CN110925945A - Air conditioner robot control method and device based on gesture recognition - Google Patents
Air conditioner robot control method and device based on gesture recognition Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/30—Control or safety arrangements for purposes related to the operation of the system, e.g. for safety or monitoring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/50—Control or safety arrangements characterised by user interfaces or communication
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/50—Control or safety arrangements characterised by user interfaces or communication
- F24F11/56—Remote control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
- F24F11/63—Electronic processing
- F24F11/64—Electronic processing using pre-stored data
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
- F24F11/72—Control systems characterised by their outputs; Constructional details thereof for controlling the supply of treated air, e.g. its pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
- F24F11/80—Control systems characterised by their outputs; Constructional details thereof for controlling the temperature of the supplied air
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/28—Recognition of hand or arm movements, e.g. recognition of deaf sign language
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Abstract
The invention provides an air conditioner robot control method and device based on gesture recognition, wherein the method comprises the following steps: recognizing user gesture information of current operation on the air conditioner robot, inquiring a pre-registered user gesture database, and acquiring an operation type corresponding to the user gesture information; and acquiring corresponding control parameters according to the operation type and the current user characteristics, and controlling the air-conditioning robot to perform corresponding operation according to the control parameters. Therefore, the air-conditioning robot is controlled based on the gestures, the gesture information aiming at different operation types of the air-conditioning robot is set, and convenience and intelligence of control are improved.
Description
Technical Field
The invention relates to the technical field of smart home, in particular to an air conditioner robot control method and device based on gesture recognition.
Background
At present, along with the gradual popularization of smart homes, users have higher and higher requirements for the intellectualization of household appliances, and the household appliances can provide intelligent home service for the users and are important measurement standards of the competitiveness of manufacturers.
In the related art, the air-conditioning robot is used as an air-conditioning device and can meet various air-conditioning requirements of users, but the mode of providing services for the users by the air-conditioning robot completely depends on the users clicking keys on a touch pad on the air-conditioning robot, and the operation is complicated.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art described above.
Therefore, a first object of the present invention is to provide a gesture recognition-based air conditioner robot control method, which realizes gesture-based control of an air conditioner robot, and improves control convenience and intelligence.
The second purpose of the invention is to provide an air conditioning robot control device based on gesture recognition.
The third purpose of the invention is to provide an air conditioning robot.
A fourth object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, a first embodiment of the present invention provides an air conditioner robot control method based on gesture recognition, including: recognizing user gesture information of current operation on the air conditioner robot, inquiring a pre-registered user gesture database, and acquiring an operation type corresponding to the user gesture information; and acquiring corresponding control parameters according to the operation type and the current user characteristics, and controlling the air-conditioning robot to perform corresponding operation according to the control parameters.
In addition, the air conditioner robot control method based on gesture recognition of the embodiment of the invention also has the following additional technical characteristics:
in some examples, the recognizing user gesture information of the current operation on the air conditioner robot includes: acquiring a user image sequence of the current operation on the air conditioner robot through a camera; extracting hand region characteristic information of each image in the user image sequence; and extracting gesture change characteristics according to the hand region characteristic information of each image, and acquiring user gesture information according to the gesture change characteristics.
In some examples, when it is determined that the operation type is a head operation type, the obtaining a corresponding control parameter according to the operation type and a current user characteristic, and controlling the air-conditioning robot to perform a corresponding operation according to the control parameter includes: acquiring the user characteristics of the current operation on the air-conditioning robot; inquiring a pre-registered user characteristic database to obtain an air supply parameter corresponding to the user characteristic; acquiring preset rotation parameters corresponding to the head operation types; and controlling the head of the air-conditioning robot to rotate according to the rotation parameters, operating according to the air supply parameters, and keeping the body of the air-conditioning robot fixed.
In some examples, when it is determined that the operation type is a near-azimuth movement operation type, the obtaining a corresponding control parameter according to the operation type and a current user characteristic, and controlling the air-conditioning robot to perform a corresponding operation according to the control parameter includes: acquiring a moving direction according to the user gesture information; acquiring a preset moving distance corresponding to the head operation type; and controlling the air-conditioning robot to move according to the moving direction and the moving distance.
In some examples, when it is determined that the operation type is a remote-position moving operation type, the obtaining of the corresponding control parameter according to the operation type and the current user characteristic and the controlling of the air-conditioning robot according to the control parameter include: acquiring a target position according to the user gesture information; acquiring a moving track from a current position to the target position; and controlling the air-conditioning robot to move to the target position according to the movement track.
In order to achieve the above object, a second aspect of the present invention provides an air conditioning robot control device based on gesture recognition, including: the identification module is used for identifying the gesture information of the user operating the air conditioner robot at present; the acquisition module is used for inquiring a pre-registered user gesture database and acquiring an operation type corresponding to the user gesture information; and the control module is used for acquiring corresponding control parameters according to the operation types and the current user characteristics and controlling the air-conditioning robot to perform corresponding operation according to the control parameters.
In addition, the air-conditioning robot control device based on gesture recognition in the embodiment of the present invention further has the following additional technical features:
in some examples, the identification module is specifically configured to: acquiring a user image sequence of the current operation on the air conditioner robot through a camera; extracting hand region characteristic information of each image in the user image sequence; and extracting gesture change characteristics according to the hand region characteristic information of each image, and acquiring user gesture information according to the gesture change characteristics.
In some examples, when it is determined that the operation type is a head operation type, the control module is specifically configured to: acquiring the user characteristics of the current operation on the air-conditioning robot; inquiring a pre-registered user characteristic database to obtain an air supply parameter corresponding to the user characteristic; acquiring preset rotation parameters corresponding to the head operation types; and controlling the head of the air-conditioning robot to rotate according to the rotation parameters, operating according to the air supply parameters, and keeping the body of the air-conditioning robot fixed.
In some examples, when it is determined that the operation type is a near-azimuth movement operation type, the control module is specifically configured to: acquiring a moving direction according to the user gesture information; acquiring a preset moving distance corresponding to the head operation type; and controlling the air-conditioning robot to move according to the moving direction and the moving distance.
In some examples, when it is determined that the operation type is a remote-position-moving operation type, the control module is specifically configured to: acquiring a target position according to the user gesture information; acquiring a moving track from a current position to the target position; and controlling the air-conditioning robot to move to the target position according to the movement track.
In order to achieve the above object, a third embodiment of the present invention provides an air-conditioning robot, including a processor and a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program, when executed by the processor, implements the method for controlling the air-conditioning robot based on gesture recognition according to the first embodiment.
To achieve the above object, a fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the gesture recognition-based air conditioner robot control method according to the first aspect of the present invention.
The technical solution provided by the above embodiment of the present invention has at least the following technical effects:
recognizing user gesture information of current operation on the air conditioner robot, inquiring a pre-registered user gesture database, acquiring an operation type corresponding to the user gesture information, further acquiring corresponding control parameters according to the operation type and current user characteristics, and controlling the air conditioner robot to perform corresponding operation according to the control parameters. Therefore, the air-conditioning robot is controlled based on the gestures, the gesture information aiming at different operation types of the air-conditioning robot is set, and convenience and intelligence of control are improved.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flowchart of an air conditioner robot control method based on gesture recognition according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of an air conditioner robot control scenario based on gesture recognition according to one embodiment of the present invention;
fig. 3 is a schematic structural diagram of an air conditioning robot control device based on gesture recognition according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An air conditioner robot control method and apparatus based on gesture recognition according to an embodiment of the present invention will be described with reference to the accompanying drawings.
In order to solve the problems mentioned in the background art, when the air-conditioning robot in the related art performs air supply service, the operation efficiency is low due to the fact that a user manually touches a specific touch key, the invention provides a mode for controlling diversified operation of the air-conditioning robot based on gesture operation, and the method is suitable for the development trend of smart homes.
Specifically, fig. 1 is a flowchart of an air conditioner robot control method based on gesture recognition according to an embodiment of the present invention, as shown in fig. 1, the method including:
It can be understood that a user gesture database is generated by pre-registering, and a corresponding relationship between gesture information and operation types is stored in the user gesture database, where the user gesture information may include feature information representing specific action content of a user gesture, such as a gesture action image feature of a user, and the operation types include a head operation type, an action change operation type, a remote displacement action operation type, and the like.
It should be emphasized that the operation types in this embodiment correspond to different operation types of the air-conditioning robot (each operation type may correspond to different air-conditioning components, each operation type may also correspond to different moving directions, and the like, and each operation type may include multiple operations), and based on the division of the gesture information, the operations corresponding to the diversified operation types of the air-conditioning robot may be controlled, so that the gesture operation in this embodiment may not only control the air-conditioning robot to perform a simple on-off operation, but also perform a more complex operation, and when performing the more complex operation, the operation using operation types are divided to reduce the execution difficulty.
As shown in fig. 2, as a possible example, an image acquisition unit may be started in a related application program of the mobile terminal (the camera device may be controlled to start acquiring a gesture image sequence of a user), a gesture image registered by the user is acquired by the image acquisition unit, further, gesture information of the user is identified by the image processing unit, and further, a correspondence between the gesture information of the user and an operation type is stored in a unit stored at the mobile device end.
Specifically, the user gesture information of the current operation on the air-conditioning robot is recognized, the user gesture information can be acquired through an image acquired by a camera device of the air-conditioning robot, and then the pre-registered user gesture database is queried to acquire the operation type corresponding to the user gesture information.
As a possible implementation manner, a user image sequence currently operating on the air conditioner robot is acquired through a camera (which may be a camera on the air conditioner robot or a camera on other equipment). The gesture information can be understood as gesture actions summarized according to the gesture recognition change characteristics.
And 102, acquiring corresponding control parameters according to the operation type and the current user characteristics, and controlling the air-conditioning robot to perform corresponding operation according to the control parameters.
It can be understood that, in order to meet the personalized requirements of the user, the corresponding control parameters can be obtained by combining the operation type and the current user characteristics, so that the air-conditioning robot is controlled to perform corresponding operations according to the control parameters. The operation type is used for indicating which operation is specifically performed by the robot, and the user characteristics can be used for determining what air supply action is specifically performed by the air-conditioning robot under the operation.
Specifically, in order to provide personalized air conditioning service for the current user, the user characteristics of the current operation on the air conditioning robot can be acquired to be grouped into groups of people to which the user belongs (such as the elderly, children, young people, and the like), the user identification can also be the gender, age, and the like of the user, generally speaking, the user characteristics correspond to a certain characteristic attribute of the user, and the characteristic attribute determines the service requirement of the user on the air conditioning. For example, it is obvious that the service demand of the elderly group user for the air conditioner is relatively high with respect to the temperature.
It should be noted that, in different application scenarios, the operation types are different, and the specific operation of the step 102 is different, which is described below with reference to specific examples:
example one:
in this example, the operation type is a head operation type, wherein the head operation type mainly includes a turning motion corresponding to a head of the air-conditioning robot (such as a position where a camera or an air supply component is located).
Specifically, user characteristics of current operation of the air conditioner robot are acquired, for example, the user characteristics can be determined according to image information acquired by a camera, and then a user characteristic database registered by a user in advance is inquired, a corresponding relation between the user characteristics and air supply parameters is stored in the user characteristic database, wherein the air supply parameters can include air supply size, air supply frequency, air supply direction and the like, and then preset rotation parameters corresponding to head operation types are acquired, the rotation parameters include a rotation angle, a rotation direction and the like of an air conditioner, and furthermore, the head of the air conditioner robot is controlled to rotate according to the rotation parameters, the operation is performed according to the air supply parameters, and the body of the air conditioner robot is kept fixed. In this example, only the head of the air conditioning robot is controlled to rotate, and the body does not move.
In this example, if the rotation parameter is turned to a position corresponding to a strong shielding obstacle such as a wall, a warning message is generated to prompt the user to correct the rotation angle, for example, the user may adjust the rotation angle through gesture operation.
Example two:
in this example, based on the first example described above, the operation types further include a near-azimuth movement operation type, wherein the near-azimuth movement operation type is mainly movement of the air-conditioning robot in front, rear, left, and right directions.
Specifically, the moving direction is obtained according to the user gesture information, for example, if the user gesture information is recognized as leftward sliding, the obtained moving direction is leftward movement, and further, in this example, a corresponding relationship between the head operation type and the moving distance is preset, for example, if the head operation of the user is leftward movement by 60 degrees, the corresponding moving distance is forward movement by 2 centimeters, and the air-conditioning robot is controlled to move according to the moving direction and the moving distance.
In this example, after the moving direction is recognized, the moving direction information may be displayed on a control panel of the air-conditioning robot, and if no denial information of the user is received within a preset time, a moving operation to the moving direction is performed.
Example three:
in this example, when it is determined that the operation type is the remote position moving operation type, and the remote position operation type is the control of the air-conditioning robot to move to the fixed position, the target position is acquired according to the gesture information, the moving trajectory from the current position to the target position is acquired, and the air-conditioning robot is controlled to move to the target position according to the moving trajectory.
Therefore, based on the above embodiments, in the gesture control air-conditioning robot mode provided in the embodiments of the present invention, a plurality of different operation types are set, where the different operation types correspond to different types of movement types of the air-conditioning robot, the operation types of the air-conditioning robot include operation types of different portions, for example, the operation type a corresponds to the movement type to control the head of the air-conditioning robot to move, and the operation types of the air-conditioning robot may further include different action types, such as a forward and backward movement, or a movement to a certain position, and the like. Furthermore, the user only needs to set corresponding gestures, the air-conditioning robot can be operated through the change of the hand to execute corresponding types of operation, the air conditioner does not need to be operated through voice or a controller, and the operation of the user on the air-conditioning robot is greatly simplified.
For example, as shown in fig. 2, based on the collected image verification sequence of the user, the control parameter of the matched air-conditioning robot is detected, and then the air-conditioning central control system controls the air conditioner to operate according to the control parameter, such as controlling the air-conditioning cluster to pan, move around, and move to a designated position.
In an embodiment of the present invention, if the gesture information of the user does not obtain the corresponding operation type, and possibly the gesture operation information of the user is not registered in the user gesture database in advance, at this time, query information in a voice form may be sent to query the specific operation intention of the user, and after an operation intention instruction of the user carrying the control parameter is obtained, the air-conditioning robot is controlled according to the control parameter.
To sum up, the air conditioner robot control method based on gesture recognition according to the embodiment of the present invention recognizes user gesture information of a current operation on an air conditioner robot, queries a pre-registered user gesture database, obtains an operation type corresponding to the user gesture information, further obtains a corresponding control parameter according to the operation type and a current user characteristic, and controls the air conditioner robot to perform a corresponding operation according to the control parameter. Therefore, the air-conditioning robot is controlled based on the gestures, the gesture information aiming at different operation types of the air-conditioning robot is set, and convenience and intelligence of control are improved.
In order to realize the embodiment, the invention further provides an air conditioning robot control device based on gesture recognition. Fig. 3 is a schematic structural diagram of an air-conditioning robot control device based on gesture recognition according to an embodiment of the present invention, and as shown in fig. 3, the air-conditioning robot control device based on gesture recognition includes: an identification module 10, an acquisition module 20 and a control module 30, wherein,
the identification module 10 is used for identifying the user gesture information of the current air conditioner robot operation;
an obtaining module 20, configured to query a pre-registered user gesture database, and obtain an operation type corresponding to user gesture information;
and the control module 30 is configured to obtain corresponding control parameters according to the operation type and the current user characteristic, and control the air-conditioning robot to perform corresponding operations according to the control parameters.
In an embodiment of the present invention, the recognition module 10 is specifically configured to collect, through a camera, a user image sequence of a current operation on the air conditioner robot;
extracting hand region characteristic information of each image in the user image sequence;
and extracting gesture change characteristics according to the hand region characteristic information of each image, and acquiring user gesture information according to the gesture change characteristics.
In an embodiment of the present invention, when determining that the operation type is the head operation type, the control module 30 is specifically configured to:
acquiring user characteristics of current operation on the air conditioner robot;
inquiring a pre-registered user characteristic database to obtain air supply parameters corresponding to user characteristics;
acquiring preset rotation parameters corresponding to the head operation types;
and controlling the head of the air-conditioning robot to rotate according to the rotation parameters, operating according to the air supply parameters, and keeping the body of the air-conditioning robot fixed.
In this embodiment, when determining that the operation type is the near-azimuth movement operation type, the control module 30 is specifically configured to:
acquiring a moving direction according to the gesture information of the user;
acquiring a preset moving distance corresponding to the head operation type;
and controlling the air-conditioning robot to move according to the moving direction and the moving distance.
In an embodiment of the present invention, when the operation type is determined to be a remote-position-moving operation type, the control module 30 is specifically configured to:
acquiring a target position according to the gesture information of the user;
acquiring a moving track from a current position to a target position;
and controlling the air-conditioning robot to move to the target position according to the moving track.
It should be noted that the foregoing explanation of the air-conditioning robot control method based on gesture recognition is also applicable to the air-conditioning robot control device based on gesture recognition in the embodiment of the present invention, and the implementation principle is similar, and is not repeated herein.
In order to implement the above embodiments, the present invention further provides an air-conditioning robot, including a processor and a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the air-conditioning robot control method based on gesture recognition as described in the above embodiments is implemented, and the implementation principles thereof are similar and will not be described herein again.
In order to implement the above embodiments, the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the gesture recognition-based air conditioner robot control method described in the above embodiments, and the implementation principles thereof are similar and will not be described herein again.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (12)
1. An air conditioner robot control method based on gesture recognition is characterized by comprising the following steps:
recognizing user gesture information of current operation on the air conditioner robot, inquiring a pre-registered user gesture database, and acquiring an operation type corresponding to the user gesture information;
and acquiring corresponding control parameters according to the operation type and the current user characteristics, and controlling the air-conditioning robot to perform corresponding operation according to the control parameters.
2. The method of claim 1, wherein the recognizing user gesture information of a current operation on the air conditioning robot comprises:
acquiring a user image sequence of the current operation on the air conditioner robot through a camera;
extracting hand region characteristic information of each image in the user image sequence;
and extracting gesture change characteristics according to the hand region characteristic information of each image, and acquiring user gesture information according to the gesture change characteristics.
3. The method of claim 1, wherein when it is determined that the operation type is a head operation type, the obtaining of the corresponding control parameter according to the operation type and the current user characteristic and the controlling of the air-conditioning robot according to the control parameter include:
acquiring the user characteristics of the current operation on the air-conditioning robot;
inquiring a pre-registered user characteristic database to obtain an air supply parameter corresponding to the user characteristic;
acquiring preset rotation parameters corresponding to the head operation types;
and controlling the head of the air-conditioning robot to rotate according to the rotation parameters, operating according to the air supply parameters, and keeping the body of the air-conditioning robot fixed.
4. The method of claim 3, wherein when it is determined that the operation type is a near-direction movement operation type, the obtaining of the corresponding control parameter according to the operation type and the current user characteristic and the controlling of the air-conditioning robot according to the control parameter include:
acquiring a moving direction according to the user gesture information;
acquiring a preset moving distance corresponding to the head operation type;
and controlling the air-conditioning robot to move according to the moving direction and the moving distance.
5. The method of claim 1, wherein when it is determined that the operation type is a remote-position moving operation type, the obtaining of the corresponding control parameter according to the operation type and the current user characteristic and the controlling of the air-conditioning robot according to the control parameter comprise:
acquiring a target position according to the user gesture information;
acquiring a moving track from a current position to the target position;
and controlling the air-conditioning robot to move to the target position according to the movement track.
6. An air conditioning robot control device based on gesture recognition is characterized by comprising:
the identification module is used for identifying the gesture information of the user operating the air conditioner robot at present;
the acquisition module is used for inquiring a pre-registered user gesture database and acquiring an operation type corresponding to the user gesture information;
and the control module is used for acquiring corresponding control parameters according to the operation types and the current user characteristics and controlling the air-conditioning robot to perform corresponding operation according to the control parameters.
7. The apparatus of claim 6, wherein the identification module is specifically configured to:
acquiring a user image sequence of the current operation on the air conditioner robot through a camera;
extracting hand region characteristic information of each image in the user image sequence;
and extracting gesture change characteristics according to the hand region characteristic information of each image, and acquiring user gesture information according to the gesture change characteristics.
8. The apparatus of claim 6, wherein when it is determined that the operation type is a head operation type, the control module is specifically configured to:
acquiring the user characteristics of the current operation on the air-conditioning robot;
inquiring a pre-registered user characteristic database to obtain an air supply parameter corresponding to the user characteristic;
acquiring preset rotation parameters corresponding to the head operation types;
and controlling the head of the air-conditioning robot to rotate according to the rotation parameters, operating according to the air supply parameters, and keeping the body of the air-conditioning robot fixed.
9. The apparatus of claim 8, wherein when the operation type is determined to be a near-azimuth-movement operation type, the control module is specifically configured to:
acquiring a moving direction according to the user gesture information;
acquiring a preset moving distance corresponding to the head operation type;
and controlling the air-conditioning robot to move according to the moving direction and the moving distance.
10. The apparatus of claim 6, wherein when the operation type is determined to be a remote-displacement-motion operation type, the control module is specifically configured to:
acquiring a target position according to the user gesture information;
acquiring a moving track from a current position to the target position;
and controlling the air-conditioning robot to move to the target position according to the movement track.
11. An air conditioning robot comprising a processor and a computer-readable storage medium having a computer program stored thereon, the computer program, when executed by the processor, implementing the gesture recognition-based air conditioning robot control method according to any one of claims 1 to 5.
12. A computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the gesture recognition-based air conditioner robot control method according to any one of claims 1 to 5.
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| CN201911184150.1A CN110925945A (en) | 2019-11-27 | 2019-11-27 | Air conditioner robot control method and device based on gesture recognition |
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