itself, the electromagnetic wave of such as radio wave or other Free propagations lead to
It crosses the electromagnetic wave (for example, the light pulse for passing through fiber optic cables) of waveguide or the propagation of other transmission mediums or is transmitted by electric wire
Electric signal.
Computer-readable program instructions as described herein can be downloaded to from computer readable storage medium it is each calculate/
Processing equipment, or outer computer or outer is downloaded to by network, such as internet, local area network, wide area network and/or wireless network
Portion stores equipment.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, firewall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
Computer program instructions for executing disclosure operation can be assembly instruction, instruction set architecture (ISA) instructs,
Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming languages
The source code or object code that any combination is write, the programming language include programming language-such as Java, C of object-oriented
++, C etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer-readable program refers to
Order can be executed fully on the user computer, partly be executed on the user computer, as an independent software package
Execute, part on the user computer part on the remote computer execute or completely on a remote computer or server
It executes.In situations involving remote computers, remote computer can include local area network by the network-of any kind
(LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as utilize internet
Service provider is connected by internet).In some embodiments, by being believed using the state of computer-readable program instructions
Breath comes personalized customization electronic circuit, such as programmable logic circuit, field programmable gate array (FPGA) or programmable logic
Array (PLA), which can execute computer-readable program instructions, to realize various aspects of the disclosure.
Referring herein to according to the flow chart of the method, apparatus (system) of the embodiment of the present disclosure and computer program product and/
Or block diagram describes various aspects of the disclosure.It should be appreciated that flowchart and or block diagram each box and flow chart and/
Or in block diagram each box combination, can be realized by computer-readable program instructions.
These computer-readable program instructions can be supplied to general purpose computer, special purpose computer or other programmable datas
The processor of processing unit, so that a kind of machine is produced, so that these instructions are passing through computer or other programmable datas
When the processor of processing unit executes, function specified in one or more boxes in implementation flow chart and/or block diagram is produced
The device of energy/movement.These computer-readable program instructions can also be stored in a computer-readable storage medium, these refer to
It enables so that computer, programmable data processing unit and/or other equipment work in a specific way, thus, it is stored with instruction
Computer-readable medium then includes a manufacture comprising in one or more boxes in implementation flow chart and/or block diagram
The instruction of the various aspects of defined function action.
Computer-readable program instructions can also be loaded into computer, other programmable data processing units or other
In equipment, so that series of operation steps are executed in computer, other programmable data processing units or other equipment, to produce
Raw computer implemented process, so that executed in computer, other programmable data processing units or other equipment
Instruct function action specified in one or more boxes in implementation flow chart and/or block diagram.
The flow chart and block diagram in the drawings show system, method and the computer journeys according to multiple embodiments of the disclosure
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
One module of table, program segment or a part of instruction, the module, program segment or a part of instruction include one or more use
The executable instruction of the logic function as defined in realizing.In some implementations as replacements, function marked in the box
It can occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually be held substantially in parallel
Row, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that block diagram and/or
The combination of each box in flow chart and the box in block diagram and or flow chart, can the function as defined in executing or dynamic
The dedicated hardware based system made is realized, or can be realized using a combination of dedicated hardware and computer instructions.
The presently disclosed embodiments is described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport
In principle, the practical application or to the technological improvement in market for best explaining each embodiment, or make the art its
Its those of ordinary skill can understand each embodiment disclosed herein.
Claims (10)
1. one kind determines method for robot movement routine characterized by comprising
Image to be processed is obtained, the image to be processed includes the crowd that lines up lined up in region corresponding to guidance path, institute
Stating guidance path includes at least one navigation total path and multiple navigation subpaths；
The image to be processed is identified based on troop's identification model, to line up first row group area locating for crowd described in determination；
The movement routine of robot is switched into the navigation subpath corresponding to first row group area from navigation total path.
2. the method according to claim 1, wherein the navigation total path passage path node and sub- road of navigating
Diameter connection, the method also includes:
In the case where robot is moved to the path node, the movement routine of robot is switched into institute from navigation total path
State navigation subpath.
3. the method according to claim 1, wherein identify the image to be processed based on troop's identification model,
To line up first row group area locating for crowd described in determination, comprising:
The images to be recognized is input in troop's identification model, obtain in images to be recognized the quantity of human body head and
Position；
Determine that guidance path lines up in region whether to include lining up crowd according to the quantity of the human body head and position.
4. the method according to claim 1, wherein the robot movement routine determines that method passes through robot
Movement routine determines that system executes, and the robot movement routine determines that system includes at least at least one first robot, institute
It states images to be recognized and is acquired by being set to the first image acquisition component of first robot.
5. according to the method described in claim 4, it is characterized in that, the robot movement routine determines system including at least more
A second robot, the images to be recognized are acquired by being set to the second image acquisition component of second robot；
The multiple second robot, which is respectively arranged in, each lines up region.
6. a kind of robot movement routine determines system characterized by comprising
Image capture module, for obtaining image to be processed, the image to be processed includes the area for lining up corresponding to guidance path
Line up crowd in domain, the guidance path includes at least one navigation total path and multiple navigation subpaths；
Image processing module, for identifying the image to be processed based on troop's identification model, to line up crowd institute described in determination
The first row group area at place；The movement routine of robot is switched into the navigation corresponding to first row group area from navigation total path
Subpath.
7. system according to claim 6, which is characterized in that the navigation total path passage path node and sub- road of navigating
Diameter connection；
Described image processing module, it may also be used in the case where robot is moved to the path node, by the shifting of robot
Dynamic path switches to the navigation subpath from navigation total path.
8. system according to claim 6, which is characterized in that the image to be processed is identified based on troop's identification model,
To line up first row group area locating for crowd described in determination, comprising:
The images to be recognized is input in troop's identification model, obtain in images to be recognized the quantity of human body head and
Position；
Determine that guidance path lines up in region whether to include lining up crowd according to the quantity of the human body head and position.
9. a kind of electronic equipment characterized by comprising
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to: perform claim require any one of 1 to 5 described in method.
10. a kind of computer readable storage medium, is stored thereon with computer program instructions, which is characterized in that the computer
Method described in any one of claim 1 to 5 is realized when program instruction is executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910802166.8A CN110531769A (en) | 2019-08-28 | 2019-08-28 | Method and device is determined for robot movement routine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910802166.8A CN110531769A (en) | 2019-08-28 | 2019-08-28 | Method and device is determined for robot movement routine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110531769A true CN110531769A (en) | 2019-12-03 |
Family
ID=68664809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910802166.8A Pending CN110531769A (en) | 2019-08-28 | 2019-08-28 | Method and device is determined for robot movement routine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110531769A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111931570A (en) * | 2020-07-03 | 2020-11-13 | 电子科技大学 | Through-wall imaging radar human body target detection method based on full convolution network |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101480795A (en) * | 2008-01-11 | 2009-07-15 | 三星电子株式会社 | Method and apparatus for planning path of mobile robot |
| JP2009251922A (en) * | 2008-04-05 | 2009-10-29 | Ricoh Unitechno Co Ltd | Automated guided vehicle and automated guided vehicle operation system |
| US20110046780A1 (en) * | 2009-08-18 | 2011-02-24 | Noel Wayne Anderson | Distributed robotic guidance |
| CN106378781A (en) * | 2016-10-20 | 2017-02-08 | 国网山东省电力公司菏泽供电公司 | Service robot guide system and method |
| CN107390721A (en) * | 2017-07-26 | 2017-11-24 | 歌尔科技有限公司 | Robot retinue control method, device and robot |
| CN107471215A (en) * | 2017-08-10 | 2017-12-15 | 芜湖德海机器人科技有限公司 | A kind of queuing seat robot control system based on information identification |
| CN108460497A (en) * | 2018-03-28 | 2018-08-28 | 中国民航大学 | A kind of departure hall queueing message reminding method |
| CN110166571A (en) * | 2018-06-08 | 2019-08-23 | 深圳勇艺达机器人有限公司 | A kind of automatic follower method and device based on mobile robot |
-
2019
- 2019-08-28 CN CN201910802166.8A patent/CN110531769A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101480795A (en) * | 2008-01-11 | 2009-07-15 | 三星电子株式会社 | Method and apparatus for planning path of mobile robot |
| JP2009251922A (en) * | 2008-04-05 | 2009-10-29 | Ricoh Unitechno Co Ltd | Automated guided vehicle and automated guided vehicle operation system |
| US20110046780A1 (en) * | 2009-08-18 | 2011-02-24 | Noel Wayne Anderson | Distributed robotic guidance |
| CN106378781A (en) * | 2016-10-20 | 2017-02-08 | 国网山东省电力公司菏泽供电公司 | Service robot guide system and method |
| CN107390721A (en) * | 2017-07-26 | 2017-11-24 | 歌尔科技有限公司 | Robot retinue control method, device and robot |
| CN107471215A (en) * | 2017-08-10 | 2017-12-15 | 芜湖德海机器人科技有限公司 | A kind of queuing seat robot control system based on information identification |
| CN108460497A (en) * | 2018-03-28 | 2018-08-28 | 中国民航大学 | A kind of departure hall queueing message reminding method |
| CN110166571A (en) * | 2018-06-08 | 2019-08-23 | 深圳勇艺达机器人有限公司 | A kind of automatic follower method and device based on mobile robot |
Non-Patent Citations (5)
| Title |
|---|
| 张晋: "基于改进卷积神经网络的室内定位算法研究", 中国优秀硕士学位论文全文数据库 信息科技辑 * |
| 张雪艳: "SSD算法及其在铁路场景异常目标检测中的应用研究", 中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑 * |
| 曾勇: "基于Fast R-CNN的多传感器融合式行人检测", 中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑 * |
| 洪韬: "基于光学遥感影像的特定目标检测及识别", 中国优秀硕士学位论文全文数据库 信息科技辑 * |
| 车凯 等: "基于改进Fast R-CNN的红外图像行人检测研究", 红外技术 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111931570A (en) * | 2020-07-03 | 2020-11-13 | 电子科技大学 | Through-wall imaging radar human body target detection method based on full convolution network |
| CN111931570B (en) * | 2020-07-03 | 2022-07-01 | 电子科技大学 | Through-wall imaging radar human body target detection method based on full convolution network |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109740516A (en) | A kind of user identification method, device, electronic equipment and storage medium | |
| CN110378976A (en) | Image processing method and device, electronic equipment and storage medium | |
| CN110348537A (en) | Image processing method and device, electronic equipment and storage medium | |
| CN110363150A (en) | Data-updating method and device, electronic equipment and storage medium | |
| CN106257909A (en) | Mobile terminal and control method thereof | |
| CN108764069A (en) | Biopsy method and device | |
| CN110418112A (en) | A kind of method for processing video frequency and device, electronic equipment and storage medium | |
| CN109801270A (en) | Anchor point determines method and device, electronic equipment and storage medium | |
| CN106295515B (en) | Determine the method and device of the human face region in image | |
| CN110503689A (en) | Attitude prediction method, model training method and device | |
| CN106651955A (en) | Method and device for positioning object in picture | |
| CN105677138A (en) | Mobile terminal and control method for the mobile terminal | |
| CN110298310A (en) | Image processing method and device, electronic equipment and storage medium | |
| CN103546627A (en) | Mobile terminal and control method thereof | |
| CN109766954A (en) | A kind of target object processing method, device, electronic equipment and storage medium | |
| CN108260020A (en) | The method and apparatus that interactive information is shown in panoramic video | |
| CN110378312A (en) | Image processing method and device, electronic equipment and storage medium | |
| CN106875446B (en) | Camera method for relocating and device | |
| CN110532956A (en) | Image processing method and device, electronic equipment and storage medium | |
| CN109543536A (en) | Image identification method and device, electronic equipment and storage medium | |
| CN109522937A (en) | Image processing method and device, electronic equipment and storage medium | |
| CN109544716A (en) | Student registers method and device, electronic equipment and storage medium | |
| CN110019960A (en) | Data processing method and device, electronic equipment and storage medium | |
| CN111597922A (en) | Cell image recognition method, system, device, equipment and medium | |
| CN110197518A (en) | Curve vacuates method and device |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191203 |