CN111736174A

CN111736174A - Human body detection method and device of intelligent mobile equipment

Info

Publication number: CN111736174A
Application number: CN201910208669.2A
Authority: CN
Inventors: 栾成志
Original assignee: Beijing Qihoo Technology Co Ltd
Current assignee: Beijing Qihoo Technology Co Ltd
Priority date: 2019-03-19
Filing date: 2019-03-19
Publication date: 2020-10-02

Abstract

The invention discloses a human body detection method and device of intelligent mobile equipment. According to the human body detection method, the surrounding environment of the intelligent mobile device is scanned through the single-line laser to obtain a plurality of scanning points. According to the distribution condition of a plurality of scanning points, one or more sections of curves which are formed by the scanning points and conform to the characteristics of circular arcs are identified. And judging whether the identified curves conform to the characteristics of the human legs, and if so, determining the detected human body position according to the corresponding curves. The human body in the surrounding environment can be accurately identified by carrying out identification and judgment by combining the curve characteristics of the human body contour, and the position of the human body is obtained. Meanwhile, the judgment according with the human leg characteristics is only carried out on the curve obtained by scanning, certain data processing work is reduced, and the identification efficiency and the working efficiency can be effectively improved. Moreover, single-line laser is adopted for scanning, so that the scanning efficiency and accuracy can be ensured, and the scanning range is expanded.

Description

Human body detection method and device of intelligent mobile equipment

Technical Field

The invention relates to the field of control of intelligent mobile equipment, in particular to a human body detection method and a human body detection device of the intelligent mobile equipment.

Background

In the prior art, an intelligent mobile device such as a sweeping robot generally travels according to a planned path, and when the intelligent mobile device collides with an obstacle, the intelligent mobile device performs a trap-free process to avoid the obstacle. Thus, there is a problem that a person has autonomy and can take an activity anywhere. Because the intelligent mobile device can not identify the barrier or the human body, collision can occur, and hidden safety problems are brought. If only the obstacle is hit, the object may be damaged. However, if the human body collides with the human body, the human safety may be damaged, and the nature is bad. Therefore, a corresponding solution is needed.

Disclosure of Invention

In view of the above, the present invention has been made to provide a human body detection method and apparatus for a smart mobile device that overcomes or at least partially solves the above-mentioned problems.

According to an aspect of the present invention, there is provided a human body detection method of a smart mobile device, including:

scanning the surrounding environment of the intelligent mobile equipment through single-line laser to obtain a plurality of scanning points;

identifying one or more sections of curves which are formed by the scanning points and conform to the circular arc characteristics according to the distribution condition of the scanning points;

and judging whether the identified curves conform to the characteristics of the human legs, and if so, determining the detected human body position according to the corresponding curves.

Optionally, the identifying one or more segments of curves, which are formed by the scanning points and conform to the circular arc characteristics, according to the distribution of the scanning points includes:

and performing circle fitting according to the distribution condition of the plurality of scanning points to obtain one or more sections of curves formed by the scanning points.

when a section of curve conforming to the characteristics of the circular arc is identified, judging whether continuous scanning points exist on the straight lines corresponding to the two end points of the circular arc or not;

if yes, estimating the width of the detection object corresponding to the arc according to the continuous scanning points;

if the width is larger than the preset value, abandoning the identified curve which accords with the arc feature, and not identifying whether the continuous scanning points accord with the arc feature.

Optionally, the determining whether the identified curves conform to the characteristics of the human leg includes:

and judging whether the central angle corresponding to each section of curve is within a first preset angle range, if so, judging that the corresponding curve conforms to the characteristics of the human leg.

Optionally, the preset range is 60 ° to 120 °.

and judging whether each section of curve conforms to the circumferential angle theorem, if so, judging that the corresponding curve conforms to the human leg characteristics.

Optionally, the determining whether each curve conforms to the circumferential angle theorem includes:

for a section of curve, sequentially calculating circumferential angle angles formed by each point on the curve and the first endpoint and the second endpoint from the first endpoint to the second endpoint of the section of curve;

if the variation trend of the circumferential angle corresponding to each point is smaller and then larger, the curve is judged to be not in accordance with the circumferential angle theorem.

and calculating the mean square error of each circumferential angle, and if the mean square error is greater than a preset value, judging that the curve does not conform to the circumferential angle theorem.

Optionally, the determining the detected position of the human body according to the corresponding curve includes:

and if the distance between the two curves is smaller than a preset value, determining the same human body according to the two curves.

Optionally, the smart mobile device is a sweeping robot, the scanning the surrounding environment of the smart mobile device by single-line laser includes:

and carrying out 360-degree surrounding scanning at a preset frequency through a laser radar on the sweeping robot.

According to another aspect of the present invention, there is provided a human body detection apparatus of a smart mobile device, including:

the scanning unit is suitable for scanning the surrounding environment of the intelligent mobile equipment through single-line laser to obtain a plurality of scanning points;

the identification unit is suitable for identifying one or more sections of curves which are formed by the scanning points and conform to the circular arc characteristics according to the distribution condition of the plurality of scanning points;

and the determining unit is suitable for judging whether the identified curves conform to the characteristics of the human legs or not, and if so, determining the detected human body position according to the corresponding curves.

Optionally, the identification unit is adapted to perform circle fitting according to the distribution of the plurality of scanning points to obtain one or more segments of curves formed by the scanning points.

Optionally, the identification unit is adapted to determine whether there are continuous scanning points on straight lines corresponding to two end points of the arc when a section of curve conforming to the characteristics of the arc is identified;

Optionally, the determining unit is adapted to determine whether a central angle corresponding to each segment of curve is within a first preset angle range, and if so, determine that the corresponding curve conforms to the leg characteristics of the person.

Optionally, the preset range is 60 ° to 120 °.

Optionally, the determining unit is adapted to determine whether each segment of the curve conforms to the circumferential angle theorem, and if so, determine that the corresponding curve conforms to the human leg characteristic.

Optionally, the determining unit is further adapted to sequentially calculate, for a segment of the curve from a first endpoint to a second endpoint of the segment of the curve, circumferential angle angles formed by each point on the curve with the first endpoint and the second endpoint;

Optionally, the determining unit is adapted to determine the same human body according to the two curves if the distance between the two curves is smaller than a preset value.

Optionally, the intelligent mobile device is a sweeping robot, and the scanning unit is adapted to perform 360-degree surrounding scanning at a preset frequency through a laser radar on the sweeping robot.

In accordance with still another aspect of the present invention, there is provided an electronic apparatus including: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method as any one of the above.

According to a further aspect of the invention, there is provided a computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement a method as any one of the above.

According to the technical scheme, the surrounding environment of the intelligent mobile device is scanned through the single-line laser to obtain the plurality of scanning points. According to the distribution condition of a plurality of scanning points, one or more sections of curves which are formed by the scanning points and conform to the characteristics of circular arcs are identified. And judging whether the identified curves conform to the characteristics of the human legs, and if so, determining the detected human body position according to the corresponding curves. The human body in the surrounding environment can be accurately identified by carrying out identification and judgment by combining the curve characteristics of the human body contour, and the position of the human body is obtained. Meanwhile, the judgment according with the human leg characteristics is only carried out on the curve obtained by scanning, certain data processing work is reduced, and the identification efficiency and the working efficiency can be effectively improved. Moreover, single-line laser is adopted for scanning, so that the scanning efficiency and accuracy can be ensured, and the scanning range is expanded.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a flowchart illustrating a human body detection method of a smart mobile device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a human body detection apparatus of a smart mobile device according to an embodiment of the present invention;

FIG. 3 shows a schematic structural diagram of an electronic device according to one embodiment of the invention;

fig. 4 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Fig. 1 is a flowchart illustrating a human body detection method of a smart mobile device according to an embodiment of the present invention. As shown in fig. 1, the method includes:

step S110, scanning the surrounding environment of the intelligent mobile device through single-line laser to obtain a plurality of scanning points.

The intelligent mobile device can be any intelligent device capable of moving, such as a sweeping robot, an unmanned mobile platform and the like. The single line laser is arranged on the intelligent mobile device, and can be used for scanning by emitting laser to obtain a scanning point. The obtained scanning points can reflect the outline information of the object and the position information of the object. The single-line laser has high working efficiency, and if the single-line laser is rotated, scanning points of the object profile within 360-degree range of the intelligent mobile device can be obtained, so that the scanning range is expanded. The intelligent mobile device of the embodiment needs to detect people in the surrounding environment, so that the human body information existing in the surrounding environment is acquired through single-line laser scanning.

Step S120, according to the distribution of the plurality of scanning points, one or more sections of curves which are formed by the scanning points and conform to the arc characteristics are identified.

And processing the scanning points, analyzing and obtaining specific information of the surrounding environment, for example, sequentially connecting the scanning points to obtain the outline of the object, and judging the attribute of the object according to the outline so as to judge whether people exist in the surrounding environment. Human body outline is mostly the curve, lacks sharp-pointed edges and corners, through the curve that whether discernment exists the coincidence ring characteristic that one section or multistage scanning point constitutes, just can effectually discern whether human body in the surrounding environment. And identifying whether the curve conforms to the arc characteristics or not, wherein the curve can be changed through the curvature of the curve, and if the curvature is changed and is changed greatly, the curve conforms to the arc characteristics.

In one specific example, the smart mobile device is a sweeping robot that can scan human legs in human body features with a single line of laser. The human leg is equivalent to a cylinder, and the single line laser scans the human leg to obtain an arc curve. Therefore, if one or more curves which conform to the characteristics of the circular arc exist in the scanning point, the fact that people possibly exist in the surrounding environment is indicated.

And step S130, judging whether the identified curves conform to the characteristics of the human legs, and if so, determining the detected human body position according to the corresponding curves.

There may also be curves in the surrounding environment where the contours of other objects follow the characteristics of a circular arc, such as a cylindrical table or chair. Therefore, it is necessary to further determine whether the curve corresponding to the circular arc feature corresponds to the human leg feature, for example, whether the width, curvature, etc. of the curve correspond to the human leg contour. Only when the curve conforms to the characteristics of the human leg, the curve is judged to belong to the contour of the human leg, and the position of the curve is the position of the human body. After the position of the human body is recognized, the intelligent mobile device can perform corresponding processing, such as avoiding the human body or tracking the human body. On the other hand, the curve is judged according with the characteristics of the human leg, certain data processing work is reduced, and the identification efficiency and the working efficiency can be effectively improved.

According to the technical scheme, the surrounding environment of the intelligent mobile device is scanned through the single-line laser to obtain a plurality of scanning points. According to the distribution condition of a plurality of scanning points, one or more sections of curves which are formed by the scanning points and conform to the characteristics of circular arcs are identified. And judging whether the identified curves conform to the characteristics of the human legs, and if so, determining the detected human body position according to the corresponding curves. The human body in the surrounding environment can be accurately identified by carrying out identification and judgment by combining the curve characteristics of the human body contour, and the position of the human body is obtained. Meanwhile, the judgment according with the human leg characteristics is only carried out on the curve obtained by scanning, certain data processing work is reduced, and the identification efficiency and the working efficiency can be effectively improved. Moreover, single-line laser is adopted for scanning, so that the scanning efficiency and accuracy can be ensured, and the scanning range is expanded.

In an embodiment of the present invention, in the method shown in fig. 1, the identifying one or more curves corresponding to the circular arc feature and composed of the scanning points according to the distribution of the scanning points in step S120 includes: and performing circle fitting according to the distribution condition of the plurality of scanning points to obtain one or more sections of curves formed by the scanning points.

In the above embodiment, the scanning points are connected in sequence to obtain the profile of the object. However, the contour curve obtained by the method is a broken line with discontinuous curvature composed of multiple line segments, and thus does not conform to the objective rule that the contour of a common object is continuous. Therefore, the polygonal line needs to be smoothed so as to better conform to the objective rule of the contour line. For a curve conforming to the characteristics of the circular arc, if the curvature change among a plurality of continuous scanning points is large, the curve is subjected to circle fitting, namely, the curve is processed into a theoretical circular arc.

In an embodiment of the present invention, in the method shown in fig. 1, the identifying one or more curves corresponding to the circular arc feature and composed of the scanning points according to the distribution of the scanning points in step S120 includes: when a section of curve conforming to the characteristics of the circular arc is identified, judging whether continuous scanning points exist on the straight lines corresponding to the two end points of the circular arc or not; if yes, estimating the width of the detection object corresponding to the arc according to the continuous scanning points; if the width is larger than the preset value, abandoning the identified curve which accords with the arc characteristics, and not identifying whether the continuous scanning points accord with the arc characteristics.

It can be seen from the above embodiments that the identification of the curve corresponding to the circular arc feature is performed to determine whether the curve corresponds to the human leg feature. Considering that in practice, the width of a normal human leg is generally between 10cm and 20 cm. If the distance between the two end points of the curve exceeds 20cm or is less than 10cm, the width of the curve obviously does not conform to the width of the human leg, so that the curve is filtered, the data volume needing to be judged is reduced, and the efficiency is improved for the next judgment.

On the other hand, the laser has a measurement error during scanning, for example, when a wall is scanned, a wavy scanning spot may be obtained due to the measurement error. This results in a plurality of continuous curves that follow the characteristics of a circular arc. In order to avoid misjudging the curve conforming to the characteristic of the circular arc as a curve conforming to the characteristic of the human leg, special treatment needs to be performed on a plurality of continuous curves conforming to the characteristic of the circular arc. Specifically, two end points of the multi-segment arc are connected to obtain a corresponding straight line. Thus, there must be a continuous scanning point in the middle of the segment of the straight line. And judging whether the width of the first section of arc in the plurality of sections of arcs accords with the width of the human leg, if not, indicating that the corresponding arc is not the curve obtained by scanning the human leg. Similarly, it can be known that all the circular arc curves in the middle of the section of straight line are not the curves obtained by scanning the human legs, so that the identified curves conforming to the circular arc characteristics are abandoned, and whether the continuous scanning points conform to the circular arc characteristics is not identified, so that the data processing amount is reduced, and the identification rate is improved.

In an embodiment of the present invention, in the method shown in fig. 1, the step of determining whether the identified curves conform to the characteristics of the human leg in step S130 includes: and judging whether the central angle corresponding to each section of curve is within a first preset angle range, if so, judging that the corresponding curve conforms to the characteristics of the human leg.

When the intelligent mobile device scans by laser, the intelligent mobile device is equivalent to scanning at a fixed position. If the human leg is scanned, only a partial contour of the human leg can be obtained, and the whole closed circular contour cannot be obtained. Therefore, the curve conforming to the characteristics of a human leg should have a certain fan angle. Because the curve can be considered as a circular arc, that is, whether the corresponding curve conforms to the characteristics of the human leg can be effectively identified by judging whether the central angle corresponding to the curve is within the first preset angle range. The first preset angle range is set in combination with the contour curve of the human leg.

In order to improve the determination accuracy, the first preset angle range is set to 60 ° to 120 ° in consideration that the contour curve of the human leg is not theoretically circular. When the central angle corresponding to the curve is between 60 and 120 degrees, the curve is considered to be a curve according with the characteristics of the human leg, and the object corresponding to the curve is considered to be a human body. If the central angle corresponding to the curve is too large or too small, the curve is difficult to match with the actual human leg contour curve, and the curve is judged not to accord with the human leg characteristics.

In an embodiment of the present invention, in the method shown in fig. 1, the step of determining whether the identified curves conform to the characteristics of the human leg in step S130 includes: and judging whether each section of curve conforms to the circumferential angle theorem, if so, judging that the corresponding curve conforms to the human leg characteristics.

In addition to the determination based on the central angle of the curve, the determination may be made based on the circumferential angle of the curve. In the actual operation process, the contour curve of a human leg is considered to be a complete circle, and then any section of circular arc obtained from the contour curve should conform to the circumferential angle theorem, that is, the circumferential angles of any point on the circular arc corresponding to the section of circular arc are equal. Therefore, if any point on the curve except for two endpoints of the curve is taken as a vertex, an angle formed by the vertex and the two endpoints is regarded as a circumferential angle of the curve, and if the angles of a plurality of circumferential angles are equal, the curve conforms to the circumferential angle theorem, so that the curve is judged to conform to the characteristics of the human leg.

In a specific example, two end points of a curve are M, N, any three non-overlapping points A, B, C are taken on the curve, A, B, C and M, N are not overlapped, circumferential angles × MAN, × MBN and × MCN of three curves are respectively formed with the two end points M, N, and if the angles of the three circumferential angles are equal, the section of the curve conforms to the circumferential angle theorem.

In an embodiment of the present invention, the determining whether each curve segment conforms to the circumferential angle theorem includes: for a section of curve, sequentially calculating circumferential angle angles formed by each point on the curve and the first endpoint and the second endpoint from the first endpoint to the second endpoint of the section of curve; if the variation trend of the circumferential angle corresponding to each point is smaller and then larger, the curve is judged to be not in accordance with the circumferential angle theorem.

Considering that the contour curve of a human leg is not actually a theoretical circle, the curve obtained by scanning the human leg does not perfectly conform to the circumferential angle theorem. That is, it is possible that the respective circumferential angles are not equal. In addition, in the laser scanning process, if a wall or other objects with right angles are scanned, a curve is obtained. In order to avoid the occurrence of misjudgment, the judgment accuracy is improved, and the judgment of the circumferential angle theorem is further optimized.

The curve obtained by scanning a right-angled wall or object has a certain rule of circumferential angle change. For example, if the first end point to the second end point along the curve segment, a point on the curve is sequentially taken as a vertex, and a circumferential angle is formed between the vertex and the two end points. The closer to the apex of the end point, the greater its circumferential angle. Therefore, in the circumferential angle formed by sequentially taking points as vertexes, the change rule of the circumferential angle is gradually reduced and then gradually increased.

Taking the above embodiment as an example, the two end points of the curve are M, N, and starting from point M, a point is sequentially taken on the curve at regular intervals, and a circumferential angle is formed between the two end points. For example, A, B, C, D is taken, A, B, C, D and M, N are not overlapped, and circumferential angles ═ MAN,. sub.MBN,. sub.MCN and. sub.MDN of four curves are formed with two end points M, N respectively. The transformation rules of the four circumferential angles are firstly reduced and increased, namely < MAN > < MBN and < MCN < MDN. When the change rule of firstly becoming smaller and then becoming larger is judged to be met among all the circumferential angles, the curve is considered to be the curve obtained by scanning the right-angle part. And the contour curve of the human leg does not have a right-angle characteristic, so that the curve is judged to be not in accordance with the circumferential angle theorem, namely, the human leg characteristic is not in accordance.

In an embodiment of the present invention, the determining whether each curve segment conforms to the circumferential angle theorem includes: for a section of curve, sequentially calculating circumferential angle angles formed by each point on the curve and the first endpoint and the second endpoint from the first endpoint to the second endpoint of the section of curve; and calculating the mean square error of each circumferential angle, and if the mean square error is greater than a preset value, judging that the curve does not conform to the circumferential angle theorem.

Considering that the profile curve of a human leg is not actually a theoretical circle, the curve obtained by scanning the human leg does not perfectly conform to the circumferential angle theorem, but the respective circumferential angles fluctuate within a certain angular range. And obtaining the dispersion degree of the circumferential angle by judging the mean square error of each circumferential angle. If the discrete degree is within the preset range, the curve is considered to conform to the circumferential angle theorem.

Taking the above embodiment as an example, the two end points of the curve are M, N, and starting from point M, a point is sequentially taken on the curve at regular intervals, and a circumferential angle is formed between the two end points. For example, A, B, C, D is taken, A, B, C, D and M, N are not overlapped, and circumferential angles ═ MAN,. sub.MBN,. sub.MCN and. sub.MDN of four curves are formed with two end points M, N respectively. And calculating the mean square deviations of the four circumferential angles, and if the mean square deviations are smaller than a preset value, indicating that the dispersion degrees of the four circumferential angles are smaller, judging that the curve conforms to the circumferential angle theorem. If the mean square error is larger than the preset value, which shows that the dispersion degree of the four circumferential angles is larger, the curve is judged to be not in accordance with the circumferential angle theorem. For example, if the mean square error is 0, it indicates that the angles of the four circumferential angles are equal to each other, and the preset value is 0.5. If the mean square error is 2 and is larger than 0.5, the dispersion degree of the four circumference angles is larger, the curvature change of the curve is larger, and the curve does not accord with the contour curve characteristics of human legs.

In one embodiment of the present invention, as in the method shown in fig. 1, the determining the detected human body position according to the corresponding curve in step S120 includes: and if the distance between the two curves is smaller than a preset value, determining the same human body according to the two curves.

One person has two corresponding legs, and two sections of curves which accord with the characteristics of the legs of the person can be obtained with high probability in the laser scanning process. Considering that in reality, the distance between two legs generally does not exceed a certain value, the distance between two curves is judged to determine whether the two curves belong to the same person. For example, an adult who normally walks, the distance between the legs is 60 cm. And setting the distance preset value of the curve to be 75cm, judging that the two curves belong to two legs of the same person when the distance between the two curves is less than 75cm, and determining the position of the human body according to the positions of the two curves. For example, one curve is 100cm away from the smart mobile device, the other curve is 80cm away from the smart mobile device, the middle value of the two curves is taken, and the position of the human body is determined to be 90cm away from the smart mobile device.

There is of course also a case where only one curve may be obtained during the scanning process, which corresponds to the characteristics of a human leg. In this case, the segment of the curve is also considered to be a human leg contour curve, and the human leg position is determined from the position of the curve. In the actual scanning process, there may be a situation that two legs coincide and two curves conforming to the characteristic curves of the legs cannot be obtained, for example, when the intelligent mobile device is located on the side of the human body and scanning is performed from the side, two legs of the human body coincide and two curves cannot be obtained.

In one embodiment of the present invention, in the method shown in fig. 1, the smart mobile device is a sweeping robot. The scanning the surrounding environment of the smart mobile device by the single line laser in step S110 includes: 360-degree surrounding scanning is carried out through a laser radar on the sweeping robot at a preset frequency.

The sweeping robot scans in the sweeping process to determine the position of a human body in the surrounding environment, so that the human body can be tracked to improve the sweeping efficiency; or the human body is avoided, collision is avoided, and the working accuracy is improved. The single line laser is a laser radar, and in order to reduce a certain data processing amount, in the actual scanning process, the laser radar does not scan continuously in real time but scans at a preset frequency. For example, one scanning is performed at intervals of 1s, 5s and 8s, and it is ensured that a certain time is left for processing the scanning result after each scanning is completed so as to ensure the accuracy of the result. The laser radar is arranged on a rotating platform of the sweeping robot, when the sweeping robot rotates or independently rotates the laser radar, the laser radar can realize 360-degree surrounding scanning, and the outline information of all objects in the surrounding environment is obtained.

Fig. 2 illustrates a human body detection apparatus of a smart mobile device according to an embodiment of the present invention. As shown in fig. 2, the apparatus 200 includes:

the scanning unit 210 is adapted to scan the surrounding environment of the smart mobile device by using a single laser beam to obtain a plurality of scanning points.

The identifying unit 220 is adapted to identify one or more curves formed by the scanning points and conforming to the arc characteristics according to the distribution of the plurality of scanning points.

The determining unit 230 is adapted to determine whether the identified curves conform to the leg characteristics of the person, and if so, determine the detected position of the human body according to the corresponding curves.

In an embodiment of the present invention, as shown in the apparatus 200 shown in fig. 2, the identifying unit 220 is adapted to perform circle fitting according to the distribution of a plurality of scanning points to obtain one or more segments of curves composed of the scanning points.

In an embodiment of the present invention, as in the apparatus 200 shown in fig. 2, the identifying unit 220 is adapted to determine whether there are consecutive scanning points on the straight lines corresponding to the two end points of the arc when identifying a curve that conforms to the characteristics of the arc; if yes, estimating the width of the detection object corresponding to the arc according to the continuous scanning points; if the width is larger than the preset value, abandoning the identified curve which accords with the arc characteristics, and not identifying whether the continuous scanning points accord with the arc characteristics.

In an embodiment of the present invention, in the apparatus 200 shown in fig. 2, the determining unit 230 is adapted to determine whether a central angle corresponding to each segment of the curve is within a first preset angle range, and if so, determine that the corresponding curve conforms to the characteristics of the human leg.

In one embodiment of the present invention, as shown in the apparatus 200 of fig. 2, the determining unit 230 is adapted to determine whether each curve segment conforms to the circumferential angle theorem, and if so, determine that the corresponding curve conforms to the human leg characteristics.

In an embodiment of the present invention, in the apparatus 200, the determining unit 230 is further adapted to sequentially calculate, for a segment of the curve, a circumferential angle formed by each point on the curve with the first end point and the second end point along the first end point to the second end point of the segment of the curve; if the variation trend of the circumferential angle corresponding to each point is smaller and then larger, the curve is judged to be not in accordance with the circumferential angle theorem.

In an embodiment of the present invention, in the apparatus 200, the determining unit 230 is further adapted to sequentially calculate, for a segment of the curve, a circumferential angle formed by each point on the curve with the first end point and the second end point along the first end point to the second end point of the segment of the curve; and calculating the mean square error of each circumferential angle, and if the mean square error is greater than a preset value, judging that the curve does not conform to the circumferential angle theorem.

In an embodiment of the present invention, as shown in the apparatus 200 shown in fig. 2, the determining unit 230 is adapted to determine the same human body according to two curves if the distance between the two curves is smaller than a preset value.

In an embodiment of the present invention, as shown in the apparatus 200 shown in fig. 2, the smart mobile device is a sweeping robot, and the scanning unit 210 is adapted to perform 360 ° surrounding scanning at a preset frequency by using a laser radar on the sweeping robot.

In summary, according to the technical scheme of the present invention, the surrounding environment of the smart mobile device is scanned by the single laser beam to obtain a plurality of scanning points. According to the distribution condition of a plurality of scanning points, one or more sections of curves which are formed by the scanning points and conform to the characteristics of circular arcs are identified. And judging whether the identified curves conform to the characteristics of the human legs, and if so, determining the detected human body position according to the corresponding curves. The human body in the surrounding environment can be accurately identified by carrying out identification and judgment by combining the curve characteristics of the human body contour, and the position of the human body is obtained. Meanwhile, the judgment according with the human leg characteristics is only carried out on the curve obtained by scanning, certain data processing work is reduced, and the identification efficiency and the working efficiency can be effectively improved. Moreover, single-line laser is adopted for scanning, so that the scanning efficiency and accuracy can be ensured, and the scanning range is expanded.

It should be noted that:

the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the human detection apparatus, the electronic device, the computer readable storage medium of a smart mobile device according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

For example, fig. 3 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device comprises a processor 310 and a memory 320 arranged to store computer executable instructions (computer readable program code). The memory 320 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 320 has a storage space 330 storing computer readable program code 331 for performing any of the method steps described above. For example, the storage space 330 for storing the computer readable program code may comprise respective computer readable program codes 331 for respectively implementing various steps in the above method. The computer readable program code 331 may be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a computer readable storage medium such as described in fig. 4. Fig. 4 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention. The computer readable storage medium 400 has stored thereon a computer readable program code 331 for performing the steps of the method according to the invention, readable by a processor 310 of the electronic device 300, which computer readable program code 331, when executed by the electronic device 300, causes the electronic device 300 to perform the steps of the method described above, in particular the computer readable program code 331 stored on the computer readable storage medium may perform the method shown in any of the embodiments described above. The computer readable program code 331 may be compressed in a suitable form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

The invention provides a1 and a human body detection method of intelligent mobile equipment, which comprises the following steps:

A2, the method as recited in A1, wherein the identifying one or more curves conforming to the characteristics of the circular arc composed of the scanning points according to the distribution of the scanning points comprises:

A3, the method as recited in A1, wherein the identifying one or more curves conforming to the characteristics of the circular arc composed of the scanning points according to the distribution of the scanning points comprises:

A4, the method as in a1, wherein the judging whether the identified curves conform to the human leg characteristics includes:

A5, the method of a4, wherein the preset range is 60 ° to 120 °.

A6, the method as in a1, wherein the judging whether the identified curves conform to the human leg characteristics includes:

A7, the method as recited in a6, wherein the determining whether each curve segment conforms to the circumferential angle theorem includes:

A8, the method as recited in a6, wherein the determining whether each curve segment conforms to the circumferential angle theorem includes:

A9, the method of A1, wherein the determining the detected human body position according to the corresponding curve comprises:

The method of a10, as described in a1, where the smart mobile device is a sweeping robot, and the scanning the surrounding environment of the smart mobile device with the single-line laser includes:

The invention also provides B11, a human body detection device of the intelligent mobile device, comprising:

B12, the device according to B11, wherein the identification unit is adapted to perform circle fitting according to the distribution of the plurality of scanning points to obtain one or more segments of curves composed of the scanning points.

B13, the apparatus according to B11, wherein the identification unit is adapted to determine whether there are consecutive scanning points on the straight line corresponding to the two end points of the arc when identifying a curve corresponding to the characteristics of the arc;

The device of B14, according to B11, wherein the determining unit is adapted to determine whether the central angle corresponding to each segment of curve is within a first preset angle range, and if so, determine that the corresponding curve conforms to the characteristics of the human leg.

B15, the device of B14, wherein the preset range is 60 ° to 120 °.

B16, the device according to B11, wherein the determining unit is adapted to determine whether each segment of the curve conforms to the circumferential angle theorem, and if so, determine that the corresponding curve conforms to the human leg characteristics.

B17, the device according to B16, wherein the determining unit is further adapted to sequentially calculate the circumferential angle formed by each point on a segment of the curve with the first endpoint and the second endpoint along the first endpoint to the second endpoint of the segment of the curve;

B18, the device according to B16, wherein the determining unit is further adapted to sequentially calculate the circumferential angle formed by each point on a segment of the curve with the first endpoint and the second endpoint along the first endpoint to the second endpoint of the segment of the curve;

B19, the device of B11, wherein the determining unit is adapted to determine the same human body according to two curves if the distance between the two curves is smaller than a preset value.

B20, the device according to B11, wherein the smart mobile device is a sweeping robot, and the scanning unit is adapted to perform 360 ° surrounding scanning at a preset frequency by using a lidar on the sweeping robot.

The invention also provides C21, an electronic device, wherein the electronic device comprises: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the method of any one of a1-a 10.

The invention also provides D22, a computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the method of any of a1-a 10.

Claims

1. A human body detection method of an intelligent mobile device comprises the following steps:

2. The method of claim 1, wherein the identifying one or more curves corresponding to the circular arc feature from the scanning points according to the distribution of the scanning points comprises:

3. The method of claim 1, wherein the identifying one or more curves corresponding to the circular arc feature from the scanning points according to the distribution of the scanning points comprises:

4. The method of claim 1, wherein the determining whether the identified segments of the curve conform to human leg characteristics comprises:

5. The method of claim 4, wherein the preset range is 60 ° to 120 °.

6. The method of claim 1, wherein the determining whether the identified segments of the curve conform to human leg characteristics comprises:

7. The method of claim 6, wherein said determining whether each curve conforms to the circumferential angle theorem comprises:

8. A human body detection device of a smart mobile device, comprising:

9. An electronic device, wherein the electronic device comprises: a processor; and a memory arranged to store computer-executable instructions that, when executed, cause the processor to perform the method of any one of claims 1-7.

10. A computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the method of any of claims 1-7.