CN112001371A - Robot welcome control method and device and electronic equipment - Google Patents
Robot welcome control method and device and electronic equipment Download PDFInfo
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- CN112001371A CN112001371A CN202011054501.XA CN202011054501A CN112001371A CN 112001371 A CN112001371 A CN 112001371A CN 202011054501 A CN202011054501 A CN 202011054501A CN 112001371 A CN112001371 A CN 112001371A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
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Abstract
The invention discloses a robot welcome control method, a robot welcome control device and electronic equipment, wherein the method comprises the following steps: the method comprises the steps of obtaining a human leg detection result and a human face detection result of a robot for a target guest object, determining the position of the target guest object based on the human leg detection result, judging whether the leg moving speed of the target guest object exceeds a preset speed, controlling the robot and the guest to carry out first guest greeting interaction if the leg moving speed of the target guest object exceeds the preset speed, determining the position of the target guest object based on the human face detection result, and controlling the robot and the guest to carry out second guest interaction; according to the technical scheme provided by the invention, the sensitivity and the accuracy of the robot for detecting the legs are improved, and the guest can also carry out guest greeting interaction even if passing through quickly during guest greeting, so that the requirement of a user on the guest greeting function is met.
Description
Technical Field
The invention relates to the field of robots, in particular to a method and a device for controlling a robot welcome and an electronic device.
Background
At present, with the development of service industry and the welcome robot market, the welcome robot has replaced manpower to become a service person in places such as exhibition halls, office buildings, markets, governments and the like.
However, with the market spread of robots, the following problems exist in robot welcoming: the welcome function of the robot cannot meet the welcome requirement of the client, the sensitivity of the robot for detecting the human legs is low, and the robot does not react when the client passes in front of the robot quickly.
Disclosure of Invention
The invention mainly aims to provide a robot welcome control method and device, and aims to solve the problem that the existing robot is low in sensitivity when detecting human legs.
In order to achieve the above object, a first aspect of the present invention provides a robot welcome control method, including:
acquiring a human leg detection result and a human face detection result of the robot aiming at a target guest object;
determining a position of the target guest object based on the human leg detection result, and judging whether a leg moving speed of the target guest object exceeds a preset speed;
if the leg moving speed of the target guest object exceeds the preset speed, controlling the robot to perform first guest greeting interaction with the guest;
and determining the position of the target guest object based on the face detection result, and controlling the robot to perform second guest greeting interaction with the guest.
Optionally, before obtaining the leg detection result and the face detection result of the robot for the target guest object, the method further comprises:
controlling the robot to move to a preset welcome position, and enabling the robot to face a target guest object;
and controlling the robot to start human leg detection and human face detection.
Optionally, after controlling the robot to perform the second guest-greeting interaction with the guest, the method further comprises:
determining the position of the guest based on the face detection result, and controlling the robot and the guest to finish second guest greeting interaction;
and controlling the robot to return to the preset welcome position.
Optionally, the determining the position of the target guest object based on the human leg detection result comprises:
if the robot detects a human leg, the position of the human leg is within a first preset distance from the robot;
determining a position of the target guest object according to the position of the person's leg.
Optionally, said controlling said robot to perform a first guest-greeting interaction with a guest if the leg movement speed of said target guest object exceeds said preset speed comprises:
if the leg moving speed of the target guest object exceeds the preset speed, laser-sensing the leg moving speed of the target guest object;
and controlling the robot to perform voice interaction with the guest according to the leg moving speed of the target guest object sensed by the laser.
Optionally, the determining the position of the target guest object based on the face detection result comprises:
if the robot detects a face, the position of the face is within a second preset distance from the robot;
and determining the position of the target guest object according to the position of the face.
Further, the determining the position of the guest based on the face detection result includes:
if the robot does not detect the face, the position of the face is out of a second preset distance from the robot;
and determining the position of the guest according to the position of the face.
A second aspect of the present invention provides a robot welcome control apparatus, including:
an acquisition unit for acquiring a leg detection result and a face detection result of the robot for the target guest object;
a determination unit for determining a position of the target guest object based on the human leg detection result and determining whether a leg movement speed of the target guest object exceeds a preset speed;
a first control unit for controlling the robot to perform a first guest-greeting interaction with a guest if the leg moving speed of the target guest object exceeds the preset speed;
and the second control unit is used for determining the position of the target guest object based on the face detection result and controlling the robot to perform second guest greeting interaction with the guest.
A third aspect of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the robot welcome control method provided in any one of the first aspects.
A fourth aspect of the present invention provides an electronic apparatus, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to cause the at least one processor to execute the robot welcome control method provided by any one of the first aspect.
The robot guest greeting control method includes the steps that firstly, a human leg detection result and a human face detection result of a robot for a target guest object are obtained, secondly, the position of the target guest object is determined based on the human leg detection result, whether the leg moving speed of the target guest object exceeds a preset speed or not is judged, then, if the leg moving speed of the target guest object exceeds the preset speed, the robot is controlled to conduct first guest greeting interaction with the guest, and finally, the position of the target guest object is determined based on the human face detection result, and the robot is controlled to conduct second guest greeting interaction with the guest; according to the technical scheme provided by the invention, the sensitivity and the accuracy of the robot for detecting the legs are improved, and the guest can also carry out guest greeting interaction even if passing through quickly during guest greeting, so that the requirement of a user on the guest greeting function is met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a robot welcome control method according to an embodiment of the present invention;
fig. 2 is a block diagram of a robot welcome control device according to an embodiment of the present invention;
fig. 3 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "center", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
With the market popularization of robots, the following problems exist in robot welcoming: the welcome function of the robot cannot meet the welcome requirement of the client, the sensitivity of the robot for detecting the human legs is low, and the robot does not react when the client passes in front of the robot quickly.
In order to solve the above problem, an embodiment of the present invention provides a robot welcome control method, as shown in fig. 1, the method includes steps S101 to S104 as follows:
step S101: acquiring a human leg detection result and a human face detection result of the robot aiming at a target guest object; the target guest object comprises a guest or a pedestrian in front of the robot, the human leg detection result comprises the detection of whether human legs exist in a first preset distance in front of the robot and the moving speed of the human legs in the first preset distance in front of the robot, and the human face detection result comprises the detection of whether human faces exist in a second preset distance in front of the robot; the robot comprises a robot front view angle range of 270 degrees, the first preset distance is 3 meters, the second preset distance is 1.5 meters, and the robot acquires a human leg detection result and a human face detection result of the robot for a target guest object every 5 seconds.
Step S102: determining a position of the target guest object based on the human leg detection result, and judging whether a leg moving speed of the target guest object exceeds a preset speed; when the robot is detected to have the human legs within a first preset distance in front of the robot, whether the moving speed of the human legs within the first preset distance in front of the detected robot exceeds a preset speed or not is judged, and the preset speed is 1 mm/s.
Step S103: if the leg moving speed of the target guest object exceeds the preset speed, controlling the robot to perform first guest greeting interaction with the guest; the first guest greeting interaction comprises voice interaction, the robot is in voice communication with the guest, and the robot calls the guest in a voice mode and greets the guest.
Step S104: and determining the position of the target guest object based on the face detection result, and controlling the robot to perform second guest greeting interaction with the guest. When detecting that there is the people face in the second preset distance in front of the robot, control the robot carries out the second guest greeting interaction with the guest, the second guest greeting interaction includes the function interaction, the function interaction includes voice interaction, map interaction, weather interaction etc..
According to the technical scheme provided by the invention, the detected leg movement speed is compared with the preset speed by detecting the legs and the faces, so that the sensitivity and the accuracy of the robot for detecting the legs are improved, the guest greeting interaction can be carried out even if the guest passes through the robot quickly during guest greeting, and other various function interactions can be carried out by detecting the faces, so that the requirements of the user on the guest greeting function are met.
Specifically, before step S101, the method further includes:
controlling the robot to move to a preset welcome position, and enabling the robot to face a target guest object; the preset welcome position can be set according to the actual requirement of the user, and is not specifically limited in the embodiment of the invention; the target guest object includes a guest or pedestrian in front of the robot.
And controlling the robot to start human leg detection and human face detection.
Specifically, after step S104, the method further includes:
determining the position of the guest based on the face detection result, and controlling the robot and the guest to finish second guest greeting interaction; and when the robot is detected to be not provided with the human face within a second preset distance, finishing the second guest greeting interaction.
And controlling the robot to return to the preset welcome position.
Specifically, the step S102 includes:
if the robot detects a human leg, the position of the human leg is within a first preset distance from the robot;
determining a position of the target guest object according to the position of the person's leg. The position of the human leg is the same as the position of the target guest object.
Specifically, the step S103 includes:
if the leg moving speed of the target guest object exceeds the preset speed, laser-sensing the leg moving speed of the target guest object; wherein the preset speed is 1 mm/s.
And controlling the robot to perform voice interaction with the guest according to the leg moving speed of the target guest object sensed by the laser. And controlling the robot to perform voice communication with the guest, and calling and receiving the guest by the robot in a voice mode.
Specifically, the step S104 includes:
if the robot detects a face, the position of the face is within a second preset distance from the robot;
and determining the position of the target guest object according to the position of the face. The position of the face is the same as the position of the target guest object.
Further, the determining the position of the guest based on the face detection result includes:
if the robot does not detect the face, the position of the face is out of a second preset distance from the robot;
and determining the position of the guest according to the position of the face. The position of the face is the same as the position of the guest.
From the above description, it can be seen that the present invention achieves the following technical effects:
according to the technical scheme provided by the invention, the detected leg movement speed is compared with the preset speed by detecting the legs and the faces, so that the sensitivity and the accuracy of the robot for detecting the legs are improved, the guest greeting interaction can be carried out even if the guest passes through the robot quickly during guest greeting, and other various function interactions can be carried out by detecting the faces, so that the requirements of the user on the guest greeting function are met.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
An embodiment of the present invention further provides a robot welcome control apparatus for implementing the robot welcome control method, as shown in fig. 2, the apparatus includes:
an obtaining unit 21 configured to obtain a human leg detection result and a human face detection result of the robot for the target guest object;
a determination unit 22 for determining a position of the target guest object based on the human leg detection result and determining whether a leg moving speed of the target guest object exceeds a preset speed;
a first control unit 23 for controlling the robot to perform a first guest-greeting interaction with a guest if the leg moving speed of the target guest object exceeds the preset speed;
and the second control unit 24 is used for determining the position of the target guest object based on the human face detection result and controlling the robot to perform second guest greeting interaction with the guest.
An embodiment of the present invention further provides an electronic device, as shown in fig. 3, the electronic device includes one or more processors 31 and a memory 32, where one processor 31 is taken as an example in fig. 3.
The controller may further include: an input device 33 and an output device 34.
The processor 31, the memory 32, the input device 33 and the output device 34 may be connected by a bus or other means, and fig. 3 illustrates the connection by a bus as an example.
The processor 31 may be a Central Processing Unit (CPU). The processor 31 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 32, which is a non-transitory computer readable storage medium, may be used for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the control method in the embodiments of the present invention. The processor 31 executes various functional applications of the server and data processing by running non-transitory software programs, instructions and modules stored in the memory 32, that is, implements the robot welcome control method of the above-described method embodiments.
The memory 32 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a processing device operated by the server, and the like. Further, the memory 32 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 32 may optionally include memory located remotely from the processor 31, which may be connected to a network connection device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 33 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the processing device of the server. The output device 34 may include a display device such as a display screen.
One or more modules are stored in the memory 32, which when executed by the one or more processors 31 perform the method as shown in fig. 1.
Those skilled in the art will appreciate that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and the processes of the embodiments of the motor control methods described above can be included when the computer program is executed. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM), a Random Access Memory (RAM), a Flash Memory (FM), a hard disk (hard disk drive, HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. A robot welcome control method, comprising:
acquiring a human leg detection result and a human face detection result of the robot aiming at a target guest object;
determining a position of the target guest object based on the human leg detection result, and judging whether a leg moving speed of the target guest object exceeds a preset speed;
if the leg moving speed of the target guest object exceeds the preset speed, controlling the robot to perform first guest greeting interaction with the guest;
and determining the position of the target guest object based on the face detection result, and controlling the robot to perform second guest greeting interaction with the guest.
2. The method of claim 1, wherein prior to obtaining the leg detection results and face detection results for the target guest object by the robot, the method further comprises:
controlling the robot to move to a preset welcome position, and enabling the robot to face a target guest object;
and controlling the robot to start human leg detection and human face detection.
3. The method of claim 1, wherein after controlling the robot to engage in a second guest-greeting interaction with a guest, the method further comprises:
determining the position of the guest based on the face detection result, and controlling the robot and the guest to finish second guest greeting interaction;
and controlling the robot to return to the preset welcome position.
4. The method of claim 1, wherein the determining the position of the target guest object based on the human leg detection result comprises:
if the robot detects a human leg, the position of the human leg is within a first preset distance from the robot;
determining a position of the target guest object according to the position of the person's leg.
5. The method of claim 1, wherein controlling the robot to engage in a first guest interaction with a guest if the leg movement speed of the target guest object exceeds the preset speed comprises:
if the leg moving speed of the target guest object exceeds the preset speed, laser-sensing the leg moving speed of the target guest object;
and controlling the robot to perform voice interaction with the guest according to the leg moving speed of the target guest object sensed by the laser.
6. The method of claim 1, wherein determining the location of the target guest object based on the face detection result comprises:
if the robot detects a face, the position of the face is within a second preset distance from the robot;
and determining the position of the target guest object according to the position of the face.
7. The method of claim 3, wherein determining the location of the guest based on the face detection result comprises:
if the robot does not detect the face, the position of the face is out of a second preset distance from the robot;
and determining the position of the guest according to the position of the face.
8. A robotic guest greeting control device, the device comprising:
an acquisition unit for acquiring a leg detection result and a face detection result of the robot for the target guest object;
a determination unit for determining a position of the target guest object based on the human leg detection result and determining whether a leg movement speed of the target guest object exceeds a preset speed;
a first control unit for controlling the robot to perform a first guest-greeting interaction with a guest if the leg moving speed of the target guest object exceeds the preset speed;
and the second control unit is used for determining the position of the target guest object based on the face detection result and controlling the robot to perform second guest greeting interaction with the guest.
9. A computer-readable storage medium storing computer instructions for causing a computer to perform the robot welcome control method as recited in any one of claims 1 to 7.
10. An electronic device, characterized in that the electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the robot welcome control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011054501.XA CN112001371A (en) | 2020-09-29 | 2020-09-29 | Robot welcome control method and device and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011054501.XA CN112001371A (en) | 2020-09-29 | 2020-09-29 | Robot welcome control method and device and electronic equipment |
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| CN112001371A true CN112001371A (en) | 2020-11-27 |
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| CN202011054501.XA Pending CN112001371A (en) | 2020-09-29 | 2020-09-29 | Robot welcome control method and device and electronic equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113359753A (en) * | 2021-06-24 | 2021-09-07 | 深圳市普渡科技有限公司 | Robot, robot welcome motion method and readable storage medium |
| CN113515122A (en) * | 2021-06-24 | 2021-10-19 | 深圳市普渡科技有限公司 | Robot, robot welcome path planning method and device and readable storage medium |
| CN114153310A (en) * | 2021-11-18 | 2022-03-08 | 天津塔米智能科技有限公司 | Robot guest greeting method, device, equipment and medium |
| CN114327353A (en) * | 2021-12-27 | 2022-04-12 | 上海擎朗智能科技有限公司 | Robot guest greeting method, device, equipment and storage medium |
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| CN105701447A (en) * | 2015-12-30 | 2016-06-22 | 上海智臻智能网络科技股份有限公司 | Guest-greeting robot |
| CN110253595A (en) * | 2019-06-21 | 2019-09-20 | 北京猎户星空科技有限公司 | A kind of smart machine control method and device |
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| CN105701447A (en) * | 2015-12-30 | 2016-06-22 | 上海智臻智能网络科技股份有限公司 | Guest-greeting robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113359753A (en) * | 2021-06-24 | 2021-09-07 | 深圳市普渡科技有限公司 | Robot, robot welcome motion method and readable storage medium |
| CN113515122A (en) * | 2021-06-24 | 2021-10-19 | 深圳市普渡科技有限公司 | Robot, robot welcome path planning method and device and readable storage medium |
| CN113359753B (en) * | 2021-06-24 | 2023-09-08 | 深圳市普渡科技有限公司 | Robot, robot welcome movement method and readable storage medium |
| CN114153310A (en) * | 2021-11-18 | 2022-03-08 | 天津塔米智能科技有限公司 | Robot guest greeting method, device, equipment and medium |
| CN114327353A (en) * | 2021-12-27 | 2022-04-12 | 上海擎朗智能科技有限公司 | Robot guest greeting method, device, equipment and storage medium |
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Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Applicant after: Beijing Yunji Technology Co.,Ltd. Address before: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Applicant before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |
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