WO2020019504A1 - 一种机器人屏幕解锁方法、装置、智能设备及存储介质 - Google Patents

一种机器人屏幕解锁方法、装置、智能设备及存储介质 Download PDF

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Publication number
WO2020019504A1
WO2020019504A1 PCT/CN2018/108468 CN2018108468W WO2020019504A1 WO 2020019504 A1 WO2020019504 A1 WO 2020019504A1 CN 2018108468 W CN2018108468 W CN 2018108468W WO 2020019504 A1 WO2020019504 A1 WO 2020019504A1
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WIPO (PCT)
Prior art keywords
screen
target object
detection module
rotation
preset
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Ceased
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PCT/CN2018/108468
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English (en)
French (fr)
Inventor
周宸
周宝
王健宗
肖京
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Ping An Technology Shenzhen Co Ltd
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Ping An Technology Shenzhen Co Ltd
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Publication of WO2020019504A1 publication Critical patent/WO2020019504A1/zh
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Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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

Definitions

  • the present application relates to the field of computer technology, and in particular, to a method, a device, a smart device, and a storage medium for unlocking a robot screen.
  • intelligent robots People can activate the touch display screen of the robot, and then use some functions of the intelligent robot, such as watching TV programs, surfing the Internet, playing games, or handling business operations.
  • part of the touch display screen of a general intelligent robot is always in the active display state, and the other part must rely on the user to activate the touch display by using touch, voice and other methods.
  • the former caused unnecessary power loss and screen life loss of the smart robot, while the latter required users to actively touch the display, which was passive in behavior and low in unlocking efficiency.
  • an embodiment of the present application provides a method for unlocking a robot screen.
  • the method is applied to a robot.
  • the robot includes a detection module and a screen.
  • the detection module is configured with a sensor and a camera.
  • the method includes:
  • an embodiment of the present application provides a robot screen unlocking device.
  • the robot screen unlocking device includes a module for executing the method in the first aspect.
  • an embodiment of the present application provides a smart device.
  • the smart device includes a processor, a network interface, and a memory.
  • the processor, the network interface, and the memory are connected to each other.
  • the network interface is controlled by the processor.
  • the control is used to send and receive messages.
  • the memory is used to store a computer program that supports the smart device to execute the above method.
  • the computer program includes program instructions, and the processor is configured to call the program instructions to execute the first aspect. Methods.
  • an embodiment of the present application provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program, where the computer program includes program instructions, and the program instructions, when executed by a processor, cause all the The processor executes the method of the first aspect.
  • the screen is in an unlocked state when facing the target object, on the one hand, the power consumption can be reduced, and the screen life can be extended; on the other hand, the unlocking efficiency can be improved.
  • FIG. 1 is a schematic flowchart of a method for unlocking a robot screen according to an embodiment of the present application
  • FIG. 2a is a schematic structural diagram of a robot according to an embodiment of the present application.
  • 2b is a schematic structural diagram of another robot according to an embodiment of the present application.
  • FIG. 3 is a schematic flowchart of another method for unlocking a robot screen according to an embodiment of the present application.
  • FIG. 4 is a coordinate diagram of a method for unlocking a robot screen according to an embodiment of the present application.
  • FIG. 5 is a schematic block diagram of a robot screen unlocking device according to an embodiment of the present application.
  • FIG. 6 is a schematic block diagram of a smart device according to an embodiment of the present application.
  • FIG. 1 is a schematic flowchart of a method for unlocking a robot screen according to an embodiment of the present application.
  • the method is applied to a robot.
  • the robot includes a detection module and a screen.
  • the detection module is configured with a sensor and a camera, as shown in the figure.
  • the method for unlocking the robot screen may include:
  • the calling sensor detects whether an object exists within a preset range corresponding to a rotation path of the detection module, and the rotation path is a path that controls the rotation of the detection module according to a preset rotation rule.
  • the sensor has its own sensing range (that is, the maximum sensing range or a specified range), and the preset range is a sensing area corresponding to the rotation path of the detection module, and the radius of the sensing area and the radius of the maximum sensing range equal.
  • the detection module and the screen included in the robot may be connected integrally or separately.
  • the robot may be as shown in FIG. 2a. It can be seen from FIG. 2a that the robot has a base, a body part (configured with a touch display screen), and a head (a detection module configured with a sensor and a camera). The detection module and the screen are connected separately through a rotatable joint.
  • the robot may be as shown in FIG. 2b.
  • the robot may have no head, a camera, a sensor, and a screen all integrated into the body part.
  • the preset rotation rule includes a preset rotation angular velocity that controls the rotation of the detection module, a first preset direction, a maximum rotation angle corresponding to the first preset direction (hereinafter referred to as a first rotation angle), a second preset direction, and The maximum rotation angle corresponding to the second preset direction (hereinafter referred to as the second rotation angle).
  • the robot can control the detection module to rotate to find a service object.
  • the robot detects that the screen is locked, it can rotate the detection module in a way of uniform left and right movement to actively find a service object, and call the sensor to detect whether there is an object in the preset range during the left and right rotation.
  • the preset range is detected, When there is an object, the rotation of the detection module is suspended.
  • the preset range may be preset by the system or may be set according to user requirements.
  • the preset range may be a sector centered on the detection module and a radius of 0.5 meters. This application does not specifically address this. limited.
  • the robot can control the detection module to start at an angular velocity according to a preset rotation rule. (That is, the preset rotation angle) rotates to the left (that is, the first preset direction) to the left limit angle ⁇ 1 (that is, the first rotation angle) and then starts to the right (that is, the second preset direction) at an angular velocity Rotate to the right limit angle ⁇ 2 (that is, the second rotation angle), and then the angular velocity Rotate to the left and cycle like this.
  • the robot can call a sensor in the detection module to detect whether there is an object in the preset range, and when it detects that an object exists in the preset range, the rotation of the detection module is suspended.
  • the sensor may include a light sensor, a thermal sensor, an infrared sensor, or other sensors that can detect whether an object exists in a preset range.
  • the robot may call the light sensor to sense the light intensity of the current environment within a preset range corresponding to the rotation path of the detection module. When the light intensity is less than or equal to a preset When the intensity threshold is set, it is determined that an object exists within a preset range.
  • the preset intensity threshold is I m
  • the sensor is a light sensor, which is located beside the camera.
  • the robot can detect the ambient light intensity through the light sensor, and in the process of the robot rotating to the left and right to find the service object, the ambient light intensity I is measured by the light sensor near the camera. If the robot detects I ⁇ I m , it can determine that there may be obstructions in the range in front of the camera, that is, determine that there are objects in the preset range, and the object type may be an object or a user.
  • the setting of the light intensity threshold I m is specifically set according to the use environment. For example, it may be combined with the current system time. If the current system time is night time, the threshold I m is correspondingly reduced. If the current system time is day time, the threshold I m is correspondingly increased.
  • the robot when the environment in which the robot is located is an indoor visible light environment, since the indoor light remains substantially unchanged, the robot can be set according to the ambient light of the indoor environment in which the robot is located. For example, if the robot is placed at location A and the visible light in the indoor environment where location A is relatively strong, then the light intensity threshold I m may be increased accordingly; if the robot is placed at location B, the visible light of the environment where location B is compared Weak, you can reduce the light intensity threshold I m accordingly.
  • the robot calls a camera to collect an image including the object.
  • the robot parses the collected image to determine whether the object is a target object.
  • the camera can be opened to collect an image including the object, and a face detection algorithm is used to identify whether the image includes a human face. If you include a human face, that is, determine that the object is a "human”, you can further determine the distance of the "person" from the camera, and if the distance meets a preset distance condition, such as 0.5m, determine that the object is a robot service
  • a preset distance condition such as 0.5m
  • the robot may perform face recognition on the collected image by using a face detection algorithm to determine whether a face exists in the image.
  • a face detection algorithm determines whether a face exists in the image.
  • the face area is greater than or equal to a preset face area threshold, it is determined that the distance between the object and the camera meets the preset distance condition, and then the object may be determined as the target object.
  • the above-mentioned face detection algorithm can be implemented by using open source libraries such as opencv, seetaface, or the face detection function provided by a third party.
  • the robot may perform face recognition on the collected image by using a face detection algorithm to determine the facial feature region of the image. If the facial feature region includes facial features, and the facial feature region If the size is greater than or equal to the preset feature area threshold, the object is determined as the target object.
  • the facial features of the face include: eyebrow contour, eye contour, mouth contour, nose contour, and ear contour.
  • the camera may be turned off, and the rotation of the detection module is controlled according to a preset rotation rule, and a step of sensing whether an object exists in the preset range is invoked during the rotation process.
  • the robot rotates the screen until the screen faces the target object.
  • the robot when the robot determines that the object is the target object, the robot can obtain the current rotation angle and the current rotation direction of the detection module, and control the screen to rotate to the current rotation direction.
  • the rotation angle of the screen is maintained with the current rotation angle of the detection module.
  • the rotation angle of the detection module and the screen is consistent.
  • the detection module and the screen can be locked, and the detection module and the screen can be rotated synchronously until it is detected that the screen is facing the target object, then the rotation is suspended, and the screen is unlocked, so that the screen is locked.
  • the status is adjusted to the unlocked status.
  • the robot can control the detection module to rotate to find a target object according to a preset rule.
  • the robot controls The detection module part rotates left and right to find the target object.
  • the detection module is the head of the robot.
  • the head is equipped with sensors and cameras.
  • the robot can rotate the head to use the sensors and cameras to find the target object, and then rotate the screen. This can reduce unnecessary rotation of the screen.
  • the robot controls the detection module to rotate left and right first, and when the sensor is called during the rotation to determine that there is a suspected target object, that is, when an object exists in a preset range, the screen is rotated in parallel and the face detection technology is used. It is further determined whether the suspect target object is the target object, which can reduce unnecessary rotation to a certain extent and improve the efficiency of the entire unlocking process.
  • the screen can be made to be in an unlocked state when facing the target object, on the one hand, it can reduce the power loss and extend the screen life; on the other hand, it can improve the unlocking efficiency.
  • FIG. 3 is a schematic flowchart of another method for unlocking a robot screen according to an embodiment of the present application. As shown in the figure, the method for unlocking a robot screen may include:
  • the calling sensor detects whether an object exists within a preset range corresponding to the rotation path of the detection module, and the rotation path is a path that controls the rotation of the detection module according to a preset rotation rule.
  • the robot calls a camera to collect an image including the object.
  • the robot parses the collected image to determine whether the object is a target object.
  • the robot rotates the screen until the screen faces the target object.
  • steps 301 to 304 may be related to the description of steps 101 to 104 in the foregoing embodiment, and details are not described herein again.
  • the robot when the robot determines that the object is the target object, the robot controls the detection module and the screen to maintain the same rotation angle, and controls the detection module and the screen to rotate synchronously.
  • the camera In the process of synchronous rotation, the camera is called to collect the target object. The target image, and then determine the offset variable between the center position of the area where the target object is located and the center position of the target image, and adjust the rotation angle and rotation direction of the synchronous rotation of the detection module and the screen according to the offset variable. Further, when the robot detects that the offset variable is within a preset offset range, it is determined that the detection module and the screen are directed toward the target object, and the synchronous rotation is stopped.
  • the robot may call the camera to acquire a target image including the target object at a certain frequency f during the synchronous rotation process, the image size is w * h, and the face rectangular frame (i.e., The area your audience is in).
  • an xy-axis coordinate system as shown in FIG. 4 is established by using the upper left corner as the origin, where the positive direction of the x-axis points to the right, the coordinates of the center position of the target image are (w / 2, h / 2), and a rectangular face frame
  • the screen rotation is controlled according to whether ⁇ x is greater than 0, so that ⁇ x When it approaches 0, when
  • ⁇ c (c is the allowable pixel error) (that is, the offset variable is in a preset offset range), it is determined that the detection module and the screen are directed to the target object, and the synchronous rotation is stopped.
  • the coordinate system shown in FIG. 4 is established with the upper left corner as the origin, and the x direction and the y direction are shown in FIG. 4. Therefore, in the direction, if the offset is less than 0, it means that the face rectangular frame (that is, the target object) is to the left of the target image, then the control screen and camera are turned to the left; if it is greater than 0, the opposite is true.
  • the robot adjusts the rotation angle and rotation direction of the synchronous rotation of the detection module and the screen according to the offset variable.
  • the detection module and the screen have been oriented to the target object, the screen and the camera can be rotated at a fixed angular velocity in a specified direction.
  • Detect the coordinates of the face's rectangular frame at a preset time interval such as 0.5 seconds
  • recalculate the offset, and stop within the preset offset range that is,
  • the robot after the robot stops the synchronous rotation, it can also collect a target image including the target object at a preset time interval, and calculate the offset between the center position of the area where the target object is located and the center position of the target image. Shifting the variable, triggering the step of controlling the synchronous rotation of the detection module and the screen when it is detected that the offset variable is not within a preset offset range.
  • the robot may continue to perform face detection at a preset time interval (such as t seconds), and always calculate ⁇ x.
  • ⁇ x does not satisfy
  • Control the synchronous rotation of the detection module and the screen to continue the synchronous rotation, and continue to adjust the rotation angle and rotation direction of the synchronous rotation of the detection module and the screen according to the offset variable, so that the screen always faces the target object.
  • the target object is the user
  • may be greater than or equal to c, that is, not in Preset the offset range.
  • the robot detects whether there is an interactive operation with the target object within a preset time.
  • the robot adjusts the screen from the unlocked state to the locked state, and triggers step 301.
  • Method 1 The robot does not detect the touch operation of the target object clicking the screen within the preset time; In the second method, the robot does not detect the voice input operation of the target object within the preset time; in the third method, the robot cannot capture the target object in the camera within the preset time, and so on.
  • Method 1 The robot does not detect the touch operation of the target object clicking the screen within the preset time; In the second method, the robot does not detect the voice input operation of the target object within the preset time; in the third method, the robot cannot capture the target object in the camera within the preset time, and so on.
  • the robot may also adjust the screen from the unlocked state to the locked state, and trigger step 301.
  • the screen can be unlocked when facing the target object, which can not only reduce the power consumption and extend the life of the screen; it can also improve the unlocking efficiency; on the other hand, it can also detect When there is no interactive operation within the set time, the screen will be locked again, which will help improve the robot's intelligence.
  • An embodiment of the present application further provides a robot screen unlocking device.
  • the device is configured on a robot.
  • the robot includes a detection module and a screen.
  • the detection module is configured with a sensor and a camera.
  • the device includes a device for performing the foregoing operations shown in FIG. 1 or FIG. 3.
  • the methods described above are modules.
  • FIG. 5 it is a schematic block diagram of a robot screen unlocking device provided by an embodiment of the present application.
  • the robot screen unlocking device of this embodiment includes:
  • the sensing module 50 is configured to, when detecting that the screen is in a locked state, invoke the sensor to sense whether an object exists within a preset range corresponding to a rotation path of the detection module, and the rotation path is according to a preset A rotation rule controlling a path of rotation of the detection module;
  • An acquisition module 51 configured to call the camera to collect an image including the object when the object exists in the preset range
  • a determining module 52 configured to parse the collected images to determine whether the object is a target object
  • a rotation module 53 configured to rotate the screen until the screen faces the target object when the determination module determines that the object is the target object
  • An adjustment module 54 is configured to adjust the screen from the locked state to the unlocked state when it is detected that the screen is facing the target object.
  • the rotation module 53 is specifically configured to: when it is determined that the object is a target object, control the rotation angle of the detection module and the screen to be consistent; control the detection module and the screen Synchronous rotation, and calling the camera to acquire a target image including the target object during the synchronous rotation; determining an offset between a center position of a region where the target object is located and a center position of the target image Variable, and adjust the rotation angle and rotation direction of the detection module and the screen to rotate synchronously according to the offset variable; when it is detected that the offset variable is within a preset offset range, determine the detection module and the The screen faces the target object and stops the synchronous rotation.
  • the apparatus further includes a calculation module 55, wherein:
  • the acquisition module 51 is further configured to acquire a target image including the target object at a preset time interval;
  • a calculation module 55 configured to calculate an offset variable between the center position of the area where the target object is located and the center position of the target image, and upon detecting that the offset variable is not in the preset offset range When the time is within, the rotating module 53 is triggered to control the detecting module and the screen to rotate synchronously.
  • the apparatus further includes: a detection module 56, wherein:
  • the detection module 56 is configured to detect whether an interactive operation exists between the robot and the target object within a preset time
  • a rotation module 53 is configured to adjust the screen from the unlocked state to the locked state if the detection module 56 detects that the interactive operation does not exist, and trigger control to rotate the detection module according to a preset rotation rule.
  • the senor is a light sensor, and the sensing module 50 is specifically configured to
  • the light sensor is called to sense the light intensity of the current environment during the rotation; when the light intensity is less than or equal to a preset intensity threshold, it is determined that an object exists in a preset range.
  • the determining module 52 is specifically configured to perform face recognition on the collected image through a face detection algorithm to determine whether a face exists in the image; when the face exists, Determining a face area occupied by the face in the image; and determining that the object is a target object when the face area is greater than or equal to a preset face area threshold.
  • the determining module 52 is specifically configured to perform face recognition on the collected image through a face detection algorithm to determine a facial feature region of the image; if the facial feature region is Including facial features, and the size of the facial feature area is greater than or equal to a preset feature area threshold, it is determined that the object is the target object, and the facial features of the face include: eyebrow contour, eye contour, mouth Contour, nose contour, and ear contour.
  • FIG. 6 is a schematic block diagram of a smart device according to an embodiment of the present application.
  • the smart device such as a robot, includes a detection module 601 and a screen 602.
  • the detection module is configured with a sensor 6011 and a camera 6012.
  • the smart device may further include a processor 603, a memory 604, and a network interface 605.
  • the processor 603, the memory 604, and the network interface 605 may be connected through a bus or other manners. In FIG. 6 shown in the embodiment of the present application, connection through a bus is taken as an example.
  • the network interface 605 is controlled by the processor to send and receive messages, and the memory 604 is used to store a computer program.
  • the computer program includes program instructions, and the processor 603 is used to execute the program instructions stored in the memory 604.
  • the processor 603 is configured to call the program instruction to execute: when it is detected that the screen is in a locked state, call the sensor to detect whether an object exists within a preset range corresponding to a rotation path of the detection module
  • the rotation path is a path that controls the rotation of the detection module according to a preset rotation rule; when the object exists within the preset range, calling the camera to collect an image including the object; analyzing the collected information
  • the image to determine whether the object is the target object; when it is determined that the object is the target object, rotate the screen until the screen faces the target object; when it is detected that the screen faces the target object , Adjusting the screen from the locked state to the unlocked state.
  • the processor 603 may be a central processing unit (CPU), and the processor 603 may also be another general-purpose processor or a digital signal processor (Digital Signal Processor, DSP). ), Application specific integrated circuit (ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the memory 604 may include a read-only memory and a random access memory, and provide instructions and data to the processor 603. A part of the memory 604 may further include a non-volatile random access memory. For example, the memory 604 may also store information of a device type.
  • the processor 603, the memory 604, and the network interface 605 described in the embodiment of the present application may execute the implementation manner described in the method embodiment shown in FIG. 1 or FIG. 3 provided by the embodiment of the present application, or may The implementation manner of implementing the robot screen unlocking device described in the embodiment of the present application is not repeated here.
  • a computer-readable storage medium stores a computer program, where the computer program includes program instructions, and the program instructions are implemented by a processor when: When detecting that the screen is in a locked state, calling the sensor to sense whether an object exists within a preset range corresponding to a rotation path of the detection module, and the rotation path is to control the rotation of the detection module according to a preset rotation rule When the object exists in the preset range, calling the camera to collect an image including the object; parsing the collected image to determine whether the object is a target object; When the object is a target object, the screen is rotated until the screen faces the target object; when it is detected that the screen is facing the target object, the screen is adjusted from the locked state to the unlocked state.
  • the computer-readable storage medium may be an internal storage unit of the smart device according to any one of the foregoing embodiments, such as a hard disk or a memory of the smart device.
  • the computer-readable storage medium may also be an external storage device of the smart device, such as a plug-in hard disk, a smart media card (SMC), and a secure digital (SD) device. ) Cards, flash cards, etc.
  • the computer-readable storage medium may further include both an internal storage unit of the smart device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the smart device.
  • the computer-readable storage medium may also be used to temporarily store data that has been or will be output.
  • the program can be stored in a computer-readable storage medium.
  • the program When executed, the processes of the embodiments of the methods described above may be included.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random, Access Memory, RAM).

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  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • General Health & Medical Sciences (AREA)
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  • User Interface Of Digital Computer (AREA)

Abstract

本申请实施例公开了一种机器人屏幕解锁方法、装置、智能设备及存储介质，所述方法应用于机器人，所述机器人包括探测模块和屏幕，所述探测模块配置有传感器和摄像头，该方法包括：当检测到屏幕处于锁定状态时，调用所述传感器在所述探测模块的旋转路径对应的预设范围内感测是否存在物体，当预设范围内存在物体时，调用摄像头采集包括物体的图像，解析采集到的图像，以确定物体是否为目标对象，在确定出物体为目标对象时，旋转屏幕直至屏幕朝向目标对象，当检测到屏幕朝向目标对象时，将屏幕从锁定状态调整为解锁状态。采用本申请，使得屏幕在朝向目标对象的情况下处于解锁状态，一方面可以减小电量损耗，延长屏幕寿命；另一方面可以提高解锁效率。

Description

一种机器人屏幕解锁方法、装置、智能设备及存储介质
本申请要求于2018年07月27日提交中国专利局、申请号为201810851652.4、申请名称为“一种机器人屏幕解锁方法、装置、智能设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及计算机技术领域，尤其涉及一种机器人屏幕解锁方法、装置、智能设备及存储介质。
背景技术
随着科技的迅猛发展，各种智能设备层出不穷，例如智能机器人。人们可以将机器人的触控显示屏幕激活，进而使用智能机器人的一些功能，例如电视节目观看、上网、玩游戏、或者办理业务等等操作。
目前，一般智能机器人的触控显示屏幕一部分是一直处于激活显示状态的，另一部分则必须依靠用户使用触控、语音等方式将触控显示屏激活。前者造成了智能机器人不必要的电量损耗和屏幕寿命损耗，后者需要用户主动触控显示屏，在行为上偏被动，解锁效率低。
发明内容
本申请实施例提供了一种机器人屏幕解锁方法、装置、智能设备及存储介质，使得屏幕在朝向用户的情况下处于解锁状态，一方面可以减小电量损耗，延长屏幕寿命；另一方面可以提高解锁效率。
第一方面，本申请实施例提供了一种机器人屏幕解锁方法，所述方法应用于机器人，所述机器人包括探测模块和屏幕，所述探测模块配置有传感器和摄像头，该方法包括：
当检测到所述屏幕处于锁定状态时，调用所述传感器在所述探测模块的旋转路径对应的预设范围内感测是否存在物体，所述旋转路径为根据预设旋转规则控制所述探测模块旋 转的路径；
当所述预设范围内存在所述物体时，调用所述摄像头采集包括所述物体的图像；
解析采集到的所述图像，以确定所述物体是否为目标对象；
在确定出所述物体为目标对象时，旋转所述屏幕直至所述屏幕朝向所述目标对象；
当检测到所述屏幕朝向所述目标对象时，将所述屏幕从所述锁定状态调整为解锁状态。
第二方面，本申请实施例提供了一种机器人屏幕解锁装置，该机器人屏幕解锁装置包括用于执行上述第一方面的方法的模块。
第三方面，本申请实施例提供了一种智能设备，该智能设备包括处理器、网络接口和存储器，所述处理器、网络接口和存储器相互连接，其中，所述网络接口受所述处理器的控制用于收发消息，所述存储器用于存储支持智能设备执行上述方法的计算机程序，所述计算机程序包括程序指令，所述处理器被配置用于调用所述程序指令，执行上述第一方面的方法。
第四方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序包括程序指令，所述程序指令当被处理器执行时使所述处理器执行上述第一方面的方法。
采用本申请，使得屏幕在朝向目标对象的情况下处于解锁状态，一方面可以减小电量损耗，延长屏幕寿命；另一方面可以提高解锁效率。
附图说明
图1是本申请实施例提供的一种机器人屏幕解锁方法的流程示意图；
图2a是本申请实施例提供的一种机器人的结构示意图；
图2b是本申请实施例提供的另一种机器人的结构示意图；
图3是本申请实施例提供的另一种机器人屏幕解锁方法的流程示意图；
图4是本申请实施例提供的一种机器人屏幕解锁方法的坐标示意图；
图5是本申请实施例提供的一种机器人屏幕解锁装置的示意性框图；
图6是本申请实施例提供的一种智能设备的示意性框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地 描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
参见图1，图1是本申请实施例提供的一种机器人屏幕解锁方法的流程示意图，该方法应用于机器人，该机器人包括探测模块和屏幕，该探测模块配置有传感器和摄像头，如图所示，该机器人屏幕解锁方法可包括：
101、当机器人检测到屏幕处于锁定状态时，调用传感器在探测模块的旋转路径对应的预设范围内感测是否存在物体，该旋转路径为根据预设旋转规则控制探测模块旋转的路径。
其中，传感器存在自身的感测范围(也即最大感测范围或者规定范围)，上述预设范围则为探测模块旋转路径对应的感测区域，该感测区域的半径与最大感测范围的半径相等。
其中，机器人包括的探测模块和屏幕可以是一体连接的，也可以是分开连接的。在一个实施例中，该机器人可以如图2a所示，从图2a可以看出该机器人拥有底座、身体部分(配置有触摸显示屏)、头部(即配置有传感器和摄像头的探测模块)，其中，该探测模块和屏幕通过可旋转关节分开连接；在另一个实施例中，该机器人可以如图2b所示，该机器人可以没有头部，摄像头，传感器以及屏幕均集成在身体部分。
其中，该预设旋转规则包括控制探测模块旋转的预设旋转角速度、第一预设方向、第一预设方向对应的最大旋转角度(以下简称第一旋转角度)、第二预设方向、以及第二预设方向对应的最大旋转角度(以下简称第二旋转角度)。
在一个实施例中，机器人可以控制探测模块旋转，寻找服务对象。当机器人检测到屏幕处于锁定状态时，可以按照左右匀速运动的方式旋转探测模块，主动寻找服务对象，并左右旋转的过程中调用传感器感测预设范围内是否存在物体，当检测到预设范围内存在物体时，暂停旋转该探测模块。其中，该预设范围可以是系统预先设置的，也可以是根据用户需求设置的，该预设范围例如可以为以探测模块为中心，0.5米为半径的扇区，本申请对此不作具体地限定。
例如，机器人可以根据预设旋转规则，控制探测模块先以角速度
Figure PCTCN2018108468-appb-000001
(即预设旋转角度)向左(即第一预设方向)旋转，至左边极限角度θ 1(即第一旋转角度)后开始向右(即第二预设方向)以角速度
Figure PCTCN2018108468-appb-000002
旋转，至右边极限角度θ 2(即第二旋转角度)后，再以角速度
Figure PCTCN2018108468-appb-000003
向左旋转，如此循环。在循环的过程中，机器人可以调用探测模块中的传感器感测预设范围内是否存在物体，当检测到预设范围内存在物体时，暂停旋转该探测模块。
其中，上述传感器可以包括光线传感器、热传感器、红外传感器或者其它可以探测预设范围内是否存在物体的传感器。在一个实施例中，当该传感器为光线传感器时，机器人可以调用光线传感器在探测模块的旋转路径对应的预设范围内感测当前所处环境的光线强度，当该光线强度小于或者等于预设强度阈值时，则确定预设范围内存在物体。
示例性地，假设预设强度阈值为I m，该传感器为光线传感器，位于摄像头的旁边。这种情况下，机器人可以通过光线传感器检测环境光强，在机器人左右旋转寻找服务对象的过程中，借助摄像头附近的光线传感器测量环境光线强度I。如果机器人检测到I<I m，则可以确定摄像头前方范围内可能存在障碍物遮挡，也即可以确定预设范围内存在物体，该物体类型可能是物体，也可能是用户。
在一个实施例中，光强阈值I m的设置根据使用环境来进行具体设置。例如可以结合当前的系统时间，若当前系统时间为黑夜时间，则将阈值I m相应调小，若当前系统时间为白天时间，则阈值I m相应调大。
在一个实施例中，当机器人所处环境为室内可见光环境下，由于室内光线基本保持不变，则可以根据机器人所处室内环境的环境光进行设置。例如，机器人被放置在地点A，该地点A所处室内环境的可见光比较强，则可以将光强阈值I m相应调大；如机器人被放置在地点B，该地点B所处环境的可见光比较弱，则可以将光强阈值I m相应调小。
102、当预设范围内存在物体时，机器人调用摄像头采集包括物体的图像。
103、机器人解析采集到的图像，以确定物体是否为目标对象。
在一个实施例中，在旋转的过程中，机器人调用传感器感测到预设范围内存在物体时，可以打开摄像头采集包括该物体的图像，并通过人脸检测算法识别该图像中是否包括人脸，若包括人脸，也即确定该物体为“人”，则可以进一步确定该“人”距离摄像头的距离，若该距离满足预设距离条件，如0.5m，则确定该物体为机器人的服务对象，即目标对象，其中，该目标对象即为使用该机器人的用户。
在一个实施例中，机器人可以通过人脸检测算法对采集到的图像进行人脸识别，确定图像中是否存在人脸，当存在脸时，确定人脸在像中所占的人脸区域，当该人脸区域大于或者等于预设人脸区域阈值时，则确定该物体距离摄像头的距离满足预设距离条件，进而则可确定该物体为目标对象。其中，采用opencv、seetaface等开源库或者第三方提供的人脸检测功能均可实现上述的人脸检测算法。
在一个实施例中，机器人可以通过人脸检测算法对采集到的图像进行人脸识别，确定 出图像的人脸特征区域，如果该人脸特征区域包括人脸的五官特征，且人脸特征区域的尺寸大于或者等于预设特征区域阈值，则确定物体为目标对象，该人脸的五官特征包括：眉毛轮廓、眼睛轮廓、嘴巴轮廓、鼻子轮廓和耳朵轮廓。
其中，在机器人确定出物体不为目标对象时，可以关闭摄像头，并继续执行根据预设旋转规则控制探测模块旋转，并在旋转的过程中调用传感器感测预设范围内是否存在物体的步骤。
104、机器人在确定出物体为目标对象时，旋转屏幕直至屏幕朝向目标对象。
105、当机器人检测到屏幕朝向目标对象时，将屏幕从锁定状态调整为解锁状态。
在一个实施例中，机器人在确定出物体为目标对象时，可以获取探测模块的当前旋转角度和当前旋转方向，并控制屏幕往该当前旋转方向旋转，其旋转角度与探测模块的当前旋转角度保持一致，进而实现探测模块和屏幕的旋转角度保持一致。进一步，当探测模块和屏幕的旋转角度保持一致后，可以锁定探测模块和屏幕，同步旋转探测模块和屏幕，直至检测到该屏幕朝向目标对象，则暂停旋转，并对屏幕解锁，使得屏幕从锁定状态调整为解锁状态。
在一个实施例中，当机器人包括的探测模块和屏幕是分开连接的情况下，机器人根据预设规则控制探测模块旋转寻找目标对象的过程中，可以有几种方式：第一种方式，机器人控制探测模块部分先左右旋转寻找目标对象，当寻找到目标对象后再旋转带屏幕的部分。例如，探测模块为机器人的头部，头部配置有传感器和摄像头，机器人可以旋转头部利用传感器和摄像头寻找到目标对象后，再旋转屏幕，这样可以减少屏幕部分不必要的旋转。第二种方式，机器人控制探测模块先左右旋转，在旋转过程中调用传感器确定出有疑似目标对象的时，也即确定出预设范围内存在物体时，则并行旋转屏幕和利用人脸检测技术进一步判定该疑似目标对象是否为目标对象，这样可以在一定程度上减少不必要旋转的同时，提高整个解锁过程的效率。
本申请实施例中，可以使得屏幕在朝向目标对象的情况下处于解锁状态，一方面可以减小电量损耗，延长屏幕寿命；另一方面可以提高解锁效率。
参见图3，图3是本申请实施例提供的另一种机器人屏幕解锁方法的流程示意图，如图所示，该机器人屏幕解锁方法可包括：
301、当机器人检测到屏幕处于锁定状态时，调用传感器在探测模块的旋转路径对应的 预设范围内感测是否存在物体，该旋转路径为根据预设旋转规则控制探测模块旋转的路径。
302、当预设范围内存在物体时，机器人调用摄像头采集包括物体的图像。
303、机器人解析采集到的图像，以确定物体是否为目标对象。
304、机器人在确定出物体为目标对象时，旋转屏幕直至屏幕朝向目标对象。
其中，步骤301-步骤304的具体实现方式，可以上述实施例中步骤101-步骤104的相关描述，此处不再赘述。
305、当机器人检测到屏幕朝向目标对象时，将屏幕从锁定状态调整为解锁状态。
在一个实施例中，机器人在确定出物体为目标对象时，控制该探测模块和屏幕的旋转角度保持一致，并控制该探测模块和屏幕同步旋转，在同步旋转的过程中调用摄像头采集包括目标对象的目标图像，进而确定目标对象所处区域的中心位置与目标图像的中心位置之间的偏移变量，并根据偏移变量调整探测模块和屏幕同步旋转的旋转角度和旋转方向。进一步地，在机器人检测到偏移变量处于预设偏移范围内时，确定探测模块和屏幕朝向目标对象，并停止该同步旋转。
在一个实施例中，机器人可以在同步旋转的过程中调用摄像头按照一定频率f采集包括目标对象的目标图像，该图像大小为w*h，并通过人脸检测算法识别出人脸矩形框(即目标对象所处区域)。进一步地，以左上角为原点建立如图4所示的x-y轴坐标系，其中，x轴正方向指向右，目标图像的中心位置坐标为(w/2，h/2)，人脸矩形框的中心位置坐标为(x，y)，人脸矩形框中心位置和目标图像中心位置之间的偏移变量为Δx＝(x-w/2)，根据▽x是否大于0控制屏幕旋转，使得▽x趋近于0，当|Δx|＜c(c为允许像素误差)时(即偏移变量处于预设偏移范围)，确定探测模块和屏幕均朝向目标对象，并停止该同步旋转。
其中，对于目标图像而言，以左上角为原点建立如图4所示的坐标系，x方向和y方向如图4所示。因此在方向上，若偏移量小于0，则说明人脸矩形框(也即目标对象)在目标图像偏左，则控制屏幕和摄像头向左转；若大于0则反之。
示例性地，机器人根据偏移变量调整探测模块和屏幕同步旋转的旋转角度和旋转方向，已使探测模块和屏幕朝向目标对象时，可以让屏幕和摄像头以一个固定的角速度向指定方向旋转，每隔预设时间间隔(如0.5秒)检测一次人脸矩形框的坐标，重新计算偏移量，到达预设偏移范围内(即|Δx|＜c)则停止，如果超调(即转过头了)则反向。
其中，控制同步旋转的方式有许多种，例如当|Δx|＜0时，控制屏幕和摄像头以一个固定角速度w 0同步向左旋转，同时每间隔t秒进行一次人脸检测，重新计算一次Δx的大小， 直至|Δx|＜c，则停止该同步旋转，如果发生超调(即转过头了)，则以k*w 0(其中k<1)的更低的角速度反向旋转，直至该偏移量达到，|Δx|＜c，则停止该同步旋转。其中，当|Δx|＜c时，可以确定探测模块和屏幕朝向目标对象。
在一个实施例中，机器人停止该同步旋转之后，还可以按照预设时间间隔采集包括所述目标对象的目标图像，并计算目标对象所处区域的中心位置与目标图像的中心位置之间的偏移变量，在检测到偏移变量不处于预设偏移范围内时，触发控制探测模块和屏幕同步旋转的步骤。
示例性地，在停止探测模块和屏幕的同步旋转之后，机器人还可以继续按照预设时间间隔(如t秒)进行一次人脸检测，一直计算Δx，当Δx不满足|Δx|＜c时，控制探测模块和屏幕同步旋转继续同步旋转，继续执行根据偏移变量调整探测模块和屏幕同步旋转的旋转角度和旋转方向，让屏幕始终朝向目标对象。例如，目标对象为用户，第一停止探测模块和屏幕的同步旋转后，用户在屏幕上操作一段时间后，用户的位置发生偏移，那么这时可能|Δx|大于或者等于c，即不处于预设偏移范围，这时可以控制探测模块和屏幕同步旋转，并根据偏移变量调整探测模块和屏幕同步旋转的旋转角度和旋转方向，让屏幕始终朝向客户。
306、机器人检测预设时间内是否存在与该目标对象之间的交互操作。
307、若不存在该交互操作，机器人则将屏幕从解锁状态调整为锁定状态，并触发步骤301。
在一个实施例中，机器人确定预设时间内不存在与该目标对象之间的交互操作的方式有多种：方式一、机器人在预设时间内未检测到目标对象点击屏幕的触控操作；方式二、机器人在预设时间内未检测到目标对象的语音输入操作；方式三、机器人在预设时间内摄像头无法捕捉到目标对象等等。机器人确定预设时间内不存在与该目标对象之间交互操作的方式还有很多，本申请在此不再赘述。
在一个实施例中，机器人若检测到输入的结束服务的指令时，也可以将屏幕从解锁状态调整为锁定状态，并触发步骤301。
在本申请实施例中，一方面可以使得屏幕在朝向目标对象的情况下处于解锁状态，不仅可以减小电量损耗，延长屏幕寿命；还可以提高解锁效率；另一方面，还可以在检测到预设时间内不存在交互操作时，将屏幕再次锁定，有利于提高机器人的智能性。
本申请实施例还提供了一种机器人屏幕解锁装置，该装置配置于机器人，该机器人包括探测模块和屏幕，该探测模块配置有传感器和摄像头，该装置包括用于执行前述图1或者图3所述的方法的模块。具体地，参见图5，是本申请实施例提供的一种机器人屏幕解锁装置的示意框图。本实施例的机器人屏幕解锁装置包括：
感测模块50，用于当检测到所述屏幕处于锁定状态时，调用所述传感器在所述探测模块的旋转路径对应的预设范围内感测是否存在物体，所述旋转路径为根据预设旋转规则控制所述探测模块旋转的路径；
采集模块51，用于当所述预设范围内存在所述物体时，调用所述摄像头采集包括所述物体的图像；
确定模块52，用于解析采集到的所述图像，以确定所述物体是否为目标对象；
旋转模块53，用于在所述确定模块确定出所述物体为目标对象时，旋转所述屏幕直至所述屏幕朝向所述目标对象；
调整模块54，用于当检测到所述屏幕朝向所述目标对象时，将所述屏幕从所述锁定状态调整为解锁状态。
在一个实施例中，所述旋转模块53具体用于：在确定出所述物体为目标对象时，控制所述探测模块和所述屏幕的旋转角度保持一致；控制所述探测模块和所述屏幕同步旋转，并在所述同步旋转的过程中调用所述摄像头采集包括所述目标对象的目标图像；确定所述目标对象所处区域的中心位置与所述目标图像的中心位置之间的偏移变量，并根据所述偏移变量调整所述探测模块和所述屏幕同步旋转的旋转角度和旋转方向；在检测到所述偏移变量处于预设偏移范围内时，确定所述探测模块和所述屏幕朝向所述目标对象，并停止所述同步旋转。
在一个实施例中，所述装置还包括：计算模块55，其中：
采集模块51，还用于按照预设时间间隔采集包括所述目标对象的目标图像；
计算模块55，用于计算所述目标对象所处区域的中心位置与所述目标图像的中心位置之间的偏移变量，并在检测到所述偏移变量不处于所述预设偏移范围内时，触发所述旋转模块53控制所述探测模块和所述屏幕同步旋转的步骤。
在一个实施例中，所述装置还包括：检测模块56，其中：
所述检测模块56，用于检测预设时间内所述机器人是否存在与所述目标对象之间的交互操作；
旋转模块53，用于若检测模块56检测到不存在所述交互操作，则将所述屏幕从所述解锁状态调整为所述锁定状态，并触发根据预设旋转规则控制所述探测模块旋转。
在一个实施例中，所述传感器为光线传感器，所述感测模块50，具体用于
在所述旋转的过程中调用所述光线传感器感测当前所处环境的光线强度；当所述光线强度小于或者等于预设强度阈值时，则确定预设范围内存在物体。
在一个实施例中，所述确定模块52，具体用于通过人脸检测算法对采集到的所述图像进行人脸识别，确定所述图像中是否存在人脸；当存在所述人脸时，确定所述人脸在所述图像中所占的人脸区域；当所述人脸区域大于或者等于预设人脸区域阈值时，确定所述物体为目标对象。
在一个实施例中，所述确定模块52，具体用于通过人脸检测算法对采集到的所述图像进行人脸识别，确定出所述图像的人脸特征区域；如果所述人脸特征区域包括人脸的五官特征，且所述人脸特征区域的尺寸大于或者等于预设特征区域阈值，则确定所述物体为目标对象，所述人脸的五官特征包括：眉毛轮廓、眼睛轮廓、嘴巴轮廓、鼻子轮廓和耳朵轮廓。
需要说明的是，本申请实施例所描述的机器人屏幕解锁装置的各功能模块的功能可根据图1或者图3所述的方法实施例中的方法具体实现，其具体实现过程可以参照图1或者图3的方法实施例的相关描述，此处不再赘述。
请参见图6，图6是本申请实施例提供的一种智能设备的示意性框图。该智能设备如机器人包括探测模块601和屏幕602，所述探测模块配置有传感器6011和摄像头6012，该智能设备还可以包括处理器603、存储器604和网络接口605。上述处理器603、存储器604和网络接口605可通过总线或其他方式连接，在本申请实施例所示图6中以通过总线连接为例。其中，网络接口605受所述处理器的控制用于收发消息，存储器604用于存储计算机程序，所述计算机程序包括程序指令，处理器603用于执行存储器604存储的程序指令。其中，处理器603被配置用于调用所述程序指令执行：当检测到所述屏幕处于锁定状态时，调用所述传感器在所述探测模块的旋转路径对应的预设范围内感测是否存在物体，所述旋转路径为根据预设旋转规则控制所述探测模块旋转的路径；当所述预设范围内存在所述物体时，调用所述摄像头采集包括所述物体的图像；解析采集到的所述图像，以确定所述物体是否为目标对象；在确定出所述物体为目标对象时，旋转所述屏幕直至所述屏幕朝向所 述目标对象；当检测到所述屏幕朝向所述目标对象时，将所述屏幕从所述锁定状态调整为解锁状态。
应当理解，在本申请实施例中，所称处理器603可以是中央处理单元(Central Processing Unit，CPU)，该处理器603还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
该存储器604可以包括只读存储器和随机存取存储器，并向处理器603提供指令和数据。存储器604的一部分还可以包括非易失性随机存取存储器。例如，存储器604还可以存储设备类型的信息。
具体实现中，本申请实施例中所描述的处理器603、存储器604和网络接口605可执行本申请实施例提供的图1、或者图3所述的方法实施例所描述的实现方式，也可执行本申请实施例所描述的机器人屏幕解锁装置的实现方式，在此不再赘述。
在本申请的另一实施例中提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序包括程序指令，所述程序指令被处理器执行时实现：当检测到所述屏幕处于锁定状态时，调用所述传感器在所述探测模块的旋转路径对应的预设范围内感测是否存在物体，所述旋转路径为根据预设旋转规则控制所述探测模块旋转的路径；当所述预设范围内存在所述物体时，调用所述摄像头采集包括所述物体的图像；解析采集到的所述图像，以确定所述物体是否为目标对象；在确定出所述物体为目标对象时，旋转所述屏幕直至所述屏幕朝向所述目标对象；当检测到所述屏幕朝向所述目标对象时，将所述屏幕从所述锁定状态调整为解锁状态。
所述计算机可读存储介质可以是前述任一实施例所述的智能设备的内部存储单元，例如智能设备的硬盘或内存。所述计算机可读存储介质也可以是所述智能设备的外部存储设备，例如所述智能设备上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述智能设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述智能设备所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所揭露的仅为本申请的部分实施例而已，当然不能以此来限定本申请之权利范围，本领域普通技术人员可以理解实现上述实施例的全部或部分流程，并依本申请权利要求所作的等同变化，仍属于发明所涵盖的范围。

Claims (20)

  1. 一种机器人屏幕解锁方法，其特征在于，所述方法应用于机器人，所述机器人包括探测模块和屏幕，所述探测模块配置有传感器和摄像头，该方法包括：
    当检测到所述屏幕处于锁定状态时，调用所述传感器在所述探测模块的旋转路径对应的预设范围内感测是否存在物体，所述旋转路径为根据预设旋转规则控制所述探测模块旋转的路径；
    当所述预设范围内存在所述物体时，调用所述摄像头采集包括所述物体的图像；
    解析采集到的所述图像，以确定所述物体是否为目标对象；
    在确定出所述物体为目标对象时，旋转所述屏幕直至所述屏幕朝向所述目标对象；
    当检测到所述屏幕朝向所述目标对象时，将所述屏幕从所述锁定状态调整为解锁状态。
  2. 根据权利要求1所述的方法，其特征在于，所述在确定出所述物体为目标对象时，旋转所述屏幕直至所述屏幕朝向所述目标对象，包括：
    在确定出所述物体为目标对象时，控制所述探测模块和所述屏幕的旋转角度保持一致；
    控制所述探测模块和所述屏幕同步旋转，并调用所述摄像头采集包括所述目标对象的目标图像；
    确定所述目标对象所处区域的中心位置与所述目标图像的中心位置之间的偏移变量，并根据所述偏移变量调整所述探测模块和所述屏幕同步旋转的旋转角度和旋转方向；
    在检测到所述偏移变量处于预设偏移范围内时，确定所述探测模块和所述屏幕朝向所述目标对象，并停止所述同步旋转。
  3. 根据权利要求2所述的方法，其特征在于，所述停止所述同步旋转之后，所述方法还包括：
    按照预设时间间隔采集包括所述目标对象的目标图像，并计算所述目标对象所处区域的中心位置与所述目标图像的中心位置之间的偏移变量；
    在检测到所述偏移变量不处于所述预设偏移范围内时，触发所述控制所述探测模块和所述屏幕同步旋转的步骤。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述将所述屏幕从所述锁定状态调整为解锁状态之后，所述方法还包括：
    检测预设时间内所述机器人是否存在与所述目标对象之间的交互操作；
    若不存在所述交互操作，则将所述屏幕从所述解锁状态调整为所述锁定状态，并触发所述根据预设旋转规则控制所述探测模块旋转的步骤。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述传感器为光线传感器，所述调用所述传感器在所述探测模块的旋转路径对应的预设范围内感测是否存在物体，包括：
    调用光线传感器在所述探测模块的旋转路径对应的预设范围内感测当前所处环境的光线强度；
    当所述光线强度小于或者等于预设强度阈值时，则确定预设范围内存在物体。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述解析采集到的所述图像，以确定所述物体是否为目标对象，包括：
    通过人脸检测算法对采集到的所述图像进行人脸识别，确定所述图像中是否存在人脸；
    当存在所述人脸时，确定所述人脸在所述图像中所占的人脸区域；
    当所述人脸区域大于或者等于预设人脸区域阈值时，确定所述物体为目标对象。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述解析采集到的所述图像，以确定所述物体是否为目标对象，包括：
    通过人脸检测算法对采集到的所述图像进行人脸识别，确定出所述图像的人脸特征区域；
    如果所述人脸特征区域包括人脸的五官特征，且所述人脸特征区域的尺寸大于或者等于预设特征区域阈值，则确定所述物体为目标对象，所述人脸的五官特征包括：眉毛轮廓、眼睛轮廓、嘴巴轮廓、鼻子轮廓和耳朵轮廓。
  8. 一种机器人屏幕解锁装置，其特征在于，所述装置应用于机器人，所述机器人包括探测模块和屏幕，所述探测模块配置有传感器和摄像头，该装置包括：
    感测模块，用于当检测到所述屏幕处于锁定状态时，调用所述传感器在所述探测模块的旋转路径对应的预设范围内感测是否存在物体，所述旋转路径为根据预设旋转规则控制所述探测模块旋转的路径；
    采集模块，用于当所述预设范围内存在所述物体时，调用所述摄像头采集包括所述物体的图像；
    确定模块，用于解析采集到的所述图像，以确定所述物体是否为目标对象；
    旋转模块，用于在所述确定模块确定出所述物体为目标对象时，旋转所述屏幕直至所 述屏幕朝向所述目标对象；
    调整模块，用于当检测到所述屏幕朝向所述目标对象时，将所述屏幕从所述锁定状态调整为解锁状态。
  9. 根据权利要求8所述的装置，其特征在于，所述旋转模块具体用于：在确定出所述物体为目标对象时，控制所述探测模块和所述屏幕的旋转角度保持一致；控制所述探测模块和所述屏幕同步旋转，并在所述同步旋转的过程中调用所述摄像头采集包括所述目标对象的目标图像；确定所述目标对象所处区域的中心位置与所述目标图像的中心位置之间的偏移变量，并根据所述偏移变量调整所述探测模块和所述屏幕同步旋转的旋转角度和旋转方向；在检测到所述偏移变量处于预设偏移范围内时，确定所述探测模块和所述屏幕朝向所述目标对象，并停止所述同步旋转。
  10. 根据权利要求9所述的装置，其特征在于，所述装置还包括：计算模块，其中：
    所述采集模块，还用于按照预设时间间隔采集包括所述目标对象的目标图像；
    所述计算模块，用于计算所述目标对象所处区域的中心位置与所述目标图像的中心位置之间的偏移变量，并在检测到所述偏移变量不处于所述预设偏移范围内时，触发所述旋转模块53控制所述探测模块和所述屏幕同步旋转的步骤。
  11. 根据权利要求8-10任一项所述的装置，其特征在于，所述装置还包括：检测模块，其中：所述检测模块，用于检测预设时间内所述机器人是否存在与所述目标对象之间的交互操作；所述旋转模块，还用于若所述检测模块检测到不存在所述交互操作，则将所述屏幕从所述解锁状态调整为所述锁定状态，并触发根据预设旋转规则控制所述探测模块旋转。
  12. 根据权利要求8-11任一项所述的装置，其特征在于，所述传感器为光线传感器，所述感测模块，具体用于在所述旋转的过程中调用所述光线传感器感测当前所处环境的光线强度；当所述光线强度小于或者等于预设强度阈值时，则确定预设范围内存在物体。
  13. 根据权利要求8-12任一项所述的装置，其特征在于，所述确定模块，具体用于通过人脸检测算法对采集到的所述图像进行人脸识别，确定所述图像中是否存在人脸；当存在所述人脸时，确定所述人脸在所述图像中所占的人脸区域；当所述人脸区域大于或者等于预设人脸区域阈值时，确定所述物体为目标对象。
  14. 根据权利要求8-13任一项所述的装置，其特征在于，所述确定模块，具体还用于通过人脸检测算法对采集到的所述图像进行人脸识别，确定出所述图像的人脸特征区域；如果所述人脸特征区域包括人脸的五官特征，且所述人脸特征区域的尺寸大于或者等于预 设特征区域阈值，则确定所述物体为目标对象，所述人脸的五官特征包括：眉毛轮廓、眼睛轮廓、嘴巴轮廓、鼻子轮廓和耳朵轮廓。
  15. 一种智能设备，其特征在于，包括处理器和存储器，所述处理器和所述存储器相互连接，其中，所述存储器用于存储计算机程序，所述计算机程序包括程序指令，所述处理器被配置用于调用所述程序指令执行：当检测到所述屏幕处于锁定状态时，调用所述传感器在所述探测模块的旋转路径对应的预设范围内感测是否存在物体，所述旋转路径为根据预设旋转规则控制所述探测模块旋转的路径；当所述预设范围内存在所述物体时，调用所述摄像头采集包括所述物体的图像；解析采集到的所述图像，以确定所述物体是否为目标对象；在确定出所述物体为目标对象时，旋转所述屏幕直至所述屏幕朝向所述目标对象；当检测到所述屏幕朝向所述目标对象时，将所述屏幕从所述锁定状态调整为解锁状态。
  16. 根据权利要求15所述的智能设备，其特征在于，所述处理器，还用于在确定出所述物体为目标对象时，控制所述探测模块和所述屏幕的旋转角度保持一致；控制所述探测模块和所述屏幕同步旋转，并调用所述摄像头采集包括所述目标对象的目标图像；确定所述目标对象所处区域的中心位置与所述目标图像的中心位置之间的偏移变量，并根据所述偏移变量调整所述探测模块和所述屏幕同步旋转的旋转角度和旋转方向；在检测到所述偏移变量处于预设偏移范围内时，确定所述探测模块和所述屏幕朝向所述目标对象，并停止所述同步旋转。
  17. 根据权利要求16所述的智能设备，其特征在于，所述处理器，还用于按照预设时间间隔采集包括所述目标对象的目标图像，并计算所述目标对象所处区域的中心位置与所述目标图像的中心位置之间的偏移变量；在检测到所述偏移变量不处于所述预设偏移范围内时，触发所述控制所述探测模块和所述屏幕同步旋转的步骤。
  18. 根据权利要求15-17任一项所述的智能设备，其特征在于，所述处理器，还用于检测预设时间内所述机器人是否存在与所述目标对象之间的交互操作；若不存在所述交互操作，则将所述屏幕从所述解锁状态调整为所述锁定状态，并触发所述根据预设旋转规则控制所述探测模块旋转的步骤。
  19. 根据权利要求15-18任一项所述的智能设备，其特征在于，所述传感器为光线传感器，所述处理器，还用于调用光线传感器在所述探测模块的旋转路径对应的预设范围内感测当前所处环境的光线强度；当所述光线强度小于或者等于预设强度阈值时，则确定预设范围内存在物体。
  20. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包括程序指令，所述程序指令当被处理器执行时使所述处理器执行如权利要求1-7任一项所述的方法。
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