KR101260879B1 - Method for Search for Person using Moving Robot - Google Patents
Method for Search for Person using Moving Robot Download PDFInfo
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- KR101260879B1 KR101260879B1 KR1020100015053A KR20100015053A KR101260879B1 KR 101260879 B1 KR101260879 B1 KR 101260879B1 KR 1020100015053 A KR1020100015053 A KR 1020100015053A KR 20100015053 A KR20100015053 A KR 20100015053A KR 101260879 B1 KR101260879 B1 KR 101260879B1
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Abstract
The present invention relates to a method of searching for a person of a mobile robot, and downloads the image data registered in the control server to the mobile robot in order to find the missing person or the main person in the event site, the mobile robot moves to the event site to search for and guide the person To output the voice, and to alert the control server or the administrator of the recognition result of the searched person.
An object of the present invention consists of a mobile robot equipped with a display window, a camera and a voice signal input and output unit, and a control server that registers lost information including lost images and personal information. A method of searching for a person of a mobile robot to search for a lost child while moving, the control server is a process for commanding the vision recognition execution of the mobile robot after downloading the missing information to the mobile robot; Setting a movement path of the mobile robot in the control server; Instructing the mobile robot to perform a missing function in the control server; The mobile robot performs a lost search function while moving in the movement path set by the lost search command; And when the lost child is found during the fourth process, stopping at the current position and transmitting the recognition result data to the designated contact.
Description
The present invention relates to a method of searching for a person using vision recognition of a mobile robot, and more specifically, to register a lost child or person to be searched in a database of a control server, and downloads it from a mobile robot and uses the vision recognition function to identify the person. The present invention relates to a method of searching for a person of a mobile robot to search.
In general, the search for a lost person or a main person extracts a face image of people passing by using a surveillance camera fixed to a wall or a ceiling to determine whether the person is a registered person. If it is determined to be a registered person, it alerts the administrator.
Recently, a camera is mounted on a mobile robot that moves beyond the limits of a fixed camera for searching for a general person.
The image transmission apparatus of a mobile robot according to the prior art is a lost child or a mobile robot mounted with a camera using a mobile robot, instead of searching for a person using the fixed camera, as disclosed in the following prior art document. After searching and identifying the main characters, the mobile robot provides an image transmitting apparatus for notifying the manager.
[Patent Document 1]
Patent Publication 10-2004-0086758, Image transmission apparatus of a mobile robot.
[Patent Document 2]
Patent Publication 10-2004-0086759, Image transmission apparatus of a mobile robot.
An object of the present invention is to download the image data registered in the control server to the mobile robot in order to find the lost or main characters in indoor and outdoor event venues, amusement parks, animal and vegetable gardens, museums, etc. And the purpose of providing a voice search method of the mobile robot to output the announcement and to alert the control server or the administrator of the recognition result of the searched person.
Another object of the present invention is to provide a method of searching for a person of a mobile robot to find a parent by registering the image and personal information of the lost child through the image communication function of the mobile robot when the missing child occurs.
The character search process of the mobile robot to achieve the object of the present invention consists of a mobile robot equipped with a screen display window, a camera and a voice signal input and output unit, and a control server for registering the missing information including the image and personal information of the missing child. In the method of searching for a person of a mobile robot, the mobile robot downloads the missing information from the control server and searches for the lost child, wherein the control server downloads the missing information to the mobile robot and executes vision recognition of the mobile robot. A first step of commanding; A second step of setting a moving path of a mobile robot in the control server; A third step of instructing a mobile robot to perform a missing function in the control server; A fourth step of performing, by the mobile robot, a lost child function while moving in a movement path set by a lost child command; And a fifth step of transmitting the recognition result data to a designated contact by stopping at the current location when the registered missing child is found during the fourth step. However, the control server is performing the lost search in the fourth step. It is characterized by downloading a plurality of missing information to the mobile robot to perform a plurality of lost search at the same time.
Here, in the fourth step, the Mia finder function displays the missing image and the personal information on the screen display window of the mobile robot, outputs the information of the missing child, and recognizes the image inputted by the vision function and compares the lost image. Characterized in that.
The recognition result data of the fifth process is to transmit the photo matching rate of the missing child, the found position and the current position of the missing child's photo data to the control server, and the name of the missing child, the found position and the corresponding mobile robot information checked by the mobile robot. Characterized in that the transmission to the designated contact.
The character search process of the mobile robot to achieve another object of the present invention comprises a mobile robot equipped with a screen display window, a camera and a voice signal input and output unit, and a control server for registering the missing information including the image and personal information of the missing child. In the method of searching for a person of a mobile robot that finds a parent by registering a lost child to a control server through a mobile robot when a child is lost, the mobile robot moves in a path designated by the control server. A first step of automatically connecting to a video call mode with the control server when an emergency call video call key provided in the robot is selected; A second step of transmitting and registering the image and personal information of the lost child through a video call with the control server; A third step of transmitting parental information registered in the control server to another mobile robot to perform a parent search command; And a fourth process of automatically connecting to the video call mode by connecting to the video call mode as the emergency call video call key of the mobile robot is selected by the parent of the lost child during the third process. However, in the third process, performing the parent search function of the mobile robot is characterized by displaying a lost image through the screen display window of the mobile robot, and outputs the lost information through a voice output device.
Here, in addition to the first process, if the guide desk call key of the mobile robot is selected, further comprising the step of connecting the guide of the guide desk and the video call.
According to the present invention, a method of searching for a person in a mobile robot downloads image data registered in a control server to a mobile robot to find a missing person or a main character in an event hall, and then moves the event site to a designated path, as well as photographic images and personal information. By outputting a voice to alert people around you, you can quickly and effectively find the missing person or key person.
In addition, the parent who lost the child not only registers the missing child through the mobile robot, control room or information desk to find the missing child, and when the child is lost, the control server or the video call function of the mobile robot by the surrounding people. It is effective to find a parent by registering a lost child by connecting to the guide desk.
1 is a schematic network configuration diagram of a person search system of a mobile robot for implementing the present invention,
2 is a flowchart of a person searching process of a mobile robot according to an embodiment of the present invention;
3 is a diagram showing an example of displaying a time on the screen to perform the vision recognition function according to an embodiment of the present invention,
4 is a flowchart of a person searching process of a mobile robot according to another embodiment of the present invention;
5 is a screen display diagram for a video call mounted on the front of the mobile robot.
A person searching method of the mobile robot according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
1 is a network diagram of a person searching system of a mobile robot for implementing the present invention, the
The
The
The
Using the person search system of the mobile robot configured as described above, the MIA or the main person is registered, and the registered robot is moved to the designated path according to the command of the
Referring to Figures 1 and 2 of the mobile robot search process according to the present invention in detail as follows.
2 is a flowchart of a person searching process of a mobile robot according to a first embodiment of the present invention, from a parent of a lost child visiting the
The
Here, the movement route may be designated in consideration of the missing information such as the location of the lost child and the situation of the lost child.
In addition, the
For example, by designating a
The
The audio output of the voice output unit for example, the voice output outputs "I am looking for Hong Gil-dong children from Myeong-dong," and the screen display to display the missing information on the side of the mia picture or missing information, Be alert to those around you.
3 is a diagram showing a temporary example of performing a vision recognition function according to an embodiment of the present invention on the screen, the left image displays the photographic image and the missing information on the left screen, the right screen, the result of vision recognition, that is, the captured image It displays the matching rate, current mobile robot ID, search time, location, and whether to match the person image and the lost image.
When the
In addition, the vision recognition result data is transmitted to the designated contact and the
When the discovery of the lost child is confirmed through the above process, the security guard calls the
As such, when the missing child search registered in the
On the other hand, listening to the screen display unit of the
Figure 4 is a flow chart of the character search process of the mobile robot according to another embodiment of the present invention, when the lost by the people around, the person who found the lost after stopping the
5 is a screen display diagram for a video call mounted on the front of the mobile robot. When an emergency call video call key is selected, the video terminal is connected to the
The
That is, the
The parent search function of the
The parent who checks the guidance message while performing the parent search function of the
When the missing child function is completed through the above process, the
In addition, although specific embodiments of the present invention have been described and illustrated above, the method of searching for a person of the mobile robot according to the present invention can be variously made by those skilled in the art, such as registering and searching for a disabled person, a main person, etc. using the mobile robot. It is obvious that it can be modified.
However, such modified embodiments should not be understood individually from the spirit or scope of the present invention, such modified embodiments will be included within the appended claims of the present invention.
101: mobile robot 110: control room
111: control server 112: control terminal
120: information desk 121: information desk terminal
Claims (7)
The control server is a first step of instructing the vision recognition execution of the mobile robot after downloading the missing information to the mobile robot;
A second step of setting a moving path of a mobile robot in the control server;
A third step of instructing a mobile robot to perform a missing function in the control server;
A fourth step of performing, by the mobile robot, a lost child function while moving in a movement path set by a lost child command; And
In the fourth process, if the registered missing child is found, the fifth process stops at the current position and transmits the recognition result data to the designated contact.
The control server downloads a plurality of missing information to the mobile robot during the lost search in the fourth process to perform a plurality of lost search at the same time,
In the fourth process, the lost child function displays the missing image and human information on the screen display window of the mobile robot, outputs the information of the lost child, and performs recognition of the human image inputted by the vision function and comparison with the lost image. Character search method of the mobile robot, characterized in that.
The control server is a first step of instructing the vision recognition execution of the mobile robot after downloading the missing information to the mobile robot;
A second step of setting a moving path of a mobile robot in the control server;
A third step of instructing a mobile robot to perform a missing function in the control server;
A fourth step of performing, by the mobile robot, a lost child function while moving in a movement path set by a lost child command; And
In the fourth process, if the registered missing child is found, the fifth process stops at the current position and transmits the recognition result data to the designated contact.
The control server downloads a plurality of missing information to the mobile robot during the lost search in the fourth process to perform a plurality of lost search at the same time,
The recognition result data of the fifth process is to transmit the photo matching rate of the missing child, the found position and the current position of the missing child's photo data to the control server, and the name of the missing child, the found position and the corresponding mobile robot information checked by the mobile robot. Character search method of the mobile robot, characterized in that the transmission to the specified contact.
The control server is a first step of instructing the vision recognition execution of the mobile robot after downloading the missing information to the mobile robot;
A second step of setting a moving path of a mobile robot in the control server;
A third step of instructing a mobile robot to perform a missing function in the control server;
A fourth step of performing, by the mobile robot, a lost child function while moving in a movement path set by a lost child command; And
In the fourth process, if the registered missing child is found, the fifth process stops at the current position and transmits the recognition result data to the designated contact.
The control server downloads a plurality of missing information to the mobile robot during the lost search in the fourth process to perform a plurality of lost search at the same time,
And in addition to the fifth process, transmitting the image information of the lost child recognized by the mobile robot to the parent mobile phone of the lost child, thereby connecting a video call.
A first step of automatically connecting to the video call mode with the control server as the emergency call video call key provided in the mobile robot is selected while the mobile robot moves along the path designated by the control server;
A second step of transmitting and registering the image and personal information of the lost child through a video call with the control server;
A third step of transmitting parental information registered in the control server to another mobile robot to perform a parent search command; And
The mobile robot performs a fourth process of automatically switching to a video call mode according to the emergency call video call key of the mobile robot selected by the parent of the lost child during the third process and connecting the video call with the lost child. ,
In the third step, performing the parent search function of the mobile robot displays a lost image through the screen display window of the mobile robot, and outputs the lost information through a voice output device.
In addition to the first process, if the guide desk call key of the mobile robot is selected, connecting the guide and the video call of the guide desk, and then by sending a missing information to the control server by the guide to register the missing Mia Character search method of a mobile robot, characterized in that made.
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KR1020100015053A KR101260879B1 (en) | 2010-02-19 | 2010-02-19 | Method for Search for Person using Moving Robot |
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KR1020100015053A KR101260879B1 (en) | 2010-02-19 | 2010-02-19 | Method for Search for Person using Moving Robot |
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KR101260879B1 true KR101260879B1 (en) | 2013-05-06 |
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Families Citing this family (3)
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KR102594250B1 (en) * | 2016-10-07 | 2023-10-27 | 엘지전자 주식회사 | Airport robot |
CN110163448A (en) * | 2018-12-28 | 2019-08-23 | 山东浪潮商用系统有限公司 | A kind of tax intelligent robot based on indoor positioning leads tax method |
CN114500900A (en) * | 2022-02-24 | 2022-05-13 | 北京云迹科技股份有限公司 | Method and device for searching lost object |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2004126711A (en) * | 2002-09-30 | 2004-04-22 | Toshiba Corp | Person search system |
KR100543376B1 (en) * | 2003-03-31 | 2006-01-20 | 혼다 기켄 고교 가부시키가이샤 | Image transmission system for a mobile robot |
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Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2004126711A (en) * | 2002-09-30 | 2004-04-22 | Toshiba Corp | Person search system |
KR100543376B1 (en) * | 2003-03-31 | 2006-01-20 | 혼다 기켄 고교 가부시키가이샤 | Image transmission system for a mobile robot |
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