Method and device for determining distance between interactive target and robot, and electronic equipment

A robot and target technology, applied in the field of artificial intelligence, can solve problems such as high complexity and unsuitable scenarios requiring real-time requirements

Active Publication Date: 2020-07-03
山东睿思奥图智能科技有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the above method 1) can obtain the distance under normal circumstances, but due to the non-rigid nature of people, it is difficult to apply to some special postures or special scenes, such as sitting, akimbo, waving, etc.; the above method 2), can The distance is given more accurately, but the complexity is high, and it is not suitable for scenes with very high real-time requirements

Method used

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  • Method and device for determining distance between interactive target and robot, and electronic equipment
  • Method and device for determining distance between interactive target and robot, and electronic equipment
  • Method and device for determining distance between interactive target and robot, and electronic equipment

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Embodiment 1

[0039] refer to figure 1 As shown, it is a schematic diagram of the steps of the method for determining the distance between the interaction target and the robot provided by the embodiment of this specification. The method includes the following steps:

[0040] Step 102: Obtain an image of the interaction target in the shooting scene and a depth map aligned with the image.

[0041] Wherein, the interaction target may be a person or an interactive robot that performs message interaction with the robot (hereinafter referred to as the detection robot), and the interactive robot has a similar shape and structure as a human, such as a head, limbs, and torso.

[0042] It should be understood that a camera for collecting images and a processor for processing images are integrated on the detection robot. During specific implementation, the camera can be used to collect the RGB image of the interactive target in the shooting scene in real time, and at the same time, a depth map aligne...

Embodiment 2

[0101] refer to image 3 As shown, it is a schematic structural diagram of an apparatus 300 for determining the distance between an interaction target and a robot provided by the embodiment of this specification. The apparatus 300 may include the following modules:

[0102] An acquisition module 302, configured to acquire an image of the interactive target in the shooting scene and a depth map aligned with the image;

[0103] An extraction module 304, configured to extract the depth data of the rectangular frame area where the interaction target is located based on the image and the depth map;

[0104] A statistics module 306, configured to perform row or column scanning on the rectangular frame area based on a preset first tolerance, and count the depth data of the highest frequency in each row or column;

[0105] A filtering module 308; used to filter the statistically obtained depth data after the statistical module 306 counts the depth data corresponding to the highest fr...

Embodiment 3

[0126] Refer below Figure 4 The electronic equipment of the embodiment of this specification is introduced in detail. Please refer to Figure 4 , at the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. Wherein, the memory may include a memory, such as a high-speed random-access memory (Random-Access Memory, RAM), and may also include a non-volatile memory (Non-Volatile Memory), such as at least one disk memory. Of course, the electronic device may also include hardware required by other services.

[0127] The processor, network interface, and memory may be interconnected via an internal bus, which may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an extended industry standard Structure (Extended Industry Standard Architecture, EISA) bus, etc. The bus can be divided into address bus, data bus, control bus and so on. For convenienc...

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Abstract

The embodiment of the invention relates to a method and device for determining the distance between an interactive target and a robot, and electronic equipment. The method comprises steps of determining a rectangular frame area where an interaction target is located by adopting a human body detection algorithm; extracting depth data of the rectangular frame area from a depth map, then, reducing analysis complexity in a row scanning mode or a column scanning mode, filtering depth data obtained through scanning statistics, and accurately determining a distance between the interaction target andthe robot according to the appearance frequency of the depth data obtained after filtering. The method is advantaged in that the method can be suitable for various poses and scenes while that a distance is determined through real-time collection is guaranteed.

Description

technical field [0001] The embodiments of this specification relate to the technical field of artificial intelligence, and in particular to a method, device and electronic equipment for determining the distance between an interaction target and a robot. Background technique [0002] With the rise of the wave of artificial intelligence, robots have also developed rapidly, and more and more robots have begun to enter people's field of vision, especially service robots, which are the main artificial intelligence products, occupy a very important position. [0003] In the field of artificial intelligence interaction, the distance between the interaction target and the robot for message interaction with the physical robot affects the interactive response of the physical robot. At present, there are two main methods to obtain the distance between the interactive target and the robot: 1) Rough estimation, according to the structure of the human body, use mathematical methods to cal...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S11/12G06T7/50B25J11/00
CPCB25J11/0005G01S11/12G06T7/50
Inventor 刘非非
Owner 山东睿思奥图智能科技有限公司
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