A robot welcoming method, device and computer storage medium

Abstract

The present invention discloses a robot welcoming method, comprising the following steps: setting a robot at a guest entrance and exit, the robot being provided with a laser radar, a judgment module and a voice module, so that the guest entrance and exit is located on the left or right side directly in front of the robot; taking the directly in front of the robot as an axis, dividing the judgment area of ​​the laser radar into a left-right symmetrical first area and a second area; the judgment module judges the entry and exit status of a person according to the laser point data hit by the laser radar in the first area and the second area respectively within a time period; the voice module plays a welcoming voice corresponding to the entry and exit status according to the entry and exit status obtained by the judgment module. The present invention also discloses a robot welcoming device. The method and device of the present invention can distinguish and identify the entry and exit situations of people and perform corresponding welcoming greetings, and the welcoming accuracy is high.

Description

Technical Field

[0001] The present invention relates to a robot interaction method, and in particular to a robot welcoming method, device and computer storage medium. Background Art

[0002] Service robots are now widely used in shopping malls, banks, restaurants and other service places. The first interactive action of service robots is to greet guests entering and leaving, that is, they need to issue a welcoming voice to guide the guests. Existing robot welcoming methods are mostly based on ultrasonic or infrared sensors to sense the human body. Since the detection frequency of ultrasonic sensors is relatively low, there will be false detections such as failure to detect. Infrared sensors also have the problem of missed detection. At the same time, these detection methods are also difficult to determine the entry and exit status of guests. Summary of the invention

[0003] In view of the above-mentioned defects of the prior art, the present invention provides a robot welcoming method, the purpose of which is to realize the recognition of the entry and exit status of personnel and provide corresponding welcoming prompts to reduce the occurrence of false detection.

[0004] The technical solution of the present invention is as follows: A robot welcoming method comprises the following steps:

[0005] Step 1: Set the robot at the guest entrance, wherein the robot is provided with a laser radar, a judgment module and a voice module, so that the guest entrance is located on the left or right side directly in front of the robot;

[0006] Step 2: Taking the front of the robot as the axis, divide the determination area of ​​the laser radar into a first area and a second area which are bilaterally symmetrical;

[0007] Step 3, the judgment module judges the entry and exit status of the person according to the laser point data hit by the laser radar in the first area and the second area respectively within a time period;

[0008] Step 4: The voice module plays a welcoming voice corresponding to the entry and exit status according to the entry and exit status obtained by the judgment module.

[0009] Furthermore, in step 3, judging the entry and exit status of a person according to the laser point data respectively hit by the laser radar in the first area and the second area within a time period includes the following steps:

[0010] Step 301a, setting a quantity threshold, and when the number of laser points hit in the first area or the second area is greater than the quantity threshold, proceeding to step 302a;

[0011] Step 302a, when the area with more laser points hitting the first area and the second area is closer to the guest entrance and exit, the person is judged to be in the entering state; when the area with more laser points hitting the first area and the second area is farther from the guest entrance and exit, the person is judged to be in the leaving state.

[0012] Furthermore, in order to avoid misjudgment due to the person being hit only in an area close to the guest entrance when leaving or being hit only in an area far from the guest entrance when entering, the step 3 judges the entry and exit status of the person according to the laser point data hit by the laser radar in the first area and the second area respectively within a time period, including the following steps:

[0013] Step 301b, setting a quantity threshold, and recording the time when the number of laser points hitting the first area and the second area is greater than the quantity threshold as the hitting time, and then proceeding to step 302b;

[0014] Step 302b: when the area hit earlier between the first area and the second area is closer to the guest entrance and exit, the person is judged to be in the entering state; when the area hit earlier between the first area and the second area is farther from the guest entrance and exit, the person is judged to be in the leaving state.

[0015] Furthermore, in step 3, judging the entry and exit status of a person according to the laser point data respectively hit by the laser radar in the first area and the second area within a time period includes the following steps:

[0016] Step 301c, setting a quantity threshold, and when the number of laser points hit in the first area or the second area is greater than the quantity threshold, proceed to step 302c; by setting the threshold, exclude interference data caused by non-personnel entering.

[0017] Step 302c, calculating the number of laser points hitting the first area or the second area in each scanning cycle, and setting the area with a larger number of laser points hitting as the hitting area;

[0018] Step 303c, counting the hit areas within a certain period of time, and determining that the person is in an entering state when the hit area changes from an area closer to the guest entrance and exit between the first area and the second area to an area farther from the guest entrance and exit; and determining that the person is in a leaving state when the hit area changes from an area farther from the guest entrance and exit between the first area and the second area to an area closer to the guest entrance and exit; and in other cases, determining that the person is in a passing state.

[0019] Furthermore, the determination area includes an isosceles triangle area extending symmetrically to the left and right sides with the laser radar of the robot as the vertex and a rectangular area extending directly in front of the robot with the base of the isosceles triangle area as the width.

[0020] Furthermore, the length of the base of the isosceles triangle region is 100 to 160 cm.

[0021] Another technical solution of the present invention is as follows: A robot welcoming device comprises a laser radar and a control module, wherein the laser radar is electrically connected to the control module, wherein the laser radar sends detection data to the control module, wherein the control module comprises a processor and a memory, wherein the processor comprises a judgment module and a voice module, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned robot welcoming method is implemented.

[0022] Yet another technical solution of the present invention is as follows: a computer storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the above-mentioned robot welcoming method is implemented.

[0023] The advantages of the technical solution provided by the present invention are:

[0024] The welcoming robot itself is based on laser radar sensors for navigation and positioning, so the method of the present invention does not require additional sensors. Compared with ultrasonic scanning, laser radar has a higher detection frequency and stronger stability, which can reduce misjudgment and has higher accuracy than ultrasonic detection. The method of the present invention can dynamically set the welcoming area and can flexibly adapt to more welcoming scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the robot welcoming device module.

[0026] Figure 2 1 is a flow chart of a robot welcoming method according to an embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of the determination area division.

[0028] Figure 4 This is a schematic diagram of laser point data determination. DETAILED DESCRIPTION

[0029] The present invention is further described below in conjunction with examples. It should be understood that these examples are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading this description, various equivalent modifications to this description by those skilled in the art fall within the scope defined by the claims attached to this application.

[0030] Please combine Figure 1 As shown, the robot welcoming device of the embodiment of the present invention includes a control module 100 and a laser radar 200, and the control module 100 includes a processor 101, a memory 102, a user interface 103, a network interface 104, and a communication bus 105. The processor 101 includes a judgment module 101a and a voice module 101b, and the memory 102 contains an operating system, a program running on the robot, and corresponding interface modules, etc.; the user interface includes connecting a mouse, a keyboard, a display, and a serial communication device, etc., for data collection and user control of the robot; the network interface includes a wired communication or wireless communication interface, etc., for communication between the robot and a background server or other devices; the communication bus realizes the communication connection of the above devices.

[0031] The welcoming method implemented by the above-mentioned robot welcoming device includes: setting the guest entrance and exit on the left or right side of the robot's forward direction; setting a determination area in the direction of the robot's forward direction, and dividing the area into two equal areas on the left and right sides of the robot's forward direction, namely, a first area A1 and a second area A2; calculating the hitting situation of the laser point in the two divided left and right areas; judging the status of the person as entering, leaving or passing according to the hitting situation of the obtained laser hitting point in the determination area and the position of the guest entrance and exit relative to the forward direction of the robot; playing the corresponding preset voice through the voice module according to the obtained status of the person, or transmitting this information to the corresponding receiving device through the network communication module for voice playback to complete the welcoming.

[0032] Please combine Figure 2 As shown, the robot welcoming method of the first embodiment below includes the following steps:

[0033] Step 1: Set the robot at the guest entrance so that the guest entrance is on the left or right side directly in front of the robot;

[0034] Step 2: With the front of the robot as the axis, divide the laser radar's determination area into a left-right symmetrical first area A1 and a second area A2; the robot's laser emission point P is located on the axis passing through the center point of the robot chassis in front of the robot. The specific division of the determination area is as follows:

[0035] Please combine Figure 3 As shown, the central axis rl is defined through the laser emission point P in the positive direction of the robot, and a rectangular area is set on the central axis rl, extending forward at a distance d from the laser emission point P. The length of d should not be less than the minimum measurement distance of the laser, and the central axis rl passes through the center point of one side of the rectangular area and is perpendicular to the side, and the rectangular area is symmetrical about the axis. Figure 3 a is the width of the rectangular area, which is twice the normal adult stride length, 100 to 160 cm. Figure 3b is the length of the rectangular area, and the user can adjust the length within a certain range according to the usage scenario. The laser beam and the two critical line beams on the left and right of the set rectangular area are L1 and L2 respectively, and they extend symmetrically to the left and right sides with the laser radar (laser emission point P) as the vertex to form an isosceles triangle area. The two waists of the isosceles triangle area are L1 and L2. The angle between L1 and the central axis rl is th1, and the angle between L2 and the central axis rl is th2. The isosceles triangle area and the set rectangular area together constitute the final judgment area, and then the area is divided into two symmetrical areas on the left and right with the central axis rl as the boundary, namely the first area A1 and the second area A2. The first area A1 and the second area A2 are effective areas for judging whether guests enter or leave, and it is necessary to calculate the laser point data that fall in these two areas respectively to form a basis for judgment.

[0036] Laser data is a collection of point data, which is arranged in order from the smallest angle to the largest angle according to a certain angular resolution. The calculation for laser point data falling in the first area A1 and the second area A2 is as follows: Figure 4 As shown, point P is the emission point of the laser, and the corresponding sequence index intervals of the two divided left and right areas in the laser data are calculated. Assume that a point of laser just hits point A of the first area A1, and the smaller angle between the laser beam and the positive center axis rl of the robot is th. According to the trigonometric function relationship, PA=AB / sin(th), the length of AB is 1 / 2a, and PA is the measurement value of the laser point hitting point A. Correspondingly, to calculate the laser data hit in the set area, it is only necessary to determine whether the measurement value of each laser point in the corresponding laser point index interval is less than the PA value. If it is less than the PA value, it is considered that the target hit by the laser point is within the said interval, and the count is accumulated. In particular, when the th angle is 0, PA=AB / sin(th) is not applicable, and the PA value is d+b at this time.

[0037] Step 3: The judgment module is based on the laser point data hit by the laser radar in the first area A1 and the second area A2 respectively within a time period, specifically:

[0038] Step 301a, setting a quantity threshold, and entering step 302a when the number of laser points hitting the first area A1 or the second area A2 is greater than the quantity threshold; by setting the threshold, a portion of interference data caused by non-personnel entering is excluded.

[0039] Step 302a, compare the number of laser points hitting the first area A1 and the second area A2. Assume that the area with more laser points hitting the first area A1 and the second area A2 is closer to the guest entrance. For example, the guest entrance is set at Figure 3As shown on the left side, if the number of laser points hitting the first area A1 is large, it is judged that the person is in the entering state, and the corresponding area with a large number of laser points hitting the first area A1 and the second area A2 is an area far from the guest entrance and exit, for example, if the number of laser points hitting the second area A2 is large, it is judged that the person is in the leaving state.

[0040] Step 4, the voice module plays the welcoming voice corresponding to the entry and exit status according to the entry and exit status obtained by the judgment module, that is, if it is judged to be an entry state, the corresponding welcome voice is played, and if it is judged to be an exit state, the corresponding farewell voice is played. The voice file can be preset in the memory to achieve the effect of intelligent welcoming greetings.

[0041] As a further optimized embodiment, the robot welcoming method of the second embodiment includes the following steps:

[0042] Step 1: Set the robot at the guest entrance so that the guest entrance is on the left or right side directly in front of the robot;

[0043] Step 2: Taking the front of the robot as the axis, divide the laser radar's determination area into a left-right symmetrical first area and a second area. The specific division is the same as in Example 1 and will not be described in detail.

[0044] Step 3: The judgment module is based on the laser point data hit by the laser radar in the first area A1 and the second area A2 respectively within a time period, specifically:

[0045] Step 301b, set a quantity threshold, and record the time when the number of laser points hitting the first area A1 and the second area A2 is greater than the quantity threshold as the hitting time, and then proceed to step 302b; by screening this quantity threshold, data when the person is in the first area A1 or the second area A2 can be obtained;

[0046] Step 302b: When the area hit earlier in the first area A1 and the second area A2 is closer to the guest entrance, for example, the guest entrance is set at Figure 3 As shown on the left side, the area with an earlier hit time is the first area A1, and the person is judged to be in the entering state. If the area with an earlier hit time between the first area A1 and the second area A2 is an area far from the guest entrance and exit, such as the area with an earlier hit time is the second area A2, the person is judged to be in the leaving state.

[0047] Step 4: The voice module plays a welcoming voice corresponding to the entry and exit status according to the entry and exit status obtained by the judgment module.

[0048] As a further optimized embodiment, the robot welcoming method of the third embodiment includes the following steps:

[0049] Step 1: Set the robot at the guest entrance so that the guest entrance is on the left or right side directly in front of the robot;

[0050] Step 2: Taking the front of the robot as the axis, divide the laser radar's determination area into a left-right symmetrical first area and a second area. The specific division is the same as in Example 1 and will not be described in detail.

[0051] Step 3: The judgment module is based on the laser point data hit by the laser radar in the first area A1 and the second area A2 respectively within a time period, specifically:

[0052] Step 301c, set a quantity threshold, and go to step 302c when the number of laser points hit in the first area A1 or the second area A2 is greater than the quantity threshold; by setting the threshold, exclude some interference data caused by non-personnel entering

[0053] Step 302c, calculating the number of laser points hit in the first area A1 or the second area A2 in each scanning cycle, and setting the area with a larger number of laser points hit as the hit area; the area with a larger number of laser points currently can be considered as the area where the person is currently located;

[0054] Step 303c: Count the hit areas within a certain period of time. When the hit area changes from the area closer to the guest entrance and exit in the first area A1 and the second area A2 to the area farther from the guest entrance and exit, for example, the guest entrance and exit are set as follows: Figure 3 As shown on the left side, if the hit area changes from the first area A1 to the second area A2, the person is judged to be in the entering state. If the hit area changes from the area farther from the guest entrance and exit between the first area A1 and the second area A2 to the area closer to the guest entrance and exit, if the hit area changes from the second area A2 to the first area A1, the person is judged to be in the leaving state. In other cases, the person is judged to be in the passing state. This step determines the entry and exit status of the person based on the changing trend of the hit area.

[0055] Step 4: The voice module plays a welcoming voice corresponding to the entry and exit status according to the entry and exit status obtained by the judgment module.

[0056] It should be noted that the specific methods of the above embodiments can form a computer program product. Therefore, the computer program product implemented in this application can be stored on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.).

Claims

1. A robot welcoming method, characterized in that: The following steps are involved: Step 1: The robot is provided with a laser radar, a judgment module and a voice module, and the guest entrance and exit are arranged on the left or right side of the robot's forward direction; Step 2: Setting a laser radar determination area in the forward direction of the robot, and dividing the determination area into two equal areas on the left and right in the forward direction of the robot, namely, a first area and a second area; Step 3, the judgment module judges the entry and exit status of the person according to the laser point data hit by the laser radar in the first area and the second area respectively within a time period; including: step 301a, setting a quantity threshold, entering step 302a when the number of laser points hit in the first area or the second area is greater than the quantity threshold; step 302a, when the area with more laser points hit in the first area and the second area is closer to the guest entrance and exit, the person is judged to be in the entry state, and when the area with more laser points hit in the first area and the second area is farther from the guest entrance and exit, the person is judged to be in the exit state; Step 4: The voice module plays a welcoming voice corresponding to the entry and exit status according to the entry and exit status obtained by the judgment module.

2. The robot welcoming method according to claim 1, characterized in that: The determination area includes an isosceles triangle area extending symmetrically to the left and right sides with the laser radar of the robot as the vertex and a rectangular area extending directly in front of the robot with the base of the isosceles triangle area as the width.

3. The robot welcoming method according to claim 2, characterized in that: The length of the base of the isosceles triangle region is 100 to 160 cm.

4. A robot welcoming method, characterized in that: The following steps are involved: Step 1: The robot is provided with a laser radar, a judgment module and a voice module, and the guest entrance and exit are arranged on the left or right side of the robot's forward direction; Step 2: Setting a laser radar determination area in the forward direction of the robot, and dividing the determination area into two equal areas on the left and right in the forward direction of the robot, namely, a first area and a second area; Step 3, the judgment module judges the entry and exit status of the person according to the laser point data hit by the laser radar in the first area and the second area respectively within a time period; including: step 301b, setting a quantity threshold, respectively recording the time when the number of laser points hit in the first area and the second area is greater than the quantity threshold as the hitting time to enter step 302b; step 302b, when the area hit by the earlier hitting time of the first area and the second area is the area closer to the guest entrance and exit, the person is judged to be in the entry state, and when the area hit by the earlier hitting time of the first area and the second area is the area farther from the guest entrance and exit, the person is judged to be in the leaving state; Step 4: The voice module plays a welcoming voice corresponding to the entry and exit status according to the entry and exit status obtained by the judgment module.

5. The robot welcoming method according to claim 4, characterized in that: The determination area includes an isosceles triangle area extending symmetrically to the left and right sides with the laser radar of the robot as the vertex and a rectangular area extending directly in front of the robot with the base of the isosceles triangle area as the width.

6. The robot welcoming method according to claim 5, characterized in that: The length of the base of the isosceles triangle region is 100 to 160 cm.

7. A robot welcoming method, characterized in that: The following steps are involved: Step 1: The robot is provided with a laser radar, a judgment module and a voice module, and the guest entrance and exit are arranged on the left or right side of the robot's forward direction; Step 2: Setting a laser radar determination area in the forward direction of the robot, and dividing the determination area into two equal areas on the left and right in the forward direction of the robot, namely, a first area and a second area; Step 3, the judgment module judges the entry and exit status of the person according to the laser point data hit by the laser radar in the first area and the second area respectively within a time period; including: step 301c, setting a quantity threshold, and entering step 302c when the number of laser points hit in the first area or the second area is greater than the quantity threshold; step 302c, calculating the number of laser points hit in the first area or the second area in each scanning cycle, and setting the area with a larger number of hit laser points as the hit area; step 303c, counting the hit areas within a certain period of time, and judging that the person is in the entry state when the hit area changes from the area in the first area and the second area that is closer to the guest entrance and exit to the area that is farther away from the guest entrance and exit, and judging that the person is in the leaving state when the hit area changes from the area in the first area and the second area that is farther away from the guest entrance and exit to the area that is closer to the guest entrance and exit, and judging that the person is in the passing state in other cases; Step 4: The voice module plays a welcoming voice corresponding to the entry and exit status according to the entry and exit status obtained by the judgment module.

8. The robot welcoming method according to claim 7, characterized in that: The determination area includes an isosceles triangle area extending symmetrically to the left and right sides with the laser radar of the robot as the vertex and a rectangular area extending directly in front of the robot with the base of the isosceles triangle area as the width.

9. The robot welcoming method according to claim 8, characterized in that: The length of the base of the isosceles triangle region is 100 to 160 cm.

10. A robot welcoming device, characterized in that: It includes a laser radar and a control module, the laser radar is electrically connected to the control module, the laser radar sends detection data to the control module, the control module includes a processor and a memory, the processor includes a judgment module and a voice module, and the memory stores a computer program. When the computer program is executed by the processor, the robot welcoming method described in any one of claims 1 to 9 is implemented.

11. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the robot welcoming method described in any one of claims 1 to 9 is implemented.

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