Invention content
The main object of the present invention is provides a kind of robot moving method and device, it is intended to which solving robot can not be accurateThe technical issues of being moved in front of user.
To achieve these objectives, the embodiment of the present invention proposes a kind of robot moving method, the described method comprises the following steps：
Auditory localization is carried out by voice collection device, determines the direction of target；
By camera towards the target, and the target is detected by the camera；
When detecting the target, vision positioning is carried out by the camera, determines the target position；
It is moved to the target position.
Optionally, the camera is monocular cam, described to carry out vision positioning by the camera, is determined describedThe step of target position, includes：
The image of the target is acquired by the monocular cam；
A distance is moved towards the target direction, the image of the target is acquired again by the monocular cam；
The target position is determined according to the front and rear image of the target acquired twice.
Optionally, the camera is binocular camera, described to carry out vision positioning by the camera, is determined describedThe step of target position, includes：
The image of the target is acquired by the binocular camera；
The target position is determined according to the image of the target.
Optionally, described the step of detecting the target by the camera, includes：
When not detecting the target, hide the barrier for blocking the target, until detecting that the target isOnly.
Optionally, described to hide the barrier for blocking the target, until detecting target the step of, includes：
It is moved towards the target direction；
When encountering barrier, along the Boundary Moving of the barrier, until detecting the target.
Optionally, described to hide the barrier for blocking the target, until detecting target the step of, includes：Toward the lateral movement of the target direction, until detecting the target.
Optionally, described the step of detecting the target by the camera, includes：
Recognition of face detection is carried out by the camera；
When detecting face, determine to detect the target.
Optionally, the step moved to the target position includes：
It is that terminal plans mobile route using present position as starting point, the target position；
It is moved along the mobile route to the terminal.
Optionally, the method further includes：When the position of the target changes, the mobile road is planned againDiameter.
Optionally, the artificial sweeping robot of the machine.
The embodiment of the present invention proposes a kind of robot mobile device simultaneously, and described device includes：
Direction determining mould for carrying out auditory localization by voice collection device, determines the direction of target；
Module of target detection, for camera to be detected the target towards the target, and by the camera；
Position determination module, for when detecting the target, carrying out vision positioning by the camera, determining instituteState target position；
Mobile control module, for the robot to be controlled to be moved to the target position.
Optionally, the camera is monocular cam, and the position determination module includes：
First collecting unit, for acquiring the image of the target by the monocular cam；
Second collecting unit, for the robot to be controlled to move a distance towards the target direction, again by instituteState the image that monocular cam acquires the target；
First determination unit, the image of the target for being acquired twice before and after determine that the target institute is in placeIt puts.
Optionally, the camera is binocular camera, and the position determination module includes：
Third collecting unit, for acquiring the image of the target by the binocular camera；
Second determination unit, for determining the target position according to the image of the target.
Optionally, described device further includes obstacle avoidance module, and the obstacle avoidance module is used for：
When not detecting the target, hide the barrier for blocking the target, until the module of target detectionUntil detecting the target.
Optionally, the obstacle avoidance module includes：
First movement unit, for the robot to be controlled to be moved towards the target direction；
Second mobile unit, for the robot when encountering barrier, to be controlled to be moved along the boundary of the barrierIt is dynamic, until the module of target detection detects the target.
Optionally, the obstacle avoidance module includes third mobile unit, and the third mobile unit is used for：Control the machinePeople toward the target direction lateral movement, until the module of target detection detects the target.
Optionally, module of target detection includes：
Face identification unit, for carrying out recognition of face detection by the camera；
Target determination unit, for when detecting face, determining to detect the target.
Optionally, the mobile control module includes：
Path planning unit, for being terminal planning movement by starting point, the target position of present positionPath；
Mobile control unit, for the robot to be controlled to be moved along the mobile route to the terminal.
Optionally, the mobile control module further includes routing update unit, and the routing update unit is used for：When describedWhen the position of target changes, the mobile route is planned again.
The embodiment of the present invention also proposes a kind of sweeping robot, including memory, processor and at least one is storedIn the memory and the application program performed by the processor is configured as, the application program is configurable for holdingRow aforementioned machines people's moving method.
A kind of robot moving method that the embodiment of the present invention is provided determines target direction will take the photograph by auditory localizationPicture head recycles camera to carry out vision positioning to determine the accurate location of target so that robot can be quick towards targetIt is accurately moved in front of user's (target), solves the technical issues of robot can not be accurately moved in front of user, it is realShowed accurate adjustment robot and user towards relationship and distance relation, ensure that robot can preferably receive the language of userSound instructs, and is greatly improved user experience.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to endSame or similar label represents same or similar element or the element with same or like function.Below with reference to attachedThe embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " oneIt is a ", " described " and "the" may also comprise plural form.It is to be further understood that is used in the specification of the present invention arrangesDiction " comprising " refers to there are the feature, integer, step, operation, element and/or component, but it is not excluded that presence or additionOther one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim memberPart is " connected " or during " coupled " to another element, it can be directly connected or coupled to other elements or there may also beIntermediary element.In addition, " connection " used herein or " coupling " can include wireless connection or wireless coupling.It is used herein to arrangeTake leave whole or any cell and all combination of the "and/or" including one or more associated list items.
Those skilled in the art of the present technique are appreciated that unless otherwise defined all terms used herein are (including technology artLanguage and scientific terminology), there is the meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Should alsoUnderstand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior artThe consistent meaning of meaning, and unless by specific definitions as here, the meaning of idealization or too formal otherwise will not be usedTo explain.
The robot moving method and device of the embodiment of the present invention, can be applied to various robots, be particularly suitable for sweepingFloor-washing robot.It is described in detail by taking sweeping robot as an example below.
With reference to Fig. 1, propose the robot moving method first embodiment of the present invention, the described method comprises the following steps：
S11, auditory localization is carried out by voice collection device, determines the direction of target.
Voice collection device in the embodiment of the present invention is preferably microphone array, as shown in Fig. 2, sweeping robot 100On be provided with the microphone array being made of four microphones 101 and a camera 102.Sweeping robot utilizes microphone arrayThe sound that row acquisition sound source is sent out carries out auditory localization, so that it is determined that the direction of sound source, that is, target using auditory localization technology.SoundSource location technology is the prior art of comparative maturity, and details are not described herein.
Goal refers mainly to people (user), naturally it is also possible to be the sounding object that other are capable of sounding, the present invention is to thisIt is not construed as limiting.
S12, by camera towards target, and pass through camera and detect target.Judge whether to detect target, when detectingDuring target, S13 is entered step；When not detecting target, terminate flow.
Behind the direction that target is determined, camera is then made its right by sweeping robot towards target, such as rotating cameraQuasi- target or entire robot rotary alignment target, and start camera, target is detected by camera.As shown in figure 3, it sweeps102 alignment target 200 of camera of floor-washing robot 100, so that within sweep of the eye (camera of the target 200 in camera 102Two sidelines location of 102 extensions).
When target is behaved, sweeping robot can carry out recognition of face detection by camera, when detecting face,It then determines to detect target, otherwise determines not detect target.Face recognition technology is the prior art of comparative maturity, hereinIt repeats no more.
It, can be with other visual spies of recognition detection human body other than people being identified detection using face recognition technologyIt levies to realize target detection, the present invention will not enumerate herein to be repeated.
When target is other sounding objects, then it can realize that target is examined by the visual properties of the recognition detection sounding objectIt surveys.
S13, vision positioning is carried out by camera, determines target position.
When detecting target, sweeping robot then carries out vision using vision positioning technology by camera to target to be determinedPosition, determines target position.
Optionally, when camera is monocular cam, sweeping robot can be adopted first in situ by monocular camCollect the image of target, then move a distance towards target direction, the image of target is acquired again by monocular cam, finallyGo out the three-dimensional coordinate of target according to the image analysis calculation of the front and rear target acquired twice, determine target position.Pass through twoThe specific method that the image of a station acquisition calculates the three-dimensional coordinate of target is same as the prior art, and this will not be repeated here.
Optionally, when camera is binocular camera, sweeping robot can directly pass through in situ binocular cameraThe image of target is acquired, often acquisition is primary to obtain the two images with parallax, is analyzed using the two images with parallaxThe three-dimensional coordinate of target is calculated, determines target position.Target is calculated using the two images analysis with parallaxThe specific method of three-dimensional coordinate is same as the prior art, and this will not be repeated here.
S14, it is moved to target position.
After target position is determined, sweeping robot is then moved to target position, until being moved to and meshMark stops movement after keeping certain distance, the phonetic order of target is then received by voice collection device, according to phonetic orderPerform corresponding action.
When being moved to target position, sweeping robot can be using present position as starting point, target positionMobile route is planned for terminal, is moved then along mobile route to terminal, is eventually arrived at target position.
Further, when the position of target changes in moving process, sweeping robot then planning movement againPath is moved along the mobile route planned again to terminal.So as to which when the object moves, sweeping robot can also follow targetIt is mobile, realize the real-time tracking retinue to target.
So that the accurate location of target is determined by way of auditory localization+vision positioning so that robot can be fastIt is fast to be accurately moved in front of user's (target), solve the technical issues of robot can not be accurately moved in front of user.
With reference to Fig. 4, propose the robot moving method second embodiment of the present invention, the described method comprises the following steps：
S21, auditory localization is carried out by voice collection device, determines the direction of target.
S22, by camera towards target, and pass through camera and detect target.Judge whether to detect target, when not examiningWhen measuring target, S23 is entered step；When detecting target, S24 is entered step.
S23, the barrier for hiding shelter target, until detecting target.
S24, vision positioning is carried out by camera, determines target position.
S25, it is moved to target position.
In view of that may have barrier between sweeping robot and target, when sweeping robot does not detect in situ meshDuring mark, illustrate that the visual field of the camera of sweeping robot is blocked by barrier, therefore the present embodiment is in the base of first embodimentStep S23 is increased on plinth, when sweeping robot does not detect target in situ, then hides the barrier of shelter target,Until detecting target so that sweeping robot even if blocked by barrier can automatic dodging barrier reach and useFamily is at one's side.
Sweeping robot can hide the barrier of shelter target in the following manner：
It optionally, can not as shown in figure 5, when the sight of the camera 102 of sweeping robot 100 is blocked by barrier 300When detecting target 200, sweeping robot 100 is first moved towards 200 direction of target, when encountering barrier 300, further along obstacleThe Boundary Moving of object 300, until detecting target 200.During the Boundary Moving along barrier 300, camera102 always towards target 200, and when the edge for being moved to barrier 300, the sight (shown in dotted line) of camera 102 is just kept awayIt has opened barrier 300 and has reached target 200, so as to detect target 200.When detecting target 200, sweeping robot100 carry out vision positioning by camera 102, determine 200 position of target, and move to 200 position of target.
It optionally, can not as shown in fig. 6, when the sight of the camera 102 of sweeping robot 100 is blocked by barrier 300When detecting target 200, sweeping robot 100 is then toward the lateral movement in 200 direction of target, until detecting target 200.It is laterally preferably at an acute angle with 200 direction of target, as between 45-90 degree angle, to reduce displacement distance to the greatest extent, naturally it is also possible in straightAngle or obtuse angle.Toward during lateral movement, camera 102 is always towards target 200, when being moved to 300 side of barrierDuring edge position, the sight (shown in dotted line) of camera 102 just avoids barrier 300 and reaches target 200, so as to examineMeasure target 200.When detecting target 200, sweeping robot 100 then carries out vision positioning by camera 102, determines mesh200 positions are marked, and are moved to 200 position of target.
The robot moving method of the embodiment of the present invention, by auditory localization determine target direction with by camera towards meshMark recycles camera to carry out vision positioning to determine the accurate location of target so that robot can be moved fast and accuratelyIn front of to user's (target), solve the technical issues of robot can not be accurately moved in front of user, realize accurate tuneWhole robot and user towards relationship and distance relation, ensure that robot can preferably receive the phonetic order of user, poleBig improves user experience.
The operations such as also, in the embodiment of the present invention, robot also is able to initiative recognition user, and realization follows, interactive experienceMore abundant, user experience is more preferably.
With reference to Fig. 7, the robot mobile device first embodiment of the present invention is proposed, described device includes direction determining mould10th, module of target detection 20, position determination module 30 and mobile control module 40, wherein：Direction determining mould 10, for passing throughVoice collection device carries out auditory localization, determines the direction of target；Module of target detection 20, for by camera towards the meshMark, and pass through camera and detect target；Position determination module 30, for when detecting target, vision to be carried out by cameraPositioning, determines target position；Mobile control module 40, for robot to be controlled to be moved to target position.
Voice collection device in the embodiment of the present invention is preferably microphone array, as shown in Fig. 2, sweeping robot 100On be provided with the microphone array being made of four microphones 101 and a camera 102.Direction determining mould 10 utilizes MikeThe sound that wind array acquisition sound source is sent out carries out auditory localization, so that it is determined that the side of sound source, that is, target using auditory localization technologyTo.Auditory localization technology is the prior art of comparative maturity, and details are not described herein.Goal refers mainly to people (user), whenCan also be so the sounding object that other are capable of sounding, this is not limited by the present invention.
Behind the direction that target is determined, module of target detection 20 then makes camera towards target, such as rotating cameraIts alignment target or the entire robot rotary alignment target of control, and start camera, target is detected by camera.Such as figureShown in 3, module of target detection 20 controls 102 alignment target 200 of camera of sweeping robot 100, so that target 200 is imagingFirst 102 (two sidelines location that camera 102 extends) within sweep of the eye.
When target is behaved, module of target detection 20 can carry out target detection by face recognition technology.Such as Fig. 8 institutesTo show, module of target detection 20 includes face identification unit 21 and target determination unit 22, wherein：Face identification unit 21, is used forRecognition of face detection is carried out by camera；Target determination unit 22, for when detecting face, determining to detect target,Otherwise it determines not detect target.Face recognition technology is the prior art of comparative maturity, and details are not described herein.
Module of target detection 20, can be with recognition detection people other than people being identified detection using face recognition technologyOther visual properties of body realize target detection, and the present invention will not enumerate herein repeats.
When target is other sounding objects, module of target detection 20 can then pass through the visual spy of the recognition detection sounding objectIt levies to realize target detection.
When detecting target, position determination module 30 then regards target using vision positioning technology by cameraFeel positioning, determine target position.
Optionally, when camera is monocular cam, position determination module 30 is as shown in figure 9, single including the first acquisitionFirst 31, second collecting unit 32 and the first determination unit 33, wherein：First collecting unit 31, is adopted for passing through monocular camCollect the image of target；Second collecting unit 32, for robot to be controlled to move a distance towards target direction, again by monocularCamera acquires the image of target；First determination unit 33, for the image analysis calculation of target acquired twice before and afterGo out the three-dimensional coordinate of target, determine target position.The three-dimensional coordinate of target is calculated by the image of two station acquisitionsSpecific method it is same as the prior art, this will not be repeated here.
Optionally, when camera is binocular camera, position determination module 30 is as shown in Figure 10, is acquired including third single34 and second determination unit 35 of member, wherein：Third collecting unit 34, for acquiring the image of target by binocular camera, oftenAcquisition is primary to obtain the two images with parallax；Second determination unit 35, for determining target institute according to the image of targetIn position, such as：The three-dimensional coordinate of target is calculated using the two images analysis with parallax, determines target position.ProfitThe specific method of three-dimensional coordinate for calculating target with the two images analysis with parallax is same as the prior art, does not go to live in the household of one's in-laws on getting married hereinIt states.
After target position is determined, mobile control module 40 then controls robot to be moved to target position,Until being moved to stopping moving after target holding certain distance.Then robot then can receive mesh by voice collection deviceTarget phonetic order performs corresponding action according to phonetic order.
Mobile control module 40 is as shown in figure 11, including path planning unit 41 and mobile control unit 42, wherein：PathPlanning unit 41, for being that terminal plans mobile route using present position as starting point, target position；Mobile control is singleMember 42 for robot to be controlled to move along road radial end movement, eventually arrives at target position.
Further, as shown in figure 12, mobile control module 40 can also include routing update unit 43, the routing updateUnit 43 is used for：When the position of target changes, mobile route is planned again.Mobile control unit 42 then along advising againThe mobile route drawn is moved to terminal.So as to which when the object moves, sweeping robot can also follow target to move, and realize to targetReal-time tracking retinue.
So that the accurate location of target is determined by way of auditory localization+vision positioning so that robot can be fastIt is fast to be accurately moved in front of user's (target), solve the technical issues of robot can not be accurately moved in front of user.
With reference to Figure 13, the robot mobile device second embodiment of the present invention is proposed, the present embodiment is in first embodimentOn the basis of increase obstacle avoidance module 50, which is used for：When module of target detection 20 does not detect target, hideThe barrier of shelter target, until module of target detection 20 detects target, even if so that sweeping robot is hinderedHinder object block also can automatic dodging barrier reach user at one's side.
In the embodiment of the present invention, obstacle avoidance module 50 is as shown in figure 14, including 51 and second mobile unit of first movement unit52, wherein：First movement unit 51, for robot to be controlled to be moved towards target direction；Second mobile unit 52 is encountered for working asDuring barrier, Boundary Moving of the robot along barrier is controlled, until module of target detection 20 detects target.
As shown in figure 5, when the sight of the camera 102 of robot 100 is blocked by barrier 300, module of target detection 20When can not detect target 200, first movement unit 51 then controls robot 100 to be moved towards 200 direction of target, when encountering obstacleDuring object 300, the second mobile unit 52 controls Boundary Moving of the robot 100 along barrier 300 again, until module of target detectionUntil 20 detect target 200.During the Boundary Moving along barrier 300, camera 102 is always for robot 100Towards target 200, when the edge for being moved to barrier 300, the sight (shown in dotted line) of camera 102 just avoids barrierHinder object 300 and reach target 200, so as to which module of target detection 20 is just able to detect that target 200.
In further embodiments, obstacle avoidance module 50 includes third mobile unit, which is used for：Control machineDevice people toward target direction lateral movement, until module of target detection 20 detects target.
As shown in fig. 6, when the sight of the camera 102 of robot 100 is blocked by barrier 300, module of target detection 20When can not detect target 200, third mobile unit then controls lateral movement of the robot 100 toward 200 direction of target, Zhi DaojianUntil measuring target 200.It is laterally preferably at an acute angle with 200 direction of target, as between 45-90 degree angle, with reduce to the greatest extent it is mobile away fromFrom, naturally it is also possible to rectangular or obtuse angle.Toward during being displaced sideways, camera 102 is always towards target for robot 100200, when being moved to 300 marginal position of barrier, the sight (shown in dotted line) of camera 102 just avoids barrier300 and target 200 is reached, so as to which module of target detection 20 is just able to detect that target 200.
The robot mobile device of the embodiment of the present invention, by auditory localization determine target direction with by camera towards meshMark recycles camera to carry out vision positioning to determine the accurate location of target so that robot can be moved fast and accuratelyIn front of to user's (target), solve the technical issues of robot can not be accurately moved in front of user, realize accurate tuneWhole robot and user towards relationship and distance relation, ensure that robot can preferably receive the phonetic order of user, poleBig improves user experience.
The present invention proposes a kind of sweeping robot simultaneously, is deposited including memory, processor and at least one be stored inIn reservoir and the application program performed by processor is configured as, the application program is configurable for performing robot movementMethod.The robot moving method includes the following steps：Auditory localization is carried out by voice collection device, determines the side of targetTo；By camera towards target, and pass through camera and detect target；When detecting target, vision is carried out by camera and is determinedPosition, determines target position；It is moved to target position.Robot moving method described in the present embodiment is this hairRobot moving method involved by bright middle above-described embodiment, details are not described herein.
It will be understood by those skilled in the art that the present invention includes being related to performing one in operation described hereinOr multinomial equipment.These equipment can specially be designed and be manufactured or can also include general-purpose computations for required purposeKnown device in machine.These equipment have the computer program being stored in it, these computer programs selectively activateOr reconstruct.Such computer program, which can be stored in equipment (for example, computer) readable medium or be stored in, to be suitable forStorage e-command is simultaneously coupled in any kind of medium of bus respectively, and the computer-readable medium includes but not limited toAny kind of disk (including floppy disk, hard disk, CD, CD-ROM and magneto-optic disk), ROM (Read-Only Memory, it is read-only to depositReservoir), RAM (Random Access Memory, random access memory), EPROM (Erasable Programmable Read-Only Memory, Erarable Programmable Read only Memory), EEPROM (Electrically Erasable ProgrammableRead-Only Memory, Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or light card.It is it is, readableMedium includes any medium by equipment (for example, computer) storage or transmission information in the form of it can read.
Those skilled in the art of the present technique be appreciated that can with computer program instructions come realize these structure charts and/orThe combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.This technology is ledField technique personnel be appreciated that these computer program instructions can be supplied to all-purpose computer, special purpose computer or otherThe processor of programmable data processing method is realized, so as to pass through the processing of computer or other programmable data processing methodsDevice performs the scheme specified in the frame of structure chart and/or block diagram and/or flow graph disclosed by the invention or multiple frames.
Those skilled in the art of the present technique are appreciated that in the various operations crossed by discussion in the present invention, method, flowSteps, measures, and schemes can be replaced, changed, combined or be deleted.Further, it is each with having been crossed by discussion in the present inventionOther steps, measures, and schemes in kind operation, method, flow may also be alternated, changed, rearranged, decomposed, combined or deleted.Further, it is of the prior art have with disclosed in the present invention various operations, method, the step in flow, measure, schemeIt may also be alternated, changed, rearranged, decomposed, combined or deleted.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the scope of the invention, every utilizationThe equivalent structure or equivalent flow shift that description of the invention and accompanying drawing content are made directly or indirectly is used in other correlationsTechnical field, be included within the scope of the present invention.