CN112060090B - Robot avoidance method, device and computer readable storage medium - Google Patents
Robot avoidance method, device and computer readable storage medium Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims description 11
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B25J9/1676—Avoiding collision or forbidden zones
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Abstract
The invention discloses a robot avoidance method, a device and a computer readable storage medium, wherein the robot avoidance method comprises the following steps: detecting whether children exist in a first preset distance around the robot or not; if the child exists in a first preset distance around the robot, judging whether the child approaches the robot; and if the child approaches the robot, controlling the robot to change the path so as to avoid the child. The invention realizes that the robot avoids children so as to ensure the normal operation of the robot and reduce the incidence rate of unexpected disputes.
Description
Technical Field
The present invention relates to the field of robot technologies, and in particular, to a robot avoidance method, apparatus, and computer-readable storage medium.
Background
With the rapid development of science and technology, robots have gradually deepened into the aspects of human life. At present, robots are widely used in houses, hotels, restaurants, factories, warehouses and other places. In general, in order to improve the appreciation of the robot and attract the attention of the user, the appearance of the robot is lovely.
The robot is lovely in appearance and easy to be noticed by children, so that the children interfere with the normal operation of the robot, and the robot may hurt the children, thereby causing unexpected disputes. Therefore, how to avoid children by the robot is a problem which needs to be solved urgently at present.
Disclosure of Invention
The invention mainly aims to provide a robot avoidance method, a robot avoidance device and a computer readable storage medium, and aims to achieve the purpose that a robot avoids children so as to ensure the normal operation of the robot and reduce the occurrence rate of unexpected disputes.
In order to achieve the above object, the present invention provides a robot avoidance method, including:
detecting whether children exist in a first preset distance around the robot or not;
if the child exists in a first preset distance around the robot, judging whether the child approaches the robot;
and if the child approaches the robot, controlling the robot to change the path so as to avoid the child.
Optionally, the detecting whether there is a child within a first preset distance around the robot includes:
acquiring first image information around the robot;
and determining whether children exist in a first preset distance around the robot or not according to the first image information.
Optionally, the detecting whether there is a child within a first preset distance around the robot includes:
acquiring sound information around the robot;
and determining whether children exist within a first preset distance around the robot or not according to the sound information.
Optionally, after detecting whether there is a child within a first preset distance around the robot, the floor identification method further includes:
if the child exists in a first preset distance around the robot, acquiring second image information around the child;
judging whether adults exist within a second preset distance around the child or not according to the second image information;
if the adult exists in a second preset distance around the child, outputting a first prompt voice;
and if the adult does not exist within a second preset distance around the child, outputting a second prompt voice.
Optionally, after outputting the first prompt voice if the adult is present within the second preset distance around the child, the floor recognition method further includes:
acquiring a moving track of the adult;
judging whether the adult is close to the child or not according to the movement track of the adult;
and if the adult approaches the child, controlling the robot to keep the original path.
Optionally, after detecting whether there is a child within a first preset distance around the robot, the floor identification method further includes:
if the child exists in a first preset distance around the robot, acquiring second image information around the child;
judging whether adults exist within a second preset distance around the child or not according to the second image information;
if the adult exists in a second preset distance around the child, acquiring third image information of the face of the adult, and acquiring fourth image information of the face of the child;
comparing the third image information with the fourth image information according to a face recognition technology;
judging whether a caregiver exists in a second preset distance around the child or not according to the comparison result;
if the caregiver exists in a second preset distance around the child, outputting a third prompt voice;
and if the caregiver does not exist within a second preset distance around the child, outputting a second prompt voice.
Optionally, if the child is present within a first preset distance around the robot, determining whether the child is close to the robot includes:
if the child exists in a first preset distance around the robot, detecting the moving track of the child through a radar;
and judging whether the child approaches the robot or not according to the moving track of the child.
Optionally, if the child approaches the robot, controlling the robot to change the path to avoid the child includes:
if the child approaches the robot, acquiring the moving speed of the child;
and controlling the robot to change the path according to the moving speed so as to avoid the child.
In order to achieve the above object, the present invention also provides a robot avoidance apparatus including:
the child detection module is used for detecting whether children exist in a first preset distance around the robot or not;
the child judgment module is used for judging whether the child approaches the robot or not if the child exists in a first preset distance around the robot;
and the path control module is used for controlling the robot to change the path to avoid the child if the child approaches the robot.
In addition, to achieve the above object, the present invention further provides a computer-readable storage medium having a robot avoidance program stored thereon, which when executed by a processor implements the steps of the robot avoidance method as described above.
The invention provides a robot avoidance method, a robot avoidance device and a computer readable storage medium, which are used for detecting whether children exist in a first preset distance around a robot or not; if children exist in a first preset distance around the robot, judging whether the children approach the robot or not; and if the child approaches the robot, controlling the robot to change the path so as to avoid the child. When the robot runs, whether children exist in a certain distance around the robot or not is detected, if the children exist in the certain distance around the robot, whether the children approach the robot or not is further judged, and if the children approach the robot, the robot is controlled to change the path to avoid the children, so that the normal running of the robot is ensured, and the occurrence rate of unexpected disputes is reduced.
Drawings
Fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a robot avoidance method according to a first embodiment of the present invention;
fig. 3 is a schematic flow chart of a robot avoidance method according to a second embodiment of the present invention;
fig. 4 is a schematic flow chart of a robot avoidance method according to a third embodiment of the present invention;
fig. 5 is a functional block diagram of a first embodiment of a robot avoidance apparatus according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
The terminal in the embodiment of the present invention is a robot avoidance device, and the robot avoidance device may be a terminal device having a processing function, such as a robot, a Personal Computer (PC), a laptop, and a server.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU (Central Processing Unit), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a robot avoidance program.
In the terminal shown in fig. 1, the processor 1001 may be configured to invoke a robot avoidance program stored in the memory 1005 and perform the following operations:
detecting whether children exist in a first preset distance around the robot or not;
if the child exists in a first preset distance around the robot, judging whether the child approaches the robot;
and if the child approaches the robot, controlling the robot to change the path so as to avoid the child.
Further, the processor 1001 may be configured to invoke a robot avoidance program stored in the memory 1005, and further perform the following operations:
acquiring first image information around the robot;
and determining whether children exist in a first preset distance around the robot or not according to the first image information.
Further, the processor 1001 may be configured to invoke a robot avoidance program stored in the memory 1005, and further perform the following operations:
acquiring sound information around the robot;
and determining whether children exist within a first preset distance around the robot or not according to the sound information.
Further, the processor 1001 may be configured to invoke a robot avoidance program stored in the memory 1005, and further perform the following operations:
if the child exists in a first preset distance around the robot, acquiring second image information around the child;
judging whether adults exist within a second preset distance around the child or not according to the second image information;
if the adult exists in a second preset distance around the child, outputting a first prompt voice;
and if the adult does not exist within a second preset distance around the child, outputting a second prompt voice.
Further, the processor 1001 may be configured to invoke a robot avoidance program stored in the memory 1005, and further perform the following operations:
acquiring a moving track of the adult;
judging whether the adult is close to the child or not according to the movement track of the adult;
and if the adult approaches the child, controlling the robot to keep the original path.
Further, the processor 1001 may be configured to invoke a robot avoidance program stored in the memory 1005, and further perform the following operations:
if the child exists in a first preset distance around the robot, acquiring second image information around the child;
judging whether adults exist within a second preset distance around the child or not according to the second image information;
if the adult exists in a second preset distance around the child, acquiring third image information of the face of the adult, and acquiring fourth image information of the face of the child;
comparing the third image information with the fourth image information according to a face recognition technology;
judging whether a caregiver exists in a second preset distance around the child or not according to the comparison result;
if the caregiver exists in a second preset distance around the child, outputting a third prompt voice;
and if the caregiver does not exist within a second preset distance around the child, outputting a second prompt voice.
Further, the processor 1001 may be configured to invoke a robot avoidance program stored in the memory 1005, and further perform the following operations:
if the child exists in a first preset distance around the robot, detecting the moving track of the child through a radar;
and judging whether the child approaches the robot or not according to the moving track of the child.
Further, the processor 1001 may be configured to invoke a robot avoidance program stored in the memory 1005, and further perform the following operations:
if the child approaches the robot, acquiring the moving speed of the child;
and controlling the robot to change the path according to the moving speed so as to avoid the child.
Based on the hardware structure, the invention provides various embodiments of the robot avoidance method.
The invention provides a robot avoiding method.
Referring to fig. 2, fig. 2 is a flowchart illustrating a robot avoidance method according to a first embodiment of the present invention.
In this embodiment, the robot avoidance method includes the following steps S10 to S30:
step S10, detecting whether children exist in a first preset distance around the robot;
in this embodiment, the robot avoidance method is implemented by a robot avoidance device, and the robot avoidance device may be a terminal device having a processing function, such as a robot, a PC, a laptop, and a server. The robot avoidance system will be described by way of example of a robot.
In this embodiment, when the robot is running, it is detected whether a child is present within a first preset distance around the robot. The first preset distance may be set according to actual needs, for example, may be set to 4 meters, 5 meters, or 6 meters, and is not limited herein. It can be understood that the robot has a fast reaction speed, and does not need to detect beyond the first preset distance, so that the robot only needs to detect whether children exist in the first preset distance around the robot.
It should be noted that, since the child may actively approach the robot and the strain capability of the child to danger is weak, the present embodiment needs to detect whether the child is present within the first preset distance around the robot. Of course, the present embodiment may also detect and avoid the elderly with weak reaction capability, and details are not described herein.
As one of the detection manners of whether there is a child within the first preset distance around the robot, the step S10 may include the following steps a11-a 12:
step a11, acquiring first image information around the robot; in the present embodiment, first image information of the surroundings of the robot is acquired. The robot is provided with 4 cameras which are respectively arranged in front of, behind, on the left of and on the right of the robot so as to acquire image information in front of the robot, image information behind the robot, image information on the left of the robot and image information on the right of the robot. Of course, the robot may also be provided with a 360-degree omnidirectional camera, or the robot acquires image information through a monitoring camera in a place where the robot is located, and then receives the image information sent by the monitoring camera.
Step a12, determining whether children exist within a first preset distance around the robot according to the first image information.
After the first image information is acquired, whether children exist in a first preset distance around the robot or not is determined according to the first image information. Specifically, the first image information is analyzed based on an image processing technology and a biological recognition technology, so that whether children exist in a first preset distance around the robot or not is determined. The first preset distance may be set according to actual needs, for example, may be set to 4 meters, 5 meters, or 6 meters, and is not limited herein.
It should be noted that, by analyzing the first image information, image information within the first preset distance is obtained. The image information within the first preset distance comprises image information within the first preset distance in front of the robot, image information within the first preset distance behind the robot, image information within the first preset distance on the left of the robot and image information within the first preset distance on the right of the robot. In other words, the first image information is image information in a circular area with a robot as a center and a radius of a first preset distance. And then, determining whether children exist in the first preset distance around the robot or not according to the image information in the first preset distance.
It can be understood that the child is short, the size characteristics of the child are greatly different from those of the adult, and the facial characteristics of the child are also greatly different from those of the adult, so that whether the person in the first image information is the child can be accurately determined by the image processing technology and the biometric identification technology. The height of the child may be set according to actual conditions, for example, 150 cm or less, 140 cm or less, and the like, and is not limited herein. Of course, the behavior of the person in the first image information may also be analyzed through a behavior recognition technology, and since the behavior characteristics of the child are much different from those of the adult, it may be determined whether the child is present within the first preset distance around the robot.
As another detection manner of whether there is a child within the first preset distance around the robot, the step S10 may include the following steps a13-a 14:
a13, acquiring sound information around the robot;
in the present embodiment, sound information around the robot is acquired.
The robot is provided with a sound sensor, which can acquire a sound waveform within a first preset distance around the robot, and then perform noise reduction processing on the sound waveform to obtain sound information. Of course, the sound around the robot can be obtained by the microphone, and the sound signal can be converted into an electric signal, and further, the electric signal can be converted into a digital signal by using a sound card for subsequent analysis.
a14, determining whether children exist in a first preset distance around the robot according to the sound information.
After the sound information is acquired, whether children exist in a first preset distance around the robot or not is determined according to the sound information. The first preset distance may be set according to actual needs, for example, may be set to 4 meters, 5 meters, or 6 meters, and is not limited herein.
It can be understood that the sound of the child is relatively sharp, i.e. the tone is relatively high, which is much different from the sound of the adult, so that the sound can be recognized by the speech recognition module to determine whether the sound is the sound made by the child.
It should be noted that the position from which the sound is emitted may be determined based on the signal intensity of the sound signal acquired by the robot. Specifically, the signal intensity of the sound emitted under the normal condition of people is determined, and then the distance between the sound emitting position and the robot is obtained according to the attenuation factor and the signal intensity of the sound signal acquired by the robot. Of course, the distance between the position where the sound is emitted and the robot may be determined by a distance sensor or the like. It will be appreciated that the distance from the location from which the sound is emitted from the robot is determined such that the robot only acquires sound information within a first predetermined distance of the surroundings.
Step S20, if the child exists in a first preset distance around the robot, judging whether the child approaches the robot;
in this embodiment, if there is a child within a first predetermined distance around the robot, it is determined whether the child is close to the robot. Specifically, if children exist in a first preset distance around the robot, the moving track of the children is detected, and if the moving track of the children is from a distance far away from the robot to a distance close to the robot, that is, the children gradually approach the robot, it is determined that the children approach the robot.
It should be noted that the movement track of the child can be detected by using a radar, a distance sensor, a thermal infrared sensor, an ultrasonic sensor, a navigation positioning device, and other devices, which are not described in detail herein.
Specifically, the step S20 includes the following steps a21-a 22:
a21, if the child exists in a first preset distance around the robot, detecting the moving track of the child through a radar;
in this embodiment, if there is a child within a first preset distance around the robot, the moving track of the child is detected by a radar.
Specifically, if children exist in a first preset distance around the robot, a first position of the children at a first moment is determined through a radar, then a second position of the children at a second moment is determined, and a moving track of the children is obtained according to the first position and the second position. The first time is before the second time, and the time difference between the first time and the second time may be set according to actual needs, for example, 0.4 second, 0.5 second, 0.6 second, and the like, and is not limited specifically here.
Step a22, judging whether the child approaches the robot according to the moving track of the child.
And after the movement track of the child is obtained, judging whether the child approaches the robot or not according to the movement track of the child. Specifically, if the movement trajectory of the child is from a distance farther from the robot to a distance closer to the robot, that is, the child gradually approaches the robot, it is determined that the child approaches the robot.
The distance between the first position specified by the radar and the robot is a first distance, the distance between the second position specified by the radar and the robot is a second distance, and when the first distance is greater than the second distance, it is determined that the child is close to the robot.
And step S30, if the child approaches the robot, controlling the robot to change the path so as to avoid the child.
In this embodiment, when a child approaches the robot, the robot is controlled to change the path so as to avoid the child. Specifically, if the child approaches the robot, whether the child is on the left or right in the advancing direction of the robot is judged, and if the child is on the left in the advancing direction of the robot, the robot is controlled to advance to the right in the original advancing direction; and if the child is at the right side of the advancing direction of the robot, controlling the robot to advance towards the left side of the original advancing direction.
It should be noted that the rotation angle of the robot may be set according to actual needs, for example, when the child shifts 45 degrees to the left in the forward direction of the robot, the robot is controlled to shift 45 degrees to the right, and of course, the robot may also be controlled to shift other angles to the right, and the present disclosure is not limited thereto. It is understood that the path will be changed after the robot rotates, and will not be described in detail herein.
Specifically, the step S30 includes the following steps a31-a 32:
a31, if the child approaches the robot, acquiring the moving speed of the child;
in this embodiment, if the child approaches the robot, the moving speed of the child is acquired. Specifically, a first position of the child at a first moment and a second position of the child at a second moment are obtained through equipment such as a radar, a distance sensor, a thermal infrared sensor, an ultrasonic sensor and a navigation positioning device, then the distance between the first position and the second position and the time difference between the first moment and the second moment are calculated, and finally the distance and the time difference are divided to obtain the moving speed of the child.
And a step a32, controlling the robot to change the path according to the moving speed so as to avoid the child.
After the moving speed of the child is acquired, the robot is controlled to change the path according to the moving speed so as to avoid the child. Specifically, the robot is controlled to change the path according to the moving speed and a preset corresponding relationship, where the preset corresponding relationship is a corresponding relationship between the moving speed and the rotation angle of the robot, and the preset corresponding relationship may be a mapping table or a mapping map. It can be understood that if the moving speed of the child is high, the rotation angle of the robot is controlled to be large; if the moving speed of the child is low, the rotation angle of the robot is controlled to be small.
It should be noted that, if the moving speed of the child is fast, the rotation speed of the robot is fast; if the moving speed of the child is slow, the rotation speed of the robot is slow. Specifically, the rotation speed of the robot is determined according to a preset corresponding relation between the moving speed and the rotation speed.
The embodiment of the invention provides a robot avoidance method, which is used for detecting whether children exist in a first preset distance around a robot or not; if children exist in a first preset distance around the robot, judging whether the children approach the robot or not; and if the child approaches the robot, controlling the robot to change the path so as to avoid the child. The embodiment of the invention detects whether children exist in a certain distance around the robot when the robot runs, further judges whether the children approach the robot if the children exist in the certain distance around the robot, and controls the robot to change the path to avoid the children if the children approach the robot, thereby ensuring the normal running of the robot and reducing the occurrence rate of unexpected disputes.
Further, based on the first embodiment described above, a second embodiment of the robot avoidance method of the present invention is proposed.
Referring to fig. 3, fig. 3 is a flowchart illustrating a robot avoidance method according to a second embodiment of the present invention.
In this embodiment, after the step S10, the robot avoidance method of the present invention further includes the following steps S40-S70:
step S40, if the child exists in a first preset distance around the robot, acquiring second image information around the child;
in this embodiment, if there is a child within a first preset distance around the robot, second image information around the child is obtained. Wherein, be provided with the camera on the robot, can acquire the second image information around the children. Certainly, the second image information can also be acquired through a monitoring camera in the place where the robot is located, and then the robot receives the second image information sent by the monitoring camera.
Step S50, judging whether adults exist in a second preset distance around the child according to the second image information;
after the second image information is acquired, whether adults exist within a second preset distance around the child is judged according to the second image information. Specifically, the second image information is analyzed based on an image processing technology and a biometric identification technology, so as to determine whether an adult is present within a second preset distance around the child. The second preset distance may be set according to actual needs, for example, may be set to 4 meters, 5 meters, or 6 meters, and is not limited herein.
It can be understood that in order for an adult to protect a child in time, an adult beyond the second predetermined distance cannot protect a child in time, and therefore only image information within the second predetermined distance around the child is analyzed. The image information in the second preset distance is the image information in a circular area with the child as the center of a circle and the radius as the second preset distance.
Since the height of an adult is higher than that of a child, the size characteristics of the adult are greatly different from those of the child, and the facial characteristics of the adult are also greatly different from those of the child, it is possible to accurately determine whether or not the person in the second image information is an adult by the image processing technique and the biometric recognition technique. Of course, the behavior of the person in the second image information may also be analyzed through a behavior recognition technology, and since the behavior characteristics of the adult are much different from those of the child, it may be determined whether the adult is present within a second preset distance around the child.
Step S60, if the adult exists in a second preset distance around the child, outputting a first prompt voice;
in this embodiment, if there is an adult in the second predetermined distance around the child, the first prompt voice is output. The first prompt voice may be set according to actual needs, for example, the first prompt voice may be set to please note that the child is about to be knocked down, please note that the adult is about to note the safety of the child, and the like, which is not limited herein.
It should be noted that the first prompting voice is mainly used for prompting adults, the voice tone of the first prompting voice is relatively flat, and the voice content is set for adults.
Further, after the step S60, the robot avoidance method of the present invention further includes a80-a 100:
a step 80, acquiring a moving track of the adult;
in the present embodiment, the movement locus of an adult is acquired. Specifically, the movement track of the adult is obtained through equipment such as a radar, a distance sensor, a thermal infrared sensor, an ultrasonic sensor, a navigation positioning device, and the like, which is not described in detail herein.
A step a90, judging whether the adult is close to the child according to the movement track of the adult;
after the movement track of the adult is obtained, whether the adult is close to the child is judged according to the movement track of the adult. Specifically, if the movement locus of the adult is from a distance farther from the child to a distance closer to the child, that is, the adult gradually approaches the child, it is determined that the adult approaches the child.
Step a100, if the adult approaches the child, controlling the robot to keep the original path.
In this embodiment, if an adult approaches a child, the robot is controlled to maintain the original path. Specifically, if the adult approaches the child, the adult can protect the child, so that the robot does not need to change the path, and the robot is controlled to keep the original path, so that the running efficiency of the robot is improved.
Step S70, if the adult does not exist within a second preset distance around the child, outputting a second prompt voice.
In this embodiment, if there is no adult around the child within a second predetermined distance, the second prompt voice is output. The second prompt voice may be set according to actual needs, for example, the second prompt voice may be set to be a danger noticed by the child, a request from the child is not required, and the like, which is not specifically limited herein.
It should be noted that the second prompt voice is mainly used for prompting the child, the voice tone of the second prompt voice is sharp to attract the attention of the child, and the voice content is set for the child.
In this embodiment, whether adult exists in the certain distance around the detection children, if adult exists in the certain distance around the children, the suggestion pronunciation to the adult is output to make the adult in time protect children, simultaneously, different suggestion pronunciation are output to children, in order to arouse children's attention, thereby further reduce unexpected dispute incidence, and guarantee the normal operating of robot.
Further, based on the first embodiment described above, a third embodiment of the robot avoidance method of the present invention is proposed.
Referring to fig. 4, fig. 4 is a flowchart illustrating a robot avoidance method according to a third embodiment of the present invention.
In this embodiment, after the step S10, the robot avoidance method of the present invention further includes the following steps S110 to S140:
step S110, if the child exists in a first preset distance around the robot, acquiring second image information around the child;
in this embodiment, if there is a child within a first preset distance around the robot, second image information around the child is obtained.
It should be noted that, a camera is arranged on the robot, and second image information within a second preset distance around the child can be acquired. Certainly, the second image information can also be acquired through a monitoring camera in the place where the robot is located, and then the robot receives the second image information sent by the monitoring camera.
In addition, it should be noted that the second image information is image information in a circular area with the child as a center and the radius as a second preset distance.
Step S120, judging whether adults exist in a second preset distance around the child or not according to the second image information;
after the second image information is acquired, whether adults exist within a second preset distance around the child is judged according to the second image information. Specifically, the second image information is analyzed based on an image processing technology and a biometric identification technology, so as to determine whether an adult is present within a second preset distance around the child. The second preset distance may be set according to actual needs, for example, may be set to 4 meters, 5 meters, or 6 meters, and is not limited herein.
It can be understood that, in order for the caregiver to protect the child in time, the caregiver beyond the second predetermined distance cannot protect the child in time, and therefore, only the image information within the second predetermined distance around the child is analyzed. The image information in the second preset distance is the image information in a circular area with the child as the center of a circle and the radius as the second preset distance.
Since the height of an adult is higher than that of a child, the size characteristics of the adult are greatly different from those of the child, and the facial characteristics of the adult are also greatly different from those of the child, it is possible to accurately determine whether or not the person in the second image information is an adult by the image processing technique and the biometric recognition technique. Of course, the behavior of the person in the second image information may also be analyzed through a behavior recognition technology, and since the behavior characteristics of the adult are much different from those of the child, it may be determined whether the adult is present within a second preset distance around the child.
Step S130, if the adult exists in a second preset distance around the child, acquiring third image information of the face of the adult, and acquiring fourth image information of the face of the child;
in this embodiment, if there is an adult around the child within a second predetermined distance, third image information of the face of the adult is obtained, and fourth image information of the face of the child is obtained.
The third image information is adult face image information obtained by a camera carried by the robot. Of course, the second image information may also be intercepted to obtain the third image information of the adult face image information. In addition, the image information of the adult face can be acquired through a monitoring camera in the place where the robot is located, and then the robot receives the image information of the adult face sent by the monitoring camera and takes the image information as third image information.
In addition, the fourth image information is image information of the face of the child acquired by a camera carried by the robot. Certainly, the image information of the face of the child can also be acquired through a monitoring camera in a place where the robot is located, and then the robot receives the image information of the face of the child sent by the monitoring camera and takes the image information as fourth image information.
Step S140, comparing the third image information with the fourth image information according to a face recognition technology;
then, the third image information is compared with the fourth image information according to a face recognition technology. Specifically, according to the face recognition technology, characteristic parameters such as the face position and size of an adult and position information of each main facial organ in the third image information are extracted, characteristic parameters such as the face position and size of a child and position information of each main facial organ in the fourth image information are extracted, and then the face image of the adult is compared with the face image of the child according to the characteristic parameters.
S150, judging whether a caregiver exists in a second preset distance around the child or not according to a comparison result;
and after the comparison result is obtained, judging whether a caregiver exists in a second preset distance around the child or not according to the comparison result. Specifically, if the similarity degree of the adult face features and the child face features is greater than the preset similarity degree, it is determined that a caregiver exists in a second preset distance around the child; and if the similarity degree of the adult facial features and the child facial features is smaller than or equal to the preset similarity degree, judging that no nursing person exists in a second preset distance around the child. The preset similarity is set according to actual requirements, for example, 60%, 70%, 80%, and the like, and is not specifically limited herein.
It should be noted that, because the facial features of the caretaker are very similar to the facial features of the child based on genetics, the faces of the adult and the child can be compared by a face recognition technology, and according to the comparison result, if the faces of the adult and the child are very similar, it is determined that the adult is the caretaker of the child. Certainly, the face information of the child carer can also be pre-stored in the database, and when it is detected that whether children exist in the first preset distance around the robot, whether the carers exist in the second preset distance around the children is judged according to the face information of the child carer in the database and the face recognition technology.
Step S160, if the caregiver exists in a second preset distance around the child, outputting a third prompt voice;
in this embodiment, if there is a caregiver within a second predetermined distance around the child, a third prompt voice is output. The third prompting voice can be set according to actual needs, for example, the third prompting voice can be set to please notice that your child is about to be knocked down, please watch the caregiver to pay attention to the safety of your child, and the like, which is not limited herein.
Note that the name of the child may be set in advance, and when it is detected that the child is present around the robot and the caregiver is present around the child, the third prompt voice may be set for the caregiver. Specifically, the name of the child is Li Ming for example, and the third prompting voice can be a voice asking Li Ming caregiver to pay attention to that your child is about to be knocked down, asking Li Ming caregiver to pay attention to the safety of your child, and the like. It can be appreciated that the caretaker is very sensitive to the name of the child at home, and therefore, the embodiment can further improve the timeliness of the caretaker for protecting the child.
Step S170, if the caregiver does not exist within a second preset distance around the child, outputting a second prompt voice.
In this embodiment, if there is no caregiver within a second predetermined distance around the child, a second prompt voice is output. The second prompt voice may be set according to actual needs, for example, the second prompt voice may be set to be a danger noticed by the child, a request from the child is not required, and the like, which is not specifically limited herein.
It should be noted that the second prompt voice is mainly used for prompting the child, the voice tone of the second prompt voice is sharp to attract the attention of the child, and the voice content is set for the child.
In this embodiment, whether a caregiver exists in a certain distance around the child is detected, and if the caregiver exists in the certain distance around the child, a prompt voice for the caregiver is output, so that the caregiver can protect the child at home more timely, and meanwhile, different prompt voices are output for the child to draw attention of the child, so that the occurrence rate of unexpected disputes is further reduced, and normal operation of the robot is ensured.
The invention further provides a robot avoiding device.
Referring to fig. 5, fig. 5 is a functional module schematic diagram of a first embodiment of a robot avoidance apparatus of the present invention.
In this embodiment, the robot avoidance apparatus includes:
the child detection module 10 is used for detecting whether a child exists in a first preset distance around the robot;
a child judgment module 20, configured to judge whether the child approaches the robot if the child is present within a first preset distance around the robot;
and a path control module 30, configured to control the robot to change a path to avoid the child if the child approaches the robot.
Each virtual function module of the robot avoidance apparatus is stored in the memory 1005 of the robot avoidance device shown in fig. 1, and is used for implementing all functions of a robot avoidance program; when executed by the processor 1001, each module may implement a robot avoidance function.
Further, the child detection module 10 includes:
an image acquisition unit for acquiring first image information around the robot;
and the child detection unit is used for determining whether children exist in a first preset distance around the robot or not according to the first image information.
Further, the child detection module 10 includes:
a sound acquisition unit for acquiring sound information around the robot;
and the child detection unit is used for determining whether children exist in a first preset distance around the robot or not according to the sound information.
Further, the robot avoidance device further includes:
the image acquisition module is used for acquiring second image information around the child if the child exists in a first preset distance around the robot;
the adult judging module is used for judging whether an adult exists in a second preset distance around the child or not according to the second image information;
the voice output module is used for outputting a first prompt voice if the adult exists in a second preset distance around the child;
and the voice output module is also used for outputting a second prompt voice if the adult does not exist in a second preset distance around the child.
Further, the robot avoidance device further includes:
the track acquisition module is used for acquiring the movement track of the adult;
the distance judging module is used for judging whether the adult approaches the child or not according to the movement track of the adult;
and the robot control module is used for controlling the robot to keep the original path if the adult approaches the child.
Further, the robot avoidance device further includes:
the image acquisition module is used for acquiring second image information around the child if the child exists in a first preset distance around the robot;
the adult judging module is used for judging whether an adult exists in a second preset distance around the child or not according to the second image information;
the image acquisition module is further used for acquiring third image information of the face of the adult and acquiring fourth image information of the face of the child if the adult exists in a second preset distance around the child;
the image comparison module is used for comparing the third image information with the fourth image information according to a face recognition technology;
the caregiver judging module is used for judging whether a caregiver exists in a second preset distance around the child or not according to the comparison result;
the voice output module is used for outputting a third prompt voice if the caregiver exists in a second preset distance around the child;
and the voice output module is further used for outputting a second prompt voice if the caregiver does not exist within a second preset distance around the child.
Further, the child judgment module 20 includes:
the track detection unit is used for detecting the moving track of the child through a radar if the child exists in a first preset distance around the robot;
and the child judgment unit is used for judging whether the child approaches the robot or not according to the movement track of the child.
Further, the path control module 30 includes:
a speed acquisition unit configured to acquire a moving speed of the child if the child approaches the robot;
and the path control unit is used for controlling the robot to change the path according to the moving speed so as to avoid the child.
The function implementation of each module in the robot avoidance device corresponds to each step in the embodiment of the robot avoidance method, and the function and implementation process are not described in detail here.
The present invention also provides a computer-readable storage medium having a robot avoidance program stored thereon, which when executed by a processor implements the steps of the robot avoidance method according to any one of the above embodiments.
The specific embodiment of the computer-readable storage medium of the present invention is substantially the same as the embodiments of the robot avoidance method described above, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A robot avoidance method is characterized by comprising:
detecting whether children exist in a first preset distance around the robot or not;
if the child exists in a first preset distance around the robot, acquiring second image information around the child;
judging whether adults exist within a second preset distance around the child or not according to the second image information;
if the adult exists in a second preset distance around the child, outputting a first prompt voice;
acquiring a moving track of the adult;
judging whether the adult is close to the child or not according to the movement track of the adult;
if the adult is close to the child, controlling the robot to keep the original path;
if the adult does not exist within a second preset distance around the child, outputting a second prompt voice;
if the child exists in a first preset distance around the robot, judging whether the child approaches the robot;
and if the child approaches the robot, controlling the robot to change the path so as to avoid the child.
2. The robot avoidance method according to claim 1, wherein the detecting whether a child is present within a first predetermined distance around the robot comprises:
acquiring first image information around the robot;
and determining whether children exist in a first preset distance around the robot or not according to the first image information.
3. The robot avoidance method according to claim 1, wherein the detecting whether a child is present within a first predetermined distance around the robot comprises:
acquiring sound information around the robot;
and determining whether children exist within a first preset distance around the robot or not according to the sound information.
4. The robot avoidance method according to claim 1, wherein after detecting whether or not a child is present within a first predetermined distance around the robot, the robot avoidance method further includes:
if the child exists in a first preset distance around the robot, acquiring second image information around the child;
judging whether adults exist within a second preset distance around the child or not according to the second image information;
if the adult exists in a second preset distance around the child, acquiring third image information of the face of the adult, and acquiring fourth image information of the face of the child;
comparing the third image information with the fourth image information according to a face recognition technology;
judging whether a caregiver exists in a second preset distance around the child or not according to the comparison result;
if the caregiver exists in a second preset distance around the child, outputting a third prompt voice;
and if the caregiver does not exist within a second preset distance around the child, outputting a second prompt voice.
5. The robot avoidance method according to claim 1, wherein the determining whether the child is close to the robot if the child is present within a first preset distance around the robot comprises:
if the child exists in a first preset distance around the robot, detecting the moving track of the child through a radar;
and judging whether the child approaches the robot or not according to the moving track of the child.
6. The robot avoidance method according to any one of claims 1 to 5, wherein the controlling the robot to reroute to avoid the child if the child approaches the robot includes:
if the child approaches the robot, acquiring the moving speed of the child;
and controlling the robot to change the path according to the moving speed so as to avoid the child.
7. A robot avoidance device, characterized by comprising:
the child detection module is used for detecting whether children exist in a first preset distance around the robot or not;
the child judgment module is used for acquiring second image information around the child if the child exists in a first preset distance around the robot; judging whether adults exist within a second preset distance around the child or not according to the second image information; if the adult exists in a second preset distance around the child, outputting a first prompt voice; acquiring a moving track of the adult; judging whether the adult is close to the child or not according to the movement track of the adult; if the adult is close to the child, controlling the robot to keep the original path; if the adult does not exist within a second preset distance around the child, outputting a second prompt voice;
and the path control module is used for controlling the robot to change the path to avoid the child if the child approaches the robot.
8. A computer-readable storage medium, characterized in that a robot avoidance program is stored thereon, which when executed by a processor implements the steps of the robot avoidance method according to any one of claims 1 to 6.
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| CN114625132B (en) * | 2022-02-28 | 2024-10-15 | 深圳市宝来威智能科技有限公司 | Robot avoiding method and system |
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