Non-contact control method and device of robot, robot and storage medium

Abstract

Embodiments of the present application disclose a non-contact control method and device of a robot, the robot and a computer readable storage medium. The method comprises: acquiring a first hand waving signal collected by a first gesture recognition module; acquiring a second hand waving signal collected by a second gesture recognition module; determining a time interval of collection time of the first hand waving signal and the second hand waving signal; if the time interval falls into a preset interval, determining that the first hand waving signal and the second hand waving signal are effective hand waving signals, and switching from a first state to a second state in response to the effective hand waving signal; when the first state is a pause state, the second state is a running state; when the first state is a running state, the second state is a pause state. Embodiments of the present application set two gesture recognition modules, and determine whether the interval of the hand waving signals collected by the two gesture recognition modules falls into a preset interval, and then determine whether the current hand waving is effective, thereby reducing false triggering and false recognition, and the control accuracy is higher.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a non-contact control method and device of a robot, the robot, and a computer readable storage medium. BACKGROUND

[0002] With the continuous development of robot technology, the application of robots is becoming more and more extensive.

[0003] At present, a user can control a robot to move or pause through a hand waving signal. However, the robot is prone to misrecognizing an action without a hand waving intention as a hand waving action, thereby causing a false trigger and a low control accuracy. SUMMARY

[0004] The embodiments of the present application provide a non-contact control method and device of a robot, the robot, and a computer readable storage medium, which can solve the problem that a false trigger is prone to occurring when a robot is controlled through a hand waving action.

[0005] In a first aspect, the embodiments of the present application provide a non-contact control method of a robot, comprising:

[0006] obtaining a first hand waving signal collected by a first gesture recognition module;

[0007] obtaining a second hand waving signal collected by a second gesture recognition module;

[0008] determining a time interval between a collection time of the first hand waving signal and a collection time of the second hand waving signal;

[0009] if the time interval falls into a preset interval, determining that the first hand waving signal and the second hand waving signal are effective hand waving signals, and switching from a first state to a second state in response to the effective hand waving signals;

[0010] wherein, when the first state is a pause state, the second state is a running state; and when the first state is a running state, the second state is a pause state.

[0011] As can be seen from the above, the embodiments of the present application set two gesture recognition modules, and determine whether the interval of the hand waving signals collected by the two gesture recognition modules falls into a preset interval, thereby determining whether the current hand waving is effective, reducing the possibility of recognizing an action without a hand waving intention as a hand waving action, thereby reducing false trigger and misrecognition, and improving the control accuracy.

[0012] In some possible implementation ways of the first aspect, the method further comprises:

[0013] if the time interval does not fall into the preset interval, determining that the first hand waving signal and the second hand waving signal are ineffective hand waving signals, and refusing to respond to the hand waving signals.

[0014] In some possible implementation manners of the first aspect, the distance between the first gesture recognition module and the second gesture recognition module is greater than a preset distance threshold.

[0015] In this implementation manner, by letting the distance between the two gesture recognition modules be greater than a certain threshold, the false triggering and false recognition can be further reduced.

[0016] In some possible implementation manners of the first aspect, when the time interval does not fall into the preset interval, the method further includes: sending a control instruction to the prompting device, the control instruction being used to instruct the prompting device to perform a prompting operation, and the prompting operation being used to prompt the re-input of the hand waving signal. In this way, the user is informed of the failure of the hand waving signal input through the prompting operation, and the user experience can be improved.

[0017] In some possible implementation manners of the first aspect, when the time interval does not fall into the preset interval, the method further includes:

[0018] sending a voice output instruction to the voice device, the voice output instruction being used to instruct the voice device to output a prompt voice, and the prompt voice being used to prompt whether to perform the state switching;

[0019] obtaining a confirmation voice input by the user for the prompt voice;

[0020] switching from the first state to the second state in response to the confirmation voice.

[0021] In this implementation manner, when the hand waving is actually the hand waving action intended by the user, but the robot recognizes it as an invalid hand waving signal due to some reasons, the robot further confirms the real intention of the user through the voice prompt when determining that the collected hand waving signal is an invalid hand waving signal. If it is obtained that the real intention of the user is the state switching, the state switching is continued, and the control flexibility and accuracy of the robot are improved.

[0022] In some possible implementation manners of the first aspect, after determining that the first hand waving signal and the second hand waving signal are valid hand waving signals, before switching from the first state to the second state in response to the valid hand waving signal, the method further includes:

[0023] obtaining a detection result of a detection module, the detection module being used to detect whether the robot is in a fault state;

[0024] if the detection result is that the robot is in the fault state, the valid hand waving signal is rejected;

[0025] if the detection result is that the robot is in a non-fault state, the step of switching from the first state to the second state in response to the valid hand waving signal is entered.

[0026] When the robot is in a fault state, if the state is switched in response to the hand signal, an accident can occur. In the implementation mode, whether the robot is in a fault state is determined before the valid hand signal is responded to, and the safety of the robot is improved.

[0027] In a second aspect, the embodiments of the present application provide a non-contact control device of a robot, comprising:

[0028] The hand signal acquisition module is configured to acquire the first hand signal collected by the first hand gesture recognition module and the second hand signal collected by the second hand gesture recognition module.

[0029] The determination module is configured to determine a time interval between the collection time of the first hand signal and the collection time of the second hand signal.

[0030] The state switching module is configured to determine that the first hand signal and the second hand signal are valid hand signals if the time interval falls into the preset interval, and switch from the first state to the second state in response to the valid hand signal.

[0031] When the first state is a pause state, the second state is a running state; when the first state is a running state, the second state is a pause state.

[0032] In some possible implementation modes of the second aspect, the device further comprises:

[0033] The rejection response module is configured to determine that the first hand signal and the second hand signal are invalid hand signals if the time interval does not fall into the preset interval, and reject the response to the hand signal.

[0034] In a third aspect, the embodiments of the present application provide a robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method of any one of the above first aspect when executing the computer program.

[0035] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method of any one of the above first aspect.

[0036] In a fifth aspect, the embodiments of the present application provide a computer program product, and when the computer program product is executed on an electronic device, the robot executes the method of any one of the above first aspect.

[0037] It can be understood that the beneficial effects of the above-mentioned second aspect to the fifth aspect can be referred to the related description in the above-mentioned first aspect, and will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only some of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0039] Figure 1 A flowchart of a non-contact control method of a robot provided by the embodiments of the present application is shown in FIG. 1.

[0040] Figure 2 A system diagram of a robot provided by the embodiments of the present application is shown in FIG. 2.

[0041] Figure 3 A running state switching diagram of a robot provided by the embodiments of the present application is shown in FIG. 3.

[0042] Figure 4 A structure diagram of a non-contact control device of a robot provided by the embodiments of the present application is shown in FIG. 4.

[0043] Figure 5 A structure diagram of a robot provided by the embodiments of the present application is shown in FIG. 5. DETAILED DESCRIPTION

[0044] In the following description, for the purpose of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0045] It should be understood that the term "comprising" as used in the specification and the appended claims indicates the presence of the recited features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0046] It should also be understood that the term "and / or" as used in the specification and the appended claims indicates any combination of one or more of the associated listed items and all possible combinations of those items.

[0047] As used in the specification and the appended claims, the term “if’ can be interpreted as meaning “when,” or “as soon as” or “in response to a determination” or “in response to a detection” depending on the context. Similarly, the phrase “if it is determined” or “if [the recited condition or event] is detected” can be interpreted as meaning “as soon as it is determined” or “in response to a determination” or “as soon as [the recited condition or event] is detected” or “in response to a detection of [the recited condition or event]” depending on the context.

[0048] In addition, in the description of the present application and the appended claims, the terms “first”, “second”, “third”, etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0049] Reference in the specification to “one embodiment” or “some embodiments” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrases “in one embodiment”, “in some embodiments”, “in other embodiments”, “in additional embodiments”, etc. in various places in the specification are not necessarily all referring to the same embodiment, but can refer to one or more but not all embodiments, unless otherwise specifically stated. The terms “comprise”, “include”, “have” and their conjugates mean “including but not limited to”, unless otherwise specifically stated.

[0050] At present, the robot has only one gesture recognition module, through which the waving signal is collected, and the waving action recognition is performed based on the collected waving signal. However, when the robot has only one gesture recognition module, false triggering and false recognition are prone to occur.

[0051] For example, in the catering industry scenario, catering robots can be divided into welcome robots, meal delivery robots and dish return robots according to functions. Among them, the dish return robot is used to recycle dishes and other articles. When the dish return robot is based on the dish return, the staff stretches out his hand to take the dish during the dish collection process. If the infrared gesture recognition module is in the collection range at this time, the infrared gesture recognition module will collect the corresponding signal due to the user's hand blocking the infrared ray. When the dish return robot receives the signal feedback by the infrared gesture recognition module, it will misrecognize the user's action of stretching out his hand to take the dish as a waving action, and respond to the waving action to switch the running state. However, the action of stretching out the hand to take the dish is not a waving action, and the user's true intention is not to control the dish return robot to switch the state.

[0052] To solve the above problems, the embodiment of the present application provides a non-contact control scheme of the robot, which sets two gesture recognition modules, and judges whether the waving signal collected by the two gesture recognition modules is a valid waving signal, so as to reduce misrecognition and false triggering.

[0053] Please refer to Figure 1 A flowchart of a non-contact control method of the robot provided by the embodiment of the present application is shown in FIG. 1. The method can include the following steps:

[0054] In step S101, the robot acquires a first waving signal collected by a first gesture recognition module, and acquires a second waving signal collected by a second gesture recognition module.

[0055] The gesture recognition module is used for signal collection for the waving action made by the user, so as to obtain the waving signal. In a specific application, the gesture recognition module can be an infrared gesture recognition module, which can include an infrared emitter and an infrared sensor, etc.

[0056] The first gesture recognition module and the second gesture recognition module are respectively connected with a processing module of the robot. For example, referring to Figure 2 A system diagram of the robot provided by the embodiment of the present application is shown in FIG. 2. The first infrared gesture recognition module and the second infrared gesture recognition module are both connected with a system bus, and communicate with the processing module through the system bus, and transmit the collected waving signal to the processing module.

[0057] It should be noted that the collection ranges of the two gesture recognition modules are usually not completely overlapped, and the collection ranges of the two gesture recognition modules are larger than that of one gesture recognition module. If the user makes an action with waving intention, the action should cover the collection ranges of the two gesture recognition modules, so that for some actions with real waving intention, the two gesture recognition modules will both collect signals. If the user makes an action without waving intention, the action cannot cover the collection ranges of the two gesture recognition modules, so that for this kind of action, the two gesture recognition modules cannot collect signals, or only one gesture recognition module collects signals. Based on this, only when the two gesture recognition modules both collect waving signals, the robot performs the next step of judgment, which can effectively reduce false triggering.

[0058] For example, during the dish collection process of the catering dish collection robot, the staff is not waving when reaching for a dish, i.e., the user does not intend to make a waving action. If there is only one infrared gesture recognition module, when the user reaches for a dish, the infrared gesture recognition module is blocked by the user's hand, so that the infrared gesture recognition module can collect a signal, thereby causing misrecognition and false triggering. However, if two infrared gesture recognition modules are provided, even if one of the infrared gesture recognition modules collects a waving signal, because the action of reaching for a dish does not fall within the collection range of the other infrared gesture recognition module, the other infrared gesture recognition module does not collect a waving signal, and thus the action of reaching for a dish is not misrecognized as a waving action, thereby reducing misrecognition and false triggering.

[0059] It should be further noted that in the above step S101, both gesture recognition modules collect a waving signal, but the two waving signals may be signals collected for the same waving action, or may not be signals collected for the same waving action. If the two waving signals are not signals collected for the same waving action, the two waving signals are invalid waving signals, and the robot does not respond to the waving signals to switch states; if the two waving signals are signals collected for the same waving action, the two waving signals are valid waving signals, and the robot needs to respond to the waving signals to switch states.

[0060] In order to determine whether the two waving signals are for the same waving action, the time interval between the collection of the two waving signals needs to be determined. It can be understood that a waving action is a movement of a hand from point A to point B, and this movement process takes a certain amount of time, so that the same waving action continuously triggers two gesture recognition modules, and the signals collected by the two gesture recognition modules will necessarily have a time difference. However, the time difference needs to be within a reasonable range, and a too large or too small time difference is not triggered by the same waving action.

[0061] If the time interval falls within a preset interval, the two waving signals are signals collected for the same waving action, i.e., the same waving action continuously triggers two gesture recognition modules; otherwise, if the time interval does not fall within the preset interval, it is considered that the two waving signals are not signals collected for the same waving action.

[0062] That is, the embodiments of the present application provide two gesture recognition modules to ensure accurate recognition of actions with a real waving intention, and to reduce misrecognition and false triggering. In an embodiment, the size of the time interval between the two waving signals is determined to ensure that the two waving signals are for the same waving action as much as possible, and to further reduce misrecognition and false triggering.

[0063] In actual application, the two gesture recognition modules may not be able to collect the hand waving signal at the same time. In this case, if only one gesture recognition module collects the hand waving signal, the hand waving signal is determined as an invalid hand waving signal.

[0064] That is, if two gesture recognition modules are provided, if only one gesture recognition module collects the hand waving signal, the hand waving signal is determined as an invalid hand waving signal; if both gesture recognition modules collect the hand waving signal, the time interval between the two hand waving signals is further determined, and whether the time interval falls into a preset interval is determined to determine whether the hand waving signal is valid.

[0065] In step S102, the robot determines the time interval between the collection time of the first hand waving signal and the collection time of the second hand waving signal.

[0066] In step S103, the robot determines whether the time interval falls into a preset interval; if the time interval falls into the preset interval, the first hand waving signal and the second hand waving signal are determined as valid hand waving signals, and step S104 is entered; if the time interval does not fall into the preset interval, the first hand waving signal and the second hand waving signal are determined as invalid hand waving signals, and step S105 is entered.

[0067] For example, considering the detection time of the gesture recognition module and the motion time of the hand during the hand waving action, the preset interval is 1ms-500ms, that is, when the interval between the two hand waving signals is 1ms-500ms, it is considered as an effective hand waving.

[0068] In an embodiment, in order to avoid the action without waving intention falling into the collection range of the two gesture recognition modules at the same time, the distance between the two gesture recognition modules can be reasonably set so that the collection ranges of the two gesture recognition modules have no intersection or are a certain distance apart, so as to further reduce misrecognition and false triggering. At this time, the distance between the first gesture recognition module and the second gesture recognition module can be greater than a preset distance threshold. In this way, by setting the distance between the two gesture recognition modules to be greater than a certain threshold, false triggering can be further reduced. The preset distance threshold can be set according to actual application requirements, for example, the preset distance threshold can be reasonably determined by comprehensively considering factors such as the motion time of the hand during the hand waving action.

[0069] In step S104, the robot switches from the first state to the second state in response to the valid hand waving signal; when the first state is a pause state, the second state is a running state; when the first state is a running state, the second state is a pause state.

[0070] In step S105, the robot rejects to respond to the hand waving signal and maintains the current state.

[0071] It can be understood that when the hand waving signal is valid, the robot switches the state; when the hand waving signal is invalid, the current state is maintained. For example, see Figure 3 The robot running state switching schematic diagram provided by the embodiment of the application is shown. The robot switches between the pause state and the continue running state. When it is determined that the hand waving signal is valid, the robot switches from the current state to another state.

[0072] It should be further noted that when applied to the restaurant dish returning robot scenario, not only can the mis-triggering and mis-recognition be reduced, but also the dish returning efficiency can be improved.

[0073] Specifically, in the current dish returning process, the user needs to manually contact the dish returning robot to control the pause and start of the dish returning robot. However, in the dish collecting process, the user may not be convenient to physically contact the dish returning robot, for example, the user is holding something or the user's hand is dirty, thereby making the user inconvenient to control the dish returning robot and reducing the dish returning efficiency.

[0074] During the dish collecting process, the staff of the restaurant needs to let the dish returning robot stop beside the table, and then manually collect the dishes and other items on the table and put them into the bearing mechanism of the dish returning robot. During the dish collecting process, the staff may accidentally dirty the hands. If the dish returning robot does not support the non-contact control scheme provided by the embodiment of the application, the staff needs to wash the hands clean before physically contacting the dish returning robot to control the dish returning robot to switch the running state. However, if the staff needs to wash the hands every time a table is collected, the dish returning efficiency will be seriously reduced. Of course, the staff can directly physically contact the dish returning robot when the hands are dirty, but in this way, the dish returning robot will be dirty, which will cause certain damage to the dish returning robot and reduce the dish returning efficiency. Even if the staff's hands are holding something and it is inconvenient to physically contact the dish returning robot, it will also lead to a low dish returning efficiency.

[0075] In the embodiment of the application, the infrared gesture recognition module is integrated on the dish returning robot. Even if the user's hands are dirty, the user can make a hand waving action on the dish returning robot within the collection range of the infrared gesture recognition module. The dish returning robot collects the gesture signal through the infrared gesture recognition module, and when it is determined that the gesture signal is a valid hand waving signal, the dish returning robot switches from the current state, i.e., the pause state, to the running state. In this way, after the staff collects and processes the dishes and other items of a table, even if the hands are dirty, the staff can control the dish returning robot to switch from the pause state to the running state through the hand waving action, so that the dish returning robot returns the dishes or runs to the next table, and the dish returning efficiency is higher.

[0076] Similarly, when the dish returning robot runs to the next table, the staff can also control the dish returning robot to switch from the running state to the pause state through the waving action, so as to make the dish returning robot stop beside the table.

[0077] As can be seen from the above, the embodiment of the application determines whether the interval of the waving signals collected by the two gesture recognition modules falls into the preset interval, and then determines whether the current waving is valid, thereby reducing the possibility of recognizing the action without waving intention as a waving action, and further reducing the false triggering and false recognition, and the control accuracy is higher.

[0078] In some embodiments, when the time interval of the waving signals collected by the two gesture recognition modules does not fall into the preset interval, the robot can also send a control instruction to the prompting device to control the prompting device to perform a prompting operation through the control instruction, and the prompting operation is used to prompt to re-input the waving signal. In this way, the user is informed of the failure of the waving signal input through the prompting operation, and the user experience can be improved.

[0079] The prompting device can be integrated on the robot, for example, the prompting device is a voice device integrated on the robot, and the prompting operation is a voice prompt, and the robot outputs the prompt voice "please re-input the waving signal" through the voice device.

[0080] In other embodiments, when the time interval of the waving signals collected by the two gesture recognition modules does not fall into the preset interval, it is considered that the current waving is a waving action of the real intention of the user, but the robot recognizes it as an invalid waving signal due to some reasons. When the robot determines that the collected waving signal is an invalid waving signal, it further confirms the real intention of the user through a voice prompt, and if the real intention of the user is state switching, the state switching is continued, and the control flexibility and accuracy of the robot are improved.

[0081] Therefore, when the robot determines that the time interval does not fall into the preset interval, the robot can send a voice output instruction to the voice device to make the voice device output a prompt voice in response to the voice output instruction, and the prompt voice is used to prompt whether to perform state switching. For example, the prompt voice is "please confirm whether to perform state switching". The user can confirm the prompt voice, and if the user wants to perform state switching, the user inputs the voice "yes" to the robot, and if the user does not want to perform state switching, the user inputs the voice "no" to the robot. If the robot obtains the confirmation voice input by the user in response to the prompt voice, for example, the confirmation voice is "yes", the robot switches from the first state to the second state in response to the confirmation voice.

[0082] The robot can be in a fault state due to some reason. When the robot is in the fault state, it is in a pause state. At this time, if a user wants to control the robot to switch from the pause state to a running state through a hand waving action, an accident can occur, and safety is poor.

[0083] To improve the safety of the robot, after determining that the hand waving signal is a valid hand waving signal, the robot first acquires a detection result of a detection module to determine whether the robot is currently in a fault state. The detection module is used to detect whether the robot is in a fault state, and the detection result of the detection module can represent whether the robot is in a fault state. If the detection result represents that the robot is in a fault state, the valid hand waving signal is rejected. If the detection result represents that the robot is in a non-fault state, the robot enters a step of switching from a first state to a second state in response to the valid hand waving signal.

[0084] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0085] Corresponding to the license plate positioning method described in the above embodiment, Figure 4 A structural block diagram of a non-contact control device of a robot provided by an embodiment of the present application is shown, and only parts related to the embodiments of the present application are shown for ease of description.

[0086] Referring to Figure 4 The device comprises:

[0087] A hand waving signal acquisition module 41 is configured to acquire a first hand waving signal collected by a first gesture recognition module and a second hand waving signal collected by a second gesture recognition module.

[0088] A determination module 42 is configured to determine a time interval between a collection time of the first hand waving signal and a collection time of the second hand waving signal.

[0089] A state switching module 43 is configured to, if the time interval falls into a preset interval, determine that the first hand waving signal and the second hand waving signal are valid hand waving signals, and switch from a first state to a second state in response to the valid hand waving signals.

[0090] When the first state is a pause state, the second state is a running state. When the first state is a running state, the second state is a pause state.

[0091] In some possible implementation manners, the device further comprises:

[0092] The rejection response module is configured to determine that the first hand signal and the second hand signal are invalid hand signals and reject the hand signals in response to the time interval not falling within the preset interval.

[0093] In some possible implementation manners, a distance between the first gesture recognition module and the second gesture recognition module is greater than a preset distance threshold.

[0094] In some possible implementation manners, when the time interval does not fall within the preset interval, the apparatus further includes:

[0095] The execution module is configured to send a control instruction to the prompting apparatus, where the control instruction is used to instruct the prompting apparatus to perform a prompting operation, and the prompting operation is used to prompt to re-input the hand signal.

[0096] In some possible implementation manners, when the time interval does not fall within the preset interval, the apparatus further includes:

[0097] The prompting module is configured to send a voice output instruction to the voice apparatus, where the voice output instruction is used to instruct the voice apparatus to output a prompt voice, and the prompt voice is used to prompt whether to perform the state switching;

[0098] The voice acquisition module is configured to acquire a confirmation voice input by the user in response to the prompt voice.

[0099] The voice switching module is configured to switch from the first state to the second state in response to the confirmation voice.

[0100] In some possible implementation manners, the apparatus further includes:

[0101] The fault state processing module is configured to acquire a detection result of a detection module, where the detection module is used to detect whether the robot is in a fault state; if the detection result is that the robot is in the fault state, the valid hand signal is rejected in response; and if the detection result is that the robot is in a non-fault state, the step of switching from the first state to the second state in response to the valid hand signal is entered.

[0102] It should be noted that the information interaction and execution process between the apparatuses / units described above are based on the same concept as the method embodiments of the present application, and the specific functions and technical effects brought by the same can be referred to the method embodiments, which will not be described here.

[0103] Figure 5 A structural schematic diagram of a robot provided by an embodiment of the present application is shown in FIG. 1. Figure 5 As shown in FIG. 1, the robot 5 of the embodiment includes at least one processor 50 Figure 5The robot can include, but is not limited to, a processor 50, a memory 51, wherein the memory 51 stores a computer program 52 executable on the at least one processor 50, and the processor 50 implements the steps in any of the above-mentioned various object tracking method embodiments when executing the computer program 52.

[0104] The robot can include, but is not limited to, a processor 50, a memory 51, wherein the memory 51 stores a computer program 52 executable on the at least one processor 50, and the processor 50 implements the steps in any of the above-mentioned various object tracking method embodiments when executing the computer program 52. Figure 5 The robot 5 is merely an example and does not constitute a limitation on the robot 5, and can include more or fewer components than shown, or combine certain components, or different components, for example, can also include input / output devices, network access devices, etc.

[0105] In an embodiment, the robot can be integrated with a gesture recognition module, which can be specifically an infrared gesture recognition module. In an embodiment, the robot is integrated with two gesture recognition modules, both of which are in communication connection with the processor 50. It can be understood that the principles of hand waving gesture recognition and infrared gesture recognition are well known to those skilled in the art, and will not be repeated here.

[0106] The processor 50 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or can also be any conventional processor.

[0107] The memory 51 can be an internal storage unit of the robot 5, such as a hard disk or a memory of the robot 5, in some embodiments. The memory 51 can also be an external storage device of the robot 5, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot 5, in some other embodiments. In an embodiment, the memory 51 can include both the internal storage unit and the external storage device of the robot 5. The memory 51 is used to store an operating system, an application program, a boot loader, data, and other programs, such as program codes of the computer program, etc. The memory 51 can also be used to temporarily store data that has been output or is to be output.

[0108] It can be clearly understood by those skilled in the art that, for the convenience and brevity of description, only the division of the above functional units and modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically independently, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of mutual distinction, and do not serve to limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0109] The embodiment of the present application further provides a robot, which comprises at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the method embodiments described above when executing the computer program.

[0110] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, wherein the computer program is executable by a processor to implement the steps in any of the method embodiments described above.

[0111] The embodiment of the present application provides a computer program product, which, when executed on a robot, enables an electronic device to implement the steps in any of the method embodiments described above.

[0112] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the above-mentioned embodiment methods through a computer program to instruct relevant hardware to complete, and the computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can at least include any entity or device capable of carrying the computer program code to the photographing device / terminal equipment, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium can not be an electrical carrier signal and a telecommunication signal.

[0113] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0114] Those skilled in the art can appreciate that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0115] In the embodiments provided in the present application, it should be understood that the disclosed devices, electronic devices and methods can be implemented in other ways. For example, the above-described device / electronic device embodiments are only schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed mutual units can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0116] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may also be distributed to multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment scheme according to actual needs.

[0117] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A non-contact control method for a robot, characterized in that: include: Acquire a first hand waving signal collected by a first gesture recognition module; Acquire a second hand waving signal collected by a second gesture recognition module; The distance between the first gesture recognition module and the second gesture recognition module is greater than a preset distance threshold, so that the collection ranges of the first gesture recognition module and the second gesture recognition module have no intersection; determining a time interval between a time of collecting the first hand wave signal and a time of collecting the second hand wave signal; If the time interval falls within a preset interval, determining that the first waving signal and the second waving signal are signals triggered by the same waving action, and switching from the first state to the second state in response to the first waving signal and the second waving signal; When the first state is the pause state, the second state is the running state; when the first state is the running state, the second state is the pause state.

2. The method according to claim 1, wherein The method further comprises: If the time interval does not fall within the preset interval, the first waving signal and the second waving signal are determined to be invalid waving signals, and the waving signal response is rejected.

3. The method according to claim 1, wherein When the time interval does not fall within the preset interval, the method further includes: A control instruction is sent to the prompting device, where the control instruction is used to instruct the prompting device to perform a prompting operation, where the prompting operation is used to prompt the user to re-input a waving signal.

4. The method according to claim 1, wherein When the time interval does not fall within the preset interval, the method further includes: Sending a voice output instruction to the voice device, wherein the voice output instruction is used to instruct the voice device to output a prompt voice, wherein the prompt voice is used to prompt whether to switch the state; Obtaining a confirmation voice input by the user in response to the prompt voice; In response to the confirmation voice, the first state is switched to the second state.

5. The method according to any one of claims 1 to 4, characterized in that After determining that the first waving signal and the second waving signal are signals triggered by the same waving action, and before switching from the first state to the second state in response to the first waving signal and the second waving signal, the method further includes: Obtaining a detection result of a detection module, wherein the detection module is used to detect whether the robot is in a fault state; If the detection result shows that the robot is in a fault state, refusing to respond to the first wave signal and the second wave signal; If the detection result shows that the robot is in a non-fault state, the process proceeds to the step of switching from the first state to the second state in response to the first waving signal and the second waving signal.

6. A non-contact control device for a robot, characterized in that: include: a hand waving signal acquisition module, configured to acquire a first hand waving signal acquired by the first gesture recognition module and a second hand waving signal acquired by the second gesture recognition module; The distance between the first gesture recognition module and the second gesture recognition module is greater than a preset distance threshold, so that the collection ranges of the first gesture recognition module and the second gesture recognition module have no intersection; a determining module, configured to determine a time interval between a time of collecting the first hand-waving signal and a time of collecting the second hand-waving signal; a state switching module, configured to determine, if the time interval falls within a preset interval, that the first waving signal and the second waving signal are signals triggered by the same waving action, and switch from the first state to the second state in response to the first waving signal and the second waving signal; When the first state is a pause state, the second state is a running state; when the first state is a running state, the second state is a pause state.

7. The device according to claim 6, characterized in that The device further comprises: The rejection response module is configured to determine that the first waving signal and the second waving signal are invalid waving signals and refuse to respond to the waving signals if the time interval does not fall within the preset interval.

8. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 5 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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