CN206536471U - It is a kind of that the robot that intelligence is followed is carried out based on face tracking - Google Patents
It is a kind of that the robot that intelligence is followed is carried out based on face tracking Download PDFInfo
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- CN206536471U CN206536471U CN201621264463.XU CN201621264463U CN206536471U CN 206536471 U CN206536471 U CN 206536471U CN 201621264463 U CN201621264463 U CN 201621264463U CN 206536471 U CN206536471 U CN 206536471U
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Abstract
The utility model discloses a kind of robot followed based on face tracking progress intelligence, including 3D sensor units, robot main control unit and behavior moving cell, the 3D sensor units obtain facial image using 3D video cameras and are transferred to robot main control unit, and the utility model is to carry out intelligence based on 3D face trackings to follow.The system can quickly recognize and judge the position of target face, and user's face can be recognized in user's walking process.Compared with tradition follows robot, target person can be more recognized accurately and interference is not readily susceptible to, realizing that mobile robot is intelligently followed can special services targeted customer.
Description
Technical field
The utility model is related to robotic technology field, specifically a kind of to carry out the machine that intelligence is followed based on face tracking
People.
Background technology
The robot epoch arrive, and followability robot is by next main trend as the industry development.Intelligence
Follow mobile robot to have target identification and the function of independent navigation, specific destination object can be served, help
People complete task.Current mobile robot follows the mode to have based on image procossing, based on laser sensor and based on super
Sound wave etc. follows technology.
Current mobile robot follows mode to have based on image procossing, based on laser sensor and based on ultrasonic wave etc.
Follow technology.Information is easily lost in tracking of the image procossing mode to target person；If only with based on laser sensor
Follow technology more single to the acquisition method of target person, easily disturbed by similar object in environment；It is same according to based on
Ultrasonic wave follows technology, and its detectable distance is shorter, and is difficult in investigative range to identify different target, it is impossible to accomplish
Track specific objective task.
Utility model content
The purpose of this utility model is to provide a kind of robot followed based on face tracking progress intelligence, with solution
State the problem of being proposed in background technology.
To achieve the above object, the utility model provides following technical scheme：
It is a kind of that the robot that intelligence is followed, including 3D sensor units, robot main control list are carried out based on face tracking
Member and behavior moving cell, the 3D sensor units obtain facial image using 3D video cameras and are transferred to robot main control
Each point depth distance is sent control signals in unit, the threedimensional model that robot main control unit is set up according to user's face
Behavior moving cell, behavior moving cell driving direct current generator finally realizes the motion and steering of robot.
It is used as further scheme of the present utility model：The 3D sensor units are by 3D cameras and image processor group
Into.
Compared with prior art, the beneficial effects of the utility model are：The utility model is carried out based on 3D face trackings
Intelligence is followed.The system can quickly recognize and judge the position of target face, and user people can be recognized in user's walking process
Face.Compared with tradition follows robot, target person can be more recognized accurately and interference is not readily susceptible to, mobile robot is realized
Intelligence is followed can special services targeted customer.
Brief description of the drawings：
Fig. 1 is to carry out intelligence based on face tracking to follow structured flowchart；
Fig. 2 is based on face tracking progress intelligence and follows flow chart.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
Fig. 1-2 is referred to, the utility model describes a kind of robot followed based on face tracking progress intelligence, including 3D
Sensor unit, robot main control unit and behavior moving cell, the 3D sensor units obtain people using 3D video cameras
Face image is simultaneously transferred to robot main control unit, in the threedimensional model that robot main control unit is set up according to user's face
Each point depth distance sends control signals to behavior moving cell, and behavior moving cell driving direct current generator finally realizes robot
Motion and steering.
3D sensor units are made up of 3D cameras and image processor.
The operation principle of this programme:3D sensor units are to obtain facial image using 3D video cameras, and rapidly and accurately
Set up collection face surface（Depth）Threedimensional model, and user can also be identified in rapid moving process.
Robot main control unit is each point depth distance in the threedimensional model set up according to user's face, calculates face
Mean depth distance, by determining distance and the direction of target face and robot, keeps the mean depth distance of face
For 130cm, control machine people is advanced, and is turned left, and is turned right and is stopped, so as to realize the tracking of target body.
Behavior moving cell is the motion and steering that robot is finally realized by pid algorithm driving direct current generator.
Claims (2)
1. a kind of carry out the robot that intelligence is followed, including 3D sensor units, robot main control unit based on face tracking
With behavior moving cell, it is characterised in that the 3D sensor units obtain facial image using 3D video cameras and are transferred to machine
Each point depth distance is sent in device people's main control unit, the threedimensional model that robot main control unit is set up according to user's face
Control signal is to behavior moving cell, and behavior moving cell driving direct current generator finally realizes the motion and steering of robot.
2. a kind of robot followed based on face tracking progress intelligence according to claim 1, the 3D sensors list
Member is made up of 3D cameras and image processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621264463.XU CN206536471U (en) | 2016-11-24 | 2016-11-24 | It is a kind of that the robot that intelligence is followed is carried out based on face tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621264463.XU CN206536471U (en) | 2016-11-24 | 2016-11-24 | It is a kind of that the robot that intelligence is followed is carried out based on face tracking |
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| Publication Number | Publication Date |
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| CN206536471U true CN206536471U (en) | 2017-10-03 |
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| CN201621264463.XU Active CN206536471U (en) | 2016-11-24 | 2016-11-24 | It is a kind of that the robot that intelligence is followed is carried out based on face tracking |
Country Status (1)
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| CN (1) | CN206536471U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426180A (en) * | 2016-11-24 | 2017-02-22 | 深圳市旗瀚云技术有限公司 | Robot capable of carrying out intelligent following based on face tracking |
| CN108734082A (en) * | 2018-03-21 | 2018-11-02 | 北京猎户星空科技有限公司 | Method for building up, device, equipment and the storage medium of correspondence |
| CN110026982A (en) * | 2019-04-22 | 2019-07-19 | 广东博智林机器人有限公司 | Robot servo system |
-
2016
- 2016-11-24 CN CN201621264463.XU patent/CN206536471U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426180A (en) * | 2016-11-24 | 2017-02-22 | 深圳市旗瀚云技术有限公司 | Robot capable of carrying out intelligent following based on face tracking |
| CN108734082A (en) * | 2018-03-21 | 2018-11-02 | 北京猎户星空科技有限公司 | Method for building up, device, equipment and the storage medium of correspondence |
| CN110026982A (en) * | 2019-04-22 | 2019-07-19 | 广东博智林机器人有限公司 | Robot servo system |
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Legal Events
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180703 Address after: 518000 Guangdong 28, Shenzhen, Futian District, Huafu street, No. 5001 Huanggang Road, Shenzhen Industrial upper city (two phase of the Southern District) Patentee after: Shenzhen Sanbao innovation and intelligence Co., Ltd. Address before: 518055 20, Times Technology Building, 7028 Shennan Road, Futian District, Shenzhen, Guangdong. Patentee before: Shenzhen qihan cloud Technology Co. Ltd. |