CN112099621A - System and method for eye-fixation unlocking robot - Google Patents
System and method for eye-fixation unlocking robot Download PDFInfo
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- CN112099621A CN112099621A CN202010807709.8A CN202010807709A CN112099621A CN 112099621 A CN112099621 A CN 112099621A CN 202010807709 A CN202010807709 A CN 202010807709A CN 112099621 A CN112099621 A CN 112099621A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 71
- 239000013589 supplement Substances 0.000 abstract description 2
- 238000002679 ablation Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/013—Eye tracking input arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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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
- G06V40/16—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
- 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
- G06V40/18—Eye characteristics, e.g. of the iris
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Abstract
The invention discloses a system for an eye-gazing unlocking robot, which comprises a human body detection unit, an image acquisition unit and a central processing unit, wherein the human body detection unit and the image acquisition unit are respectively connected with the central processing unit, and the central processing unit comprises a human face detection module, a gazing detection module and a control module. The invention also discloses a method for watching the unlocking robot by eyes, and the invention adds an awakening mode to form powerful supplement so that the robot is more intelligent; the robot is unlocked by the unlocking method of the invention quickly, naturally and intelligently; the robot may be activated within 2 meters while the user is looking at the robot face. In the robot awakening process, a method for judging watching is introduced, so that awakening caused by mistaken entry of a user is reduced; for the concerned user, the robot can be automatically unlocked immediately, and the user feels good.
Description
Technical Field
The invention particularly relates to a system and a method for an eye-fixation unlocking robot.
Background
In order to reduce power consumption and prolong the service life of the screen, the long-time lighting of the screen can cause the aging of a backlight LED lamp tube and the ablation of a screen part, so that a robot system can be locked.
At present, when a robot is in a locking/sleeping/standby/low-power consumption state, the unlocking methods include the following methods:
(1) the human body infrared induction method comprises the following steps: when receiving the human body approach signal, the infrared sensor loaded on the robot generates the human body approach signal and informs a main program of the robot, and the main program wakes up the robot.
(2) The face detection method comprises the following steps: the environment is detected in real time through a high-definition camera assembled by a robot. When people moving in the visual field are detected, and a human body approaching signal is generated when a human face signal is detected, the human body approaching signal is informed to a main program of the robot, and the main program wakes up the robot.
(3) The voice wake-up method comprises the following steps: the robot is awakened through a specific awakening word, such as detection of 'small degree, small degree', through a sound pick-up assembled by the robot, and an awakening signal is generated by a voice module and is informed to a main program of the robot.
In practice, various wake-up techniques have certain disadvantages, such as (1) infrared sensing: when the person enters the distance of 1.5 meters, an alarm is generated, and the machine is unlocked. If a person walks around the machine and only walks around, a large amount of false alarm and false unlocking can be generated, and if voice is broadcasted every time, the person is embarrassed. (2) The face detection method comprises the following steps: one person only sees the machine nearby at will, and the human face detection algorithm can unlock through detection and also can mistakenly unlock; in addition, the human face detection method needs to identify personnel information, needs to input in advance, and cannot judge people who do not need to use the system. (3) The voice wake-up method comprises the following steps: is easy to be influenced and is easy to be awoken by mistake; and when the user needs the robot to provide service, the user firstly calls the name to the robot and wakes up, the feeling is slightly worse, and the user experience is not good.
When the actual site is more: the visitor comes in the robot service area, but does not need the robot unlocking service, when the visitor needs to use the robot, the first reaction is to see the robot, and the robot unlocking method cannot meet the requirements.
Disclosure of Invention
In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a system and a method for an eye-fixation unlocking robot.
In order to achieve the purpose, the invention provides the following technical scheme:
a system for watching an unlocking robot by eyes comprises a human body detection unit, an image acquisition unit and a central processing unit, wherein the human body detection unit and the image acquisition unit are respectively connected with the central processing unit; the human body detection unit comprises an infrared sensor for detecting human body signals, and the image acquisition unit comprises a camera for acquiring human body images;
after infrared detection module detects human body signal, transmit it to control module, after control module received human body signal, control starts image acquisition module, image acquisition module gathers image data, and transmit the image data who gathers to face detection module, face detection module detects image data, after detecting human face signal, transmit signal data to gazing detection module, after gazing detection module received the signal and detect, after detecting gazing signal, transmit signal data to control module, control module receives this signal, generate the awakening signal, awaken the robot.
A method of eye gaze unlocking a robot, the method of the system described above, comprising the steps of:
(1) the infrared sensor detects a human body signal, and when the infrared sensor detects a human body entering signal, the human body entering signal is transmitted to the control module, and the camera is started;
(2) the camera collects images and transmits the collected images to the face detection module;
(3) the face detection module carries out face detection on the image;
(4) when the face detection module detects a face signal, the face detection module transmits signal data to the gaze detection module, and the gaze detection module calls a gaze detection library to perform gaze detection;
(5) when the gaze signal is detected, the gaze detection module transmits signal data to the control module;
(6) the control module generates a wake-up signal to wake up the robot.
The invention has the beneficial effects that:
(1) the invention adds a wake-up mode to form a powerful supplement, so that the robot is more intelligent; the robot is unlocked by the unlocking method of the invention quickly, naturally and intelligently.
(2) In the invention, when the user watches the face of the robot, the robot can be activated within 2 meters.
(3) In the robot awakening process, a method for judging the fixation is introduced, so that the robot is automatically awakened immediately under the condition that a person fixes the robot at a short distance, and the awakening caused by the mistaken entering of the user is reduced; for concerned users, the robot can be automatically unlocked immediately, and the users feel good; the face recognition method and the face recognition device can be intelligently matched with the face which is recorded, and the service is more accurate. The robot is awaken automatically when a user looks at the robot, service is provided, and user experience is good.
Drawings
FIG. 1 is a flow chart of the unlocking method of the present invention.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, and it should be noted that the detailed description is only for describing the present invention, and should not be construed as limiting the present invention.
The utility model provides a system for unblock robot is watched to eyes, includes human detecting element, image acquisition unit, central processing unit, and human detecting element, image acquisition unit are connected with central processing unit respectively, and central processing unit includes face detection module, watches detecting module and control module, and face detection module is connected with watching the module, watches the module and is connected with control module. The human body detection unit comprises an infrared sensor for detecting human body signals, and the image acquisition unit comprises a camera for acquiring human body images. The central processing unit adopts a singlechip.
In some preferred modes, the infrared sensor is installed on the robot, and the infrared sensor is 50 centimeters away from the ground. The camera is arranged at the head of the robot, the height of the camera from the ground is about 110cm-160cm, and the camera is determined according to the size of the robot; if the camera mounting height is less, just need adjust and make the angle of elevation upwards once, can gather human image better like this, avoid gathering information incomplete, lead to better unblock. The singlechip is arranged in the body of the robot and is generally arranged at the feet, and the feet have large space and good heat dissipation effect.
After infrared detection module detects human body signal, transmit it to control module, after control module received human body signal, control starts image acquisition module, image acquisition module gathers image data, and transmit the image data who gathers to face detection module, face detection module detects image data, after detecting human face signal, transmit signal data to gazing detection module, after gazing detection module received the signal and detect, after detecting gazing signal, transmit signal data to control module, control module receives this signal, generate the awakening signal, awaken the robot.
As shown in fig. 1, a method for eye-gaze unlocking of a robot, which employs the system described above, comprises the following steps:
(1) the infrared sensor detects a human body signal, and transmits the human body signal to the control module after the infrared sensor detects a human body entering signal, and the control module controls to start the camera;
(2) the camera collects images and transmits the collected images to the face detection module;
(3) the face detection module carries out face detection on the image; if no face signal is detected, quitting and not performing the next step;
(4) when the face detection module detects a face signal, the face detection module transmits signal data to the gaze detection module, and the gaze detection module calls a gaze detection library to perform gaze detection; the gaze detection library is stored on the single-chip microcomputer. The gazing detection library is a trained model, the model can be obtained by adopting a conventional training method, the model can detect a small segment of video, and whether a person gazes on the face of the robot or not is judged; if the watching signal is not detected, quitting and not performing the next step;
(5) when the gaze signal is detected, the gaze detection module transmits signal data to the control module;
(6) the control module generates a wake-up signal to wake up the robot.
In the invention, a face detection algorithm and a gaze detection algorithm are respectively adopted in the face detection module and the gaze detection module, the algorithms are existing, and the algorithms are not improved.
According to the invention, a watching detection algorithm is added, namely, the robot is automatically wakened immediately when a person watches the robot within 2 meters, so that the wakening judgment of the user by mistake can be reduced, the concerned user is automatically unlocked immediately, and the user feels good; the face recognition method and the face recognition device can be intelligently matched with the face which is recorded, and the service is more accurate.
It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all 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.
Claims (2)
1. A system for watching an unlocking robot by eyes is characterized by comprising a human body detection unit, an image acquisition unit and a central processing unit, wherein the human body detection unit and the image acquisition unit are respectively connected with the central processing unit; the human body detection unit comprises an infrared sensor for detecting human body signals, and the image acquisition unit comprises a camera for acquiring human body images;
after infrared detection module detects human body signal, transmit it to control module, after control module received human body signal, control starts image acquisition module, image acquisition module gathers image data, and transmit the image data who gathers to face detection module, face detection module detects image data, after detecting human face signal, transmit signal data to gazing detection module, after gazing detection module received the signal and detect, after detecting gazing signal, transmit signal data to control module, control module receives this signal, generate the awakening signal, awaken the robot.
2. A method of eye-gaze unlocking a robot, characterized in that the method employs the system of claim 1, comprising the steps of:
(1) the infrared sensor detects a human body signal, and when the infrared sensor detects a human body entering signal, the human body entering signal is transmitted to the control module, and the camera is started;
(2) the camera collects images and transmits the collected images to the face detection module;
(3) the face detection module carries out face detection on the image;
(4) when the face detection module detects a face signal, the face detection module transmits signal data to the gaze detection module, and the gaze detection module calls a gaze detection library to perform gaze detection;
(5) when the gaze signal is detected, the gaze detection module transmits signal data to the control module;
(6) the control module generates a wake-up signal to wake up the robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010807709.8A CN112099621A (en) | 2020-08-12 | 2020-08-12 | System and method for eye-fixation unlocking robot |
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| CN202010807709.8A CN112099621A (en) | 2020-08-12 | 2020-08-12 | System and method for eye-fixation unlocking robot |
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| CN112099621A true CN112099621A (en) | 2020-12-18 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113221630A (en) * | 2021-03-22 | 2021-08-06 | 刘鸿 | Estimation method of human eye watching lens and application of estimation method in intelligent awakening |
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| CN206353336U (en) * | 2016-12-07 | 2017-07-25 | 浙江交通职业技术学院 | A kind of anti-collision porcelain device in vehicle traveling process |
| CN109976506A (en) * | 2017-12-28 | 2019-07-05 | 深圳市优必选科技有限公司 | Awakening method of electronic equipment, storage medium and robot |
| CN110826374A (en) * | 2018-08-10 | 2020-02-21 | Oppo广东移动通信有限公司 | Method and device for monitoring human eye fixation time, storage medium and electronic equipment |
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2020
- 2020-08-12 CN CN202010807709.8A patent/CN112099621A/en not_active Withdrawn
Patent Citations (6)
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| CN103167160A (en) * | 2012-10-09 | 2013-06-19 | 深圳市金立通信设备有限公司 | System and method for achieving awakening and unlocking of mobile phone based on technology of temperature sense and human face recognition |
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| CN105700363A (en) * | 2016-01-19 | 2016-06-22 | 深圳创维－Rgb电子有限公司 | Method and system for waking up smart home equipment voice control device |
| CN206353336U (en) * | 2016-12-07 | 2017-07-25 | 浙江交通职业技术学院 | A kind of anti-collision porcelain device in vehicle traveling process |
| CN109976506A (en) * | 2017-12-28 | 2019-07-05 | 深圳市优必选科技有限公司 | Awakening method of electronic equipment, storage medium and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113221630A (en) * | 2021-03-22 | 2021-08-06 | 刘鸿 | Estimation method of human eye watching lens and application of estimation method in intelligent awakening |
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Application publication date: 20201218 |