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A mobile device and robot technology, applied in the field of robots, can solve the problem that robots cannot accurately move users, and achieve the effect of improving user experience
Inactive Publication Date: 2018-07-06
SHENZHEN FREE DYNAMICS DEV CO LTD
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[0005] The main purpose of the present invention is to provide a method and device for moving a robot, aiming at solving the technical problem that the robot cannot accurately move to the user
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no. 1 example
[0079] Reference figure 1 , The first embodiment of the robot movement method of the present invention is proposed. The method includes the following steps:
[0080] S11. Perform sound source localization through the sound collection device to determine the direction of the target.
[0081] The sound collection device in the embodiment of the present invention is preferably a microphone array, such as figure 2 As shown, the cleaning robot 100 is provided with a microphone array composed of four microphones 101 and a camera 102. The sweeping robot uses the microphone array to collect the sound from the sound source, and uses the sound source localization technology to locate the sound source, thereby determining the direction of the sound source, which is the target. The sound source localization technology is a relatively mature existing technology and will not be repeated here.
[0082] The target here mainly refers to people (users), of course, it can also be other sound-producin...
no. 2 example
[0097] Reference Figure 4 , A second embodiment of the robot movement method of the present invention is proposed, and the method includes the following steps:
[0098] S21: Perform sound source localization through the sound collection device and determine the direction of the target.
[0099] S22. Point the camera toward the target, and detect the target through the camera. It is judged whether the target is detected, when the target is not detected, go to step S23; when the target is detected, go to step S24.
[0100] S23. Avoid obstacles blocking the target until the target is detected.
[0101] S24. Perform visual positioning through the camera to determine the location of the target.
[0102] S25. Move to the location of the target.
[0103] Considering that there may be obstacles between the sweeping robot and the target, when the sweeping robot does not detect the target in situ, it means that the field of view of the sweeping robot's camera is blocked by the obstacle. Therefor...
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Abstract
The invention discloses a robot moving method and device. The method comprises the following steps of performing sound localization through a sound collecting device, and determining the direction ofa target; enabling a camera to face the target, and detecting the target through the camera; when the target is detected, performing visual localization through the camera, and determining the position where the target is located; moving to the position where the target is located. According to the robot moving method, the target direction is determined through sound localization so as to enable the camera to face the target, then, the camera is used for performing visual localization to determine the accurate position of the target, the robot can be rapidly and accurately moved to the front of the user (the target), the technical problem that the robot cannot be accurately moved to the front of the user is solved, the purpose of accurately adjusting the orientation relation and the distance relation between the robot and the user is achieved, it is ensured that the robot can better receive a voice instruction of the user, and the user experience is greatly improved.
Description
Technical field [0001] The invention relates to the technical field of robots, and in particular to a method and device for robot movement. Background technique [0002] With the development of science and technology, more and more smart life appliances have entered the family, greatly improving people's comfort and convenience of life. Among them, the sweeping robot is one of the smart life appliances most favored by users. Sweeping robots, also known as automatic sweepers, smart vacuum cleaners, robotic vacuum cleaners, etc., can automatically and autonomously complete ground cleaning in the room with a certain artificial intelligence. [0003] The current sweeping robot also adds a voice recognition function. Through the voice recognition function, the sweeping robot can accept the user's voice instructions and perform corresponding actions according to the voice instructions. When the user is far away from the sweeping robot, the sweeping robot uses sound source localization t...
Claims
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