CN113505753A - Control method and related device of intelligent following equipment - Google Patents
Control method and related device of intelligent following equipment Download PDFInfo
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- CN113505753A CN113505753A CN202110874784.0A CN202110874784A CN113505753A CN 113505753 A CN113505753 A CN 113505753A CN 202110874784 A CN202110874784 A CN 202110874784A CN 113505753 A CN113505753 A CN 113505753A
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Abstract
The application provides a control method and a control device for intelligent following equipment, the intelligent following equipment and a computer readable storage medium, wherein the method comprises the following steps: responding to the situation that the target person approaches the intelligent following equipment, and shooting by utilizing a camera to obtain at least one person image of the target person; acquiring characteristic information of a target person based on at least one person image of the target person; responding to the situation that the target person is far away from the intelligent following equipment, and shooting by utilizing a camera to obtain at least one surrounding environment image; acquiring the personnel position of a target personnel by utilizing at least one surrounding environment image and the characteristic information of the target personnel; acquiring the equipment position of the intelligent following equipment by using a positioning device; and planning a driving path of the intelligent following equipment based on the equipment position of the intelligent following equipment and the personnel position of the target personnel so as to enable the intelligent following equipment to be close to the target personnel. According to the method and the device, the target person does not need to wear any accessory, and the use experience of the target person is improved.
Description
Technical Field
The present application relates to the field of image processing technologies, and in particular, to a method and an apparatus for controlling an intelligent follower device, and a computer-readable storage medium.
Background
Along with artificial intelligence's rapid development, mobile devices such as suitcase, shopping cart have also walked on intelligent road, among the prior art, appeared connecting through the communication between portable communication device (like intelligent bracelet, cell-phone etc.) that a plurality of wireless response modules (like bluetooth, wireless sensor etc.) and user wore, realized that intelligent suitcase is to user's function of following based on signal strength and principle such as distance are linear relation and triangulation location.
However, the method needs to acquire the position information of the user in real time, the data processing workload is large, and the user needs to wear a corresponding communication device additionally, which brings inconvenience to the user.
Disclosure of Invention
The application aims to provide a control method and device of intelligent following equipment, the intelligent following equipment and a computer readable storage medium, so that the pressure of data processing is reduced, a target person does not need to wear any accessory, and the use experience of the target person is improved.
The purpose of the application is realized by adopting the following technical scheme:
in a first aspect, the present application provides a control method for an intelligent following device, which is applied to the intelligent following device, wherein the intelligent following device is provided with a camera and a positioning device, and the method includes: responding to the situation that a target person approaches the intelligent following equipment, and shooting by utilizing the camera to obtain at least one person image of the target person; acquiring characteristic information of the target person based on at least one person image of the target person; responding to the situation that the target person is far away from the intelligent following equipment, and shooting by utilizing the camera to obtain at least one surrounding environment image; acquiring the personnel position of the target personnel by utilizing the at least one surrounding environment image and the characteristic information of the target personnel; acquiring the equipment position of the intelligent following equipment by using the positioning device; planning a driving path of the intelligent following device based on the device position of the intelligent following device and the personnel position of the target personnel so that the intelligent following device approaches the target personnel. The technical scheme has the advantages that when a target person approaches to the intelligent following equipment, the characteristic information of the target person is obtained based on the person image shot by the camera, when the target person is far away from the intelligent following equipment, the person position of the target person is obtained by utilizing the ambient environment image shot by the camera and the characteristic information of the target person, the equipment position of the intelligent following equipment is obtained by utilizing the positioning device, the driving path of the intelligent following equipment is planned by combining the person position of the target person and the equipment position of the intelligent following equipment, the person position of the target person does not need to be obtained in real time in the whole process, only when the target person is far away from the intelligent following equipment, the person position of the target person is obtained according to the ambient environment image and the characteristic information of the target person, the intelligent following equipment is enabled to follow the target person in real time, and meanwhile, the data processing pressure is greatly reduced, the intelligent degree is higher to, need not target person and dresses any annex, improved target person's use experience.
In some optional embodiments, the intelligent following device is further provided with a code scanning device and a display screen, and the method further comprises: scanning by using the code scanning device to obtain the price of the ith item, wherein i is each positive integer not greater than N, N is the total number of items corresponding to the target person, and N is a positive integer; and displaying the price of the ith item by using the display screen. This technical scheme's beneficial effect lies in, follows the in-process of equipment real-time following target person at intelligence, can utilize to sweep the price of sign indicating number device scanning ith article and utilize the price of display screen display ith article, and the target person can know the price of every article at any time, and intelligent degree is higher.
In some optional embodiments, the method further comprises: when i is equal to 1, taking the price of the ith item as the accumulated amount corresponding to the ith item; when i is larger than 1, calculating the sum of the accumulated amount corresponding to the i-1 th article and the price of the i-th article as the accumulated amount corresponding to the i-th article; and displaying the accumulated amount corresponding to the ith article by using the display screen. The technical scheme has the advantages that when the number of the scanned objects is 1, the accumulated amount corresponding to the object can be displayed, and when the number of the scanned objects is multiple, the accumulated amount corresponding to all the objects can be displayed, so that the target person can know the accumulated amount of the scanned objects at any time, the accumulated amount does not need to be calculated manually, the requirement in practical application is met, and the intelligent degree is high.
In some optional embodiments, the intelligent following device is further provided with a code scanning device and a vein collection device, and the method further comprises: scanning by using the code scanning device to obtain the identifier of the ith article; detecting whether the ith item corresponds to a preset age condition or not based on the identifier of the ith item; when the ith article corresponds to the preset age condition, acquiring a vein image of the target person by using the vein acquisition device; identifying and obtaining the identity information of the target person based on the vein image of the target person; acquiring the age of the target person based on the identity information of the target person; when the age of the target person meets the preset age condition, determining that the ith item is an item allowed to be purchased by the target person; when the age of the target person does not satisfy the preset age condition, determining that the ith item is an item which is not allowed to be purchased by the target person, and executing any one of the following processes: no operation is performed; and prompting that the age of the target person does not meet the preset age condition. This technical scheme's beneficial effect lies in, on the one hand, whether the mark according to ith article detects ith article and corresponds preset age condition, when the ith article corresponds preset age condition, need confirm the age of the people who buys article, can gather target person's vein image this moment, the identification obtains target person's identity information, again according to identity information acquisition target person's age, compare in face identification, fingerprint identification, vein identification's identification precision is higher, and must be living body can carry out the discernment, avoid face identification, face information among identification modes such as fingerprint identification, the stolen condition that is used for carrying out authentication of fingerprint information, only the person arrives at the scene and can successfully carry out vein identification, the identity information degree of accuracy that obtains from this is higher.
On the other hand, whether the article of confirming that the ith article are the article that target person allowed to purchase is satisfied with presetting the age condition through detecting target person's age, and intelligent degree is higher to when target person's age is unsatisfied with presetting the age condition, can indicate that target person's age is unsatisfied with presetting the age condition, give certain warning to target person, avoid target person maloperation to lead to purchasing the article that is not conform to oneself age.
In some optional embodiments, the method further comprises: acquiring information to be paid of the target person; and deducting money from a preset account of the target person based on the identity information of the target person and the information to be paid so as to complete payment aiming at the information to be paid. The technical scheme has the advantages that after the vein image of the target person is collected, the identity information of the target person can be identified, payment information is combined to be paid, money is deducted from the preset account of the target person, namely, the target person only needs to collect the vein image once, payment can be completed, the method is convenient and fast, and the intelligent degree is high.
In some optional embodiments, the intelligent follower device further comprises a temperature and humidity sensor, and the method further comprises: establishing connection between the intelligent following equipment and personnel equipment of the target personnel; temperature and humidity information corresponding to the intelligent following equipment is obtained through detection of the temperature and humidity sensor; and sending the temperature and humidity information corresponding to the intelligent following equipment to personnel equipment of the target personnel. The beneficial effects of this technical scheme lie in, can acquire the humiture information that intelligence was followed the equipment and is corresponded and with this humiture information transmission to target person's personnel and equipment in real time, when the intelligence was followed and is put the article that need refrigerate or moisturize in the equipment, target person can in time take corresponding measure based on the humiture information that corresponds, and target person's use experience preferred, and intelligent degree is higher.
In a second aspect, the application provides a controlling means of equipment is followed to intelligence, is applied to intelligence and follows equipment, intelligence is followed equipment and is provided with camera and positioner, controlling means includes: the personnel image module is used for responding to the situation that a target person approaches the intelligent following equipment, and at least one personnel image of the target person is obtained by shooting through the camera; the personnel characteristic module is used for acquiring characteristic information of the target personnel based on at least one personnel image of the target personnel; the surrounding environment module is used for responding to the situation that the target person is far away from the intelligent following equipment, and at least one surrounding environment image is obtained by shooting through the camera; the personnel position module is used for acquiring the personnel position of the target personnel by utilizing the at least one surrounding environment image and the characteristic information of the target personnel; the device position module is used for acquiring the device position of the intelligent following device by using the positioning device; and the path planning module is used for planning a driving path of the intelligent following equipment based on the equipment position of the intelligent following equipment and the personnel position of the target personnel so as to enable the intelligent following equipment to be close to the target personnel.
In some optional embodiments, the intelligent following device is further provided with a code scanning device and a display screen, and the control device further includes: the price scanning module is used for scanning by the code scanning device to obtain the price of the ith item, wherein i is each positive integer not greater than N, N is the total number of items corresponding to the target person, and N is a positive integer; and the price display module is used for displaying the price of the ith item by using the display screen.
In some optional embodiments, the control device further comprises: the first money module is used for taking the price of the ith item as the accumulated money corresponding to the ith item when i is equal to 1; the second sum module is used for calculating the sum of the accumulated sum corresponding to the ith-1 item and the price of the ith item as the accumulated sum corresponding to the ith item when i is larger than 1; and the amount display module is used for displaying the accumulated amount corresponding to the ith article by using the display screen.
In some optional embodiments, the intelligent following device is further provided with a code scanning device and a vein collection device, and the control device further comprises: the identification acquisition module is used for scanning by the code scanning device to obtain the identification of the ith article; the age detection module is used for detecting whether the ith article corresponds to a preset age condition or not based on the identifier of the ith article; the vein acquisition module is used for acquiring a vein image of the target person by using the vein acquisition device when the ith article corresponds to the preset age condition; the identity recognition module is used for recognizing and obtaining the identity information of the target person based on the vein image of the target person; the age obtaining module is used for obtaining the age of the target person based on the identity information of the target person; a first determining module, configured to determine that the ith item is an item that the target person allows to purchase when the age of the target person meets the preset age condition; a second determining module, configured to determine that the ith item is an item that the target person does not allow to purchase when the age of the target person does not satisfy the preset age condition, and perform any one of the following processes: no operation is performed; and prompting that the age of the target person does not meet the preset age condition.
In some optional embodiments, the control device further comprises: the information module to be paid is used for acquiring information to be paid of the target person; and the deduction payment module is used for deducting money from a preset account of the target person based on the identity information of the target person and the information to be paid so as to complete payment aiming at the information to be paid.
In some optional embodiments, the intelligent follower device further includes a temperature and humidity sensor, and the control apparatus further includes: the connection establishing module is used for establishing connection between the intelligent following equipment and personnel equipment of the target personnel; the temperature and humidity detection module is used for detecting temperature and humidity information corresponding to the intelligent following equipment by using the temperature and humidity sensor; and the information sending module is used for sending the temperature and humidity information corresponding to the intelligent following equipment to personnel equipment of the target personnel.
In a third aspect, the present application provides an intelligent following device, which includes a camera, a positioning apparatus, a memory and a processor, where the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.
In some alternative embodiments, the intelligent following device has an upper part and a lower part which are opposite, and the intelligent following device is also provided with a handle, a motor and a plurality of wheels; the handle is arranged outside the upper part of the intelligent following device; the plurality of wheels are arranged outside the lower part of the intelligent following device; the motor is arranged in the lower part of the intelligent following equipment and used for driving the wheels to move according to the running path of the intelligent following equipment; the camera head is close to the middle of the handle. The technical scheme has the advantages that the handle is arranged outside the upper portion of the intelligent following device, a target person can conveniently grasp the intelligent following device when shopping, the camera close to the middle of the handle can shoot images of the person of the target person, and when the target person is far away from the intelligent following device, the motor can be controlled to drive a plurality of wheels arranged outside the lower portion of the intelligent following device to move, so that the target person can be followed in real time.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of any of the methods described above.
Drawings
The present application is further described below with reference to the drawings and examples.
Fig. 1 is a schematic flowchart of a control method of an intelligent follower device according to an embodiment of the present disclosure;
FIG. 2 is a partial schematic flow chart of a control method of an intelligent follower device according to an embodiment of the present disclosure;
FIG. 3 is a partial schematic flow chart of another control method for an intelligent follower device according to an embodiment of the present disclosure;
FIG. 4 is a partial schematic flow chart of a control method for an intelligent follower device according to an embodiment of the present disclosure;
FIG. 5 is a partial schematic flow chart of a control method of another intelligent follower device provided in an embodiment of the present application;
FIG. 6 is a partial schematic flow chart of a control method of another intelligent follower device provided in an embodiment of the present application;
fig. 7 is a schematic structural diagram of a control device of an intelligent following device according to an embodiment of the present application;
fig. 8 is a schematic partial structural diagram of a control device of an intelligent following device according to an embodiment of the present application;
FIG. 9 is a schematic partial structural diagram of another control device of an intelligent follower device according to an embodiment of the present application;
FIG. 10 is a schematic partial structural diagram of a control apparatus of another intelligent follower device provided in an embodiment of the present application;
fig. 11 is a schematic partial structural diagram of a control device of another intelligent following device provided in an embodiment of the present application;
FIG. 12 is a schematic partial structural diagram of a control apparatus of another intelligent follower device provided in an embodiment of the present application;
FIG. 13 is a schematic structural diagram of an intelligent follower device provided in an embodiment of the present application;
fig. 14 is a schematic structural diagram of a program product for implementing a control method of an intelligent follower device according to an embodiment of the present application.
Detailed Description
The present application is further described with reference to the accompanying drawings and the detailed description, and it should be noted that, in the present application, the embodiments or technical features described below may be arbitrarily combined to form a new embodiment without conflict.
Referring to fig. 1, an embodiment of the present application provides a control method for an intelligent following device, which is applied to the intelligent following device, the intelligent following device is provided with a camera and a positioning device, and the method includes steps S101 to S106.
Step S101: and responding to the situation that the target person approaches the intelligent following equipment, and shooting by utilizing the camera to obtain at least one person image of the target person. The intelligent following device is a shopping cart or a trunk, for example, the intelligent following device can be applied to places with shopping demands such as shopping malls, supermarkets and shops, and the camera can comprise an optical camera and/or an infrared camera.
Step S102: and acquiring characteristic information of the target person based on at least one person image of the target person. The feature information may include at least part of body feature information and/or at least part of face feature information, and the target person may be identified according to the feature information of the target person.
Step S103: and responding to the situation that the target person is far away from the intelligent following equipment, and shooting by utilizing the camera to obtain at least one surrounding environment image.
Step S104: and acquiring the personnel position of the target personnel by using the at least one surrounding environment image and the characteristic information of the target personnel.
Step S105: and acquiring the equipment position of the intelligent following equipment by using the positioning device.
Step S106: planning a driving path of the intelligent following device based on the device position of the intelligent following device and the personnel position of the target personnel so that the intelligent following device approaches the target personnel.
Therefore, when the target person approaches the intelligent following equipment, the characteristic information of the target person is obtained based on the person image shot by the camera, when the target person is far away from the intelligent following equipment, the person position of the target person is obtained by utilizing the ambient environment image shot by the camera and the characteristic information of the target person, the equipment position of the intelligent following equipment is obtained by utilizing the positioning device, the driving path of the intelligent following equipment is planned by combining the person position of the target person and the equipment position of the intelligent following equipment, the person position of the target person is not required to be obtained in real time in the whole process, only when the target person is far away from the intelligent following equipment, the person position of the target person is obtained according to the ambient environment image and the characteristic information of the target person, the intelligent following equipment is enabled to follow the target person in real time, the pressure of data processing is greatly reduced, and the intelligent degree is high, in addition, the target person does not need to wear any accessories, and the use experience of the target person is improved.
Referring to fig. 2, in some embodiments, the intelligent follower device may further include a code scanning device and a display screen, and the method may further include steps S107 to S108. Wherein the display screen may comprise at least one of: LED display screen, LCD display screen and OLED display screen.
Step S107: and scanning by using the code scanning device to obtain the price of the ith item, wherein i is each positive integer not greater than N, N is the total number of items corresponding to the target person, and N is a positive integer.
In a specific application, the step S107 includes: and scanning the bar code of the ith item by using the code scanning device to obtain the price of the ith item.
Step S108: and displaying the price of the ith item by using the display screen.
From this, follow the in-process that equipment followed target person in real time at intelligence, can utilize and sweep the price of sign indicating number device scanning ith article and utilize the price of display screen demonstration ith article, the price of every article can be known at any time to target person, and intelligent degree is higher.
Referring to fig. 3, in some embodiments, the method may further include steps S109 to S111.
Step S109: and when i is equal to 1, taking the price of the ith item as the accumulated amount corresponding to the ith item.
Step S110: and when i is larger than 1, calculating the sum of the accumulated amount corresponding to the i-1 th article and the price of the i-th article as the accumulated amount corresponding to the i-th article.
Step S111: and displaying the accumulated amount corresponding to the ith article by using the display screen.
In one specific application, the prices of the 1 st item to the 4 th item are scanned by the code scanning device and are 78 yuan, 52 yuan, 60 yuan and 25 yuan in sequence, the accumulated amount of the 1 st item is 78 yuan, the accumulated amount of the 2 nd item is 130 yuan, the accumulated amount of the 3 rd item is 190 yuan, and the accumulated amount of the 4 th item is 215 yuan.
Therefore, when the number of the scanned articles is 1, the accumulated amount corresponding to the article can be displayed, and when the number of the scanned articles is multiple, the accumulated amount corresponding to all the articles can be displayed, so that the target personnel can know the accumulated amount of the scanned articles at any time without manually calculating the accumulated amount, the requirement in practical application is met, and the intelligent degree is high.
Referring to fig. 4, in some embodiments, the intelligent following device may further be provided with a code scanning device and a vein collection device, and the method may further include steps S112 to S118.
Step S112: and scanning by using the code scanning device to obtain the identifier of the ith article. The ith item is, for example, cigarette, wine, medicine, etc., and the identification of the ith item may be represented using at least one of chinese, letters, numbers, and special symbols. The identification of the ith item may be exemplarily expressed as "prohibition of minor purchase", "B01", or "01 #".
Step S113: and detecting whether the ith item corresponds to a preset age condition or not based on the identifier of the ith item. The preset age condition is, for example, that the age of the purchaser is not less than a preset age, and the preset age is, for example, 14 years, 16 years, or 18 years.
Step S114: and when the ith article corresponds to the preset age condition, acquiring the vein image of the target person by using the vein acquisition device. The vein image may include a palm vein image and/or a finger vein image.
Step S115: and identifying and obtaining the identity information of the target person based on the vein image of the target person. The identity information is at least one of information capable of identifying the identity of a person, such as a name, a mobile phone number, an identification card number, a social security card number, a passport number, a military identification number and the like.
Step S116: and acquiring the age of the target person based on the identity information of the target person.
Step S117: when the age of the target person meets the preset age condition, determining that the ith item is an item allowed to be purchased by the target person.
Step S118: when the age of the target person does not satisfy the preset age condition, determining that the ith item is an item which is not allowed to be purchased by the target person, and executing any one of the following processes: no operation is performed; and prompting that the age of the target person does not meet the preset age condition.
Therefore, on the one hand, whether the ith article corresponds to the preset age condition is detected according to the identification of the ith article, when the ith article corresponds to the preset age condition, the age of a person purchasing the article needs to be confirmed, at the moment, the vein image of a target person can be collected, the identity information of the target person is obtained through identification, the age of the target person is obtained according to the identity information, compared with face identification and fingerprint identification, the identification precision of the vein identification is higher, identification can be executed only by a living body, the situations that the face information, the fingerprint information and other identification modes are avoided, the face information and fingerprint information are stolen for identity verification are avoided, only the person arrives at the place and the vein identification can be successfully carried out, and the accuracy of the obtained identity information is higher.
On the other hand, whether the article of confirming that the ith article are the article that target person allowed to purchase is satisfied with presetting the age condition through detecting target person's age, and intelligent degree is higher to when target person's age is unsatisfied with presetting the age condition, can indicate that target person's age is unsatisfied with presetting the age condition, give certain warning to target person, avoid target person maloperation to lead to purchasing the article that is not conform to oneself age.
Referring to fig. 5, in some embodiments, the method may further include steps S119 to S120.
Step S119: and acquiring the information to be paid of the target person.
Step S120: and deducting money from a preset account of the target person based on the identity information of the target person and the information to be paid so as to complete payment aiming at the information to be paid. The preset account is, for example, a stored-value card account of the target person, or a third-party payment account of the target person, such as a QQ account, a WeChat account, a Paibao account, a Mei-Rou account, and the like.
From this, after gathering target personnel's vein image, can discern target personnel's identity information, combine to treat payment information, deduct money from target personnel's the account of predetermineeing, that is to say, target personnel only need carry out once the collection of vein image, can accomplish the payment, convenient and fast, and intelligent degree is higher.
Referring to fig. 6, in some embodiments, the intelligent follower device may further include a temperature and humidity sensor, and the method may further include steps S121 to S123.
Step S121: and establishing connection between the intelligent following equipment and the personnel equipment of the target personnel. The personal device of the target person is, for example, a mobile phone, a tablet computer, a smart wearable device, and the like.
The connection mode between the intelligent following device and the personnel device of the target personnel is not limited, the intelligent following device and the personnel device of the target personnel can be connected in a wired communication mode, and can also be connected in a wireless communication mode.
In some embodiments, the intelligent follower device may be provided with a wireless communication means, which may include at least one of: WIFI communication module, bluetooth communication module, near field communication module, zigBee communication module, WiGig communication module, microwave communication module, satellite communication module and atmosphere laser communication module.
Therefore, the intelligent following device can realize data interaction with the personnel device of the target personnel by utilizing the wireless communication device.
Step S122: and detecting by using the temperature and humidity sensor to obtain temperature and humidity information corresponding to the intelligent following equipment.
Step S123: and sending the temperature and humidity information corresponding to the intelligent following equipment to personnel equipment of the target personnel.
Therefore, the temperature and humidity information corresponding to the intelligent following equipment can be acquired in real time, the temperature and humidity information is sent to the personnel equipment of the target personnel, when the intelligent following equipment stores the articles needing refrigeration or moisture preservation, the target personnel can take corresponding measures in time based on the corresponding temperature and humidity information, the use experience of the target personnel is better, and the intelligent degree is higher.
Referring to fig. 7, an embodiment of the present application further provides a control apparatus for an intelligent follower device, and a specific implementation manner of the control apparatus is consistent with the implementation manner and the achieved technical effect described in the embodiment of the control method for an intelligent follower device, and a part of the contents are not described again.
The controlling means is applied to intelligence and follows equipment, intelligence is followed equipment and is provided with camera and positioner, controlling means includes: the personnel image module 101 is used for responding to the situation that a target person approaches the intelligent following equipment, and shooting by utilizing the camera to obtain at least one personnel image of the target person; a person feature module 102, configured to obtain feature information of the target person based on at least one person image of the target person; the surrounding environment module 103 is used for responding to the situation that the target person is far away from the intelligent following equipment, and at least one surrounding environment image is obtained by shooting through the camera; a person position module 104, configured to obtain a person position of the target person using the at least one ambient image and the feature information of the target person; a device location module 105, configured to obtain a device location of the intelligent follower device by using the positioning apparatus; and a path planning module 106, configured to plan a driving path of the intelligent following device based on the device position of the intelligent following device and the person position of the target person, so that the intelligent following device approaches the target person.
Referring to fig. 8, in some embodiments, the intelligent following device may further be provided with a code scanning device and a display screen, and the control device may further include: a price scanning module 107, configured to scan the price of the ith item by using the code scanning device, where i is each positive integer not greater than N, N is the total number of items corresponding to the target person, and N is a positive integer; and a price display module 108, configured to display the price of the ith item by using the display screen.
Referring to fig. 9, in some embodiments, the control device may further include: a first amount module 109, configured to use the price of the ith item as the accumulated amount corresponding to the ith item when i is equal to 1; a second amount module 110, configured to calculate, when i is greater than 1, a sum of an accumulated amount corresponding to the i-1 th item and a price of the i-th item, as an accumulated amount corresponding to the i-th item; and the amount display module 111 is configured to display the accumulated amount corresponding to the ith item by using the display screen.
Referring to fig. 10, in some embodiments, the intelligent following device may further be provided with a code scanning device and a vein collection device, and the control device may further include: an identifier obtaining module 112, configured to obtain an identifier of the ith item through scanning by using the code scanning device; an age detection module 113, configured to detect whether the ith item corresponds to a preset age condition based on the identifier of the ith item; a vein collection module 114, configured to, when the ith item corresponds to the preset age condition, obtain a vein image of the target person by using the vein collection device; the identity recognition module 115 is configured to recognize and obtain identity information of the target person based on the vein image of the target person; an age obtaining module 116, configured to obtain an age of the target person based on the identity information of the target person; a first determining module 117, configured to determine that the ith item is an item allowed to be purchased by the target person when the age of the target person meets the preset age condition; a second determining module 118, configured to determine that the ith item is an item that the target person does not allow to purchase when the age of the target person does not satisfy the preset age condition, and perform any one of the following processes: no operation is performed; and prompting that the age of the target person does not meet the preset age condition.
Referring to fig. 11, in some embodiments, the control device may further include: a to-be-paid information module 119, configured to acquire to-be-paid information of the target person; and a deduction payment module 120, configured to deduct money from a preset account of the target person based on the identity information of the target person and the information to be paid, so as to complete payment for the information to be paid.
Referring to fig. 12, in some embodiments, the intelligent follower device may further include a temperature and humidity sensor, and the control apparatus may further include: a connection establishing module 121, configured to establish a connection between the intelligent following device and a personal device of the target person; the temperature and humidity detection module 122 is configured to obtain temperature and humidity information corresponding to the intelligent follower device by using the temperature and humidity sensor; and the information sending module 123 is configured to send the temperature and humidity information corresponding to the intelligent following device to the personnel device of the target person.
Referring to fig. 13, an embodiment of the present application further provides an intelligent follower device 200, where the intelligent follower device 200 includes at least one memory 210, at least one processor 220, and a bus 230 connecting different platform systems.
The memory 210 may include readable media in the form of volatile memory, such as Random Access Memory (RAM)211 and/or cache memory 212, and may further include Read Only Memory (ROM) 213.
The memory 210 further stores a computer program, and the computer program can be executed by the processor 220, so that the processor 220 executes the steps of the control method of the intelligent follower device in the embodiment of the present application, and a specific implementation manner of the method is consistent with the implementation manner and the achieved technical effect described in the embodiment of the control method of the intelligent follower device, and details of the method are not repeated.
Accordingly, the processor 220 may execute the computer programs described above, and may execute the utility 214.
The intelligent follower device 200 may also communicate with one or more external devices 240, such as a keyboard, pointing device, Bluetooth device, etc., and may also communicate with one or more devices capable of interacting with the intelligent follower device 200, and/or with any device (e.g., router, modem, etc.) that enables the intelligent follower device 200 to communicate with one or more other computing devices. Such communication may be through input-output interface 250. Also, the intelligent follower device 200 can communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 260. The network adapter 260 may communicate with other modules of the intelligent follower device 200 via the bus 230. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the intelligent follower device 200, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.
The intelligent follower device 200 further comprises a camera and a positioning device.
In some embodiments, the intelligent follower device 200 may have an upper portion and a lower portion that are opposite, and the intelligent follower device 200 may be further provided with a handle, a motor, and a plurality of wheels; the handle is arranged outside the upper part of the intelligent following device 200; the plurality of wheels are disposed outside a lower portion of the intelligent follower device 200; the motor is arranged in the lower part of the intelligent following device 200 and is used for driving the wheels to move according to the running path of the intelligent following device 200; the camera head is close to the middle of the handle.
From this, set up the handle in the outside of the upper portion of equipment 200 is followed to intelligence, the target person of being convenient for grasps intelligence when shopping and follows equipment 200, and the personnel image that can shoot the target person is close to the camera in handle middle part, and when the target person kept away from intelligence and follows equipment 200, can control motor drive and set up and follow the outside a plurality of wheels in the lower part of equipment 200 and remove to follow the target person in real time.
The embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium is used for storing a computer program, and when the computer program is executed, the steps of the control method for an intelligent follower device in the embodiment of the present application are implemented, and a specific implementation manner of the steps is consistent with the implementation manner and the achieved technical effect described in the embodiment of the control method for an intelligent follower device, and some contents are not described again.
Fig. 14 shows a program product 300 for implementing the control method of the intelligent follower device, which can be implemented by a portable compact disc read only memory (CD-ROM) and includes program codes, and can be run on a terminal device, such as a personal computer. However, the program product 300 of the present invention is not so limited, and in this application, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Program product 300 may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that can communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the C language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
While the present application is described in terms of various aspects, including exemplary embodiments, the principles of the invention should not be limited to the disclosed embodiments, but are also intended to cover various modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A control method of intelligent following equipment is applied to the intelligent following equipment, the intelligent following equipment is provided with a camera and a positioning device, and the method comprises the following steps:
responding to the situation that a target person approaches the intelligent following equipment, and shooting by utilizing the camera to obtain at least one person image of the target person;
acquiring characteristic information of the target person based on at least one person image of the target person;
responding to the situation that the target person is far away from the intelligent following equipment, and shooting by utilizing the camera to obtain at least one surrounding environment image;
acquiring the personnel position of the target personnel by utilizing the at least one surrounding environment image and the characteristic information of the target personnel;
acquiring the equipment position of the intelligent following equipment by using the positioning device;
planning a driving path of the intelligent following device based on the device position of the intelligent following device and the personnel position of the target personnel so that the intelligent following device approaches the target personnel.
2. The control method of the intelligent following device according to claim 1, wherein the intelligent following device is further provided with a code scanning device and a display screen, and the method further comprises:
scanning by using the code scanning device to obtain the price of the ith item, wherein i is each positive integer not greater than N, N is the total number of items corresponding to the target person, and N is a positive integer;
and displaying the price of the ith item by using the display screen.
3. The control method of the intelligent follower device as recited in claim 2, further comprising:
when i is equal to 1, taking the price of the ith item as the accumulated amount corresponding to the ith item;
when i is larger than 1, calculating the sum of the accumulated amount corresponding to the i-1 th article and the price of the i-th article as the accumulated amount corresponding to the i-th article;
and displaying the accumulated amount corresponding to the ith article by using the display screen.
4. The control method of the intelligent following device according to claim 2, wherein the intelligent following device is further provided with a code scanning device and a vein collection device, and the method further comprises:
scanning by using the code scanning device to obtain the identifier of the ith article;
detecting whether the ith item corresponds to a preset age condition or not based on the identifier of the ith item;
when the ith article corresponds to the preset age condition, acquiring a vein image of the target person by using the vein acquisition device;
identifying and obtaining the identity information of the target person based on the vein image of the target person;
acquiring the age of the target person based on the identity information of the target person;
when the age of the target person meets the preset age condition, determining that the ith item is an item allowed to be purchased by the target person;
when the age of the target person does not satisfy the preset age condition, determining that the ith item is an item which is not allowed to be purchased by the target person, and executing any one of the following processes: no operation is performed; and prompting that the age of the target person does not meet the preset age condition.
5. The method for controlling an intelligent follower device as recited in claim 4, further comprising:
acquiring information to be paid of the target person;
and deducting money from a preset account of the target person based on the identity information of the target person and the information to be paid so as to complete payment aiming at the information to be paid.
6. The method for controlling the intelligent follower device according to claim 1, wherein the intelligent follower device further comprises a temperature and humidity sensor, and the method further comprises:
establishing connection between the intelligent following equipment and personnel equipment of the target personnel;
temperature and humidity information corresponding to the intelligent following equipment is obtained through detection of the temperature and humidity sensor;
and sending the temperature and humidity information corresponding to the intelligent following equipment to personnel equipment of the target personnel.
7. The utility model provides a controlling means of equipment is followed to intelligence, its characterized in that is applied to intelligence and follows equipment, intelligence is followed equipment and is provided with camera and positioner, controlling means includes:
the personnel image module is used for responding to the situation that a target person approaches the intelligent following equipment, and at least one personnel image of the target person is obtained by shooting through the camera;
the personnel characteristic module is used for acquiring characteristic information of the target personnel based on at least one personnel image of the target personnel;
the surrounding environment module is used for responding to the situation that the target person is far away from the intelligent following equipment, and at least one surrounding environment image is obtained by shooting through the camera;
the personnel position module is used for acquiring the personnel position of the target personnel by utilizing the at least one surrounding environment image and the characteristic information of the target personnel;
the device position module is used for acquiring the device position of the intelligent following device by using the positioning device;
and the path planning module is used for planning a driving path of the intelligent following equipment based on the equipment position of the intelligent following equipment and the personnel position of the target personnel so as to enable the intelligent following equipment to be close to the target personnel.
8. An intelligent follower device, comprising a camera, a positioning means, a memory, and a processor, the memory storing a computer program, the processor implementing the steps of the method according to any one of claims 1 to 6 when executing the computer program.
9. The intelligent follower device of claim 8 wherein the intelligent follower device has opposing upper and lower portions, the intelligent follower device further provided with a handle, a motor, and a plurality of wheels;
the handle is arranged outside the upper part of the intelligent following device;
the plurality of wheels are arranged outside the lower part of the intelligent following device;
the motor is arranged in the lower part of the intelligent following equipment and used for driving the wheels to move according to the running path of the intelligent following equipment;
the camera head is close to the middle of the handle.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1-6.
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| CN202110874784.0A CN113505753A (en) | 2021-07-30 | 2021-07-30 | Control method and related device of intelligent following equipment |
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| CN202110874784.0A CN113505753A (en) | 2021-07-30 | 2021-07-30 | Control method and related device of intelligent following equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114200934A (en) * | 2021-12-06 | 2022-03-18 | 北京云迹科技股份有限公司 | Robot target following control method and device, electronic equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114200934A (en) * | 2021-12-06 | 2022-03-18 | 北京云迹科技股份有限公司 | Robot target following control method and device, electronic equipment and storage medium |
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