CN108114387A - A kind of method that robot is sued and laboured in earthquake and earthquake is sued and laboured - Google Patents
A kind of method that robot is sued and laboured in earthquake and earthquake is sued and laboured Download PDFInfo
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- CN108114387A CN108114387A CN201711215628.3A CN201711215628A CN108114387A CN 108114387 A CN108114387 A CN 108114387A CN 201711215628 A CN201711215628 A CN 201711215628A CN 108114387 A CN108114387 A CN 108114387A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 15
- 230000002093 peripheral effect Effects 0.000 claims abstract description 9
- 230000005055 memory storage Effects 0.000 claims abstract 2
- 238000012544 monitoring process Methods 0.000 claims description 10
- 230000009429 distress Effects 0.000 claims description 8
- 208000037805 labour Diseases 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 235000013305 food Nutrition 0.000 claims description 2
- 238000012795 verification Methods 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 2
- 230000036632 reaction speed Effects 0.000 description 2
- 208000003443 Unconsciousness Diseases 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 208000012802 recumbency Diseases 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000001755 vocal effect Effects 0.000 description 1
- 230000002618 waking effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B99/00—Subject matter not provided for in other groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
- H04N23/611—Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Alarm Systems (AREA)
- Manipulator (AREA)
Abstract
Robot is sued and laboured the invention discloses a kind of earthquake and earthquake is sued and laboured method, which is provided with storehouse of saving one's life, the structure that storehouse is formed for robot structure in itself or robot auto Deformation of saving one's life；Inside includes monitor, memory, panoramic shooting module, picture recognition module and processing module of suing and labouring, wherein a situation arises and earthquake intensity situation is monitored in real time to Peripheral earthquake for monitor, the photo and physical characteristic information of memory storage user, panoramic shooting module carries out real time panoramic shooting to space where robot, the panoramic pictures of shooting are sent to picture recognition module, image identification is carried out to user for picture recognition module, processing module of suing and labouring picture recognition module it is unidentified to user when, mobile robot is until recognize user, when recognizing user, orient user position, it is sued and laboured in a manner that user is arranged in storehouse of saving one's life to user.It can preferably solve the problems, such as that user because sleeping soundly or no enough time is escaped, reduces earthquake fatality rate.
Description
Technical field
The present invention relates to robot field, method that robot is sued and laboured in more particularly to a kind of earthquake and earthquake is sued and laboured.
Background technology
Although nowadays earthquake prediction has compared accurately, still there are many mankind to die of earthquake, many times because
It is fast asleep or there is no enough time to escape after finding.Robot has the characteristics that never sleep and reaction speed are fast, so can
To be sued and laboured using robot to carry out earthquake.
The content of the invention
Method that robot is sued and laboured in a kind of earthquake provided by the invention and earthquake is sued and laboured, to solve or part solves above-mentioned ask
Topic.
The robot according to an aspect of the invention, there is provided a kind of earthquake is sued and laboured, the robot are provided with storehouse of saving one's life, institute
State the structure that storehouse is formed for robot structure in itself or robot auto Deformation of saving one's life；Include monitor, storage in robot
Device, panoramic shooting module, picture recognition module and processing module of suing and labouring,
The monitor, for a situation arises and earthquake intensity situation is monitored in real time to Peripheral earthquake, when monitoring
During generation ruinous earthquake, start described image identification module, the panoramic shooting module and the processing module work of suing and labouring；
The memory, for storing the photo of user and physical characteristic information；
The panoramic shooting module, for carrying out real time panoramic shooting to space where robot, by the panorama sketch of shooting
Piece is sent to described image identification module；
Described image identification module, for the picture arrived according to the panoramic shooting module pan-shot and the memory
The user picture of storage carries out image identification to user；
The processing module of suing and labouring, for described image identification module it is unidentified to user when, the mobile robot
Until recognizing user, when described image identification module recognizes user, user position is oriented, is pacified using by user
The mode put in the storehouse of saving one's life sues and labours to user.
It sues and labours method the invention also discloses a kind of earthquake, this method is applied to robot, which, which is provided with, saves one's life
Storehouse, the structure that storehouse is formed for robot structure in itself or robot auto Deformation of saving one's life, this method include：
To Peripheral earthquake, a situation arises and earthquake intensity situation is monitored in real time；
When monitoring to occur ruinous earthquake, real time panoramic shooting is carried out to space where robot；
According to pan-shot to picture and the user picture that prestores, image identification is carried out to user, unidentified to using
During family, shift position is until recognize user；
User position is oriented, is sued and laboured in a manner that user is arranged in storehouse of saving one's life to user.
The earthquake of the embodiment of the present invention is sued and laboured robot, and by monitor, to Peripheral earthquake, a situation arises and earthquake intensity feelings
Condition is monitored in real time, when monitoring to occur ruinous earthquake, place space is carried out by panoramic shooting module complete in real time
Scape is shot, and by picture recognition module according to pan-shot to picture and the user picture that prestores, image knowledge is carried out to user
Not, if it is unidentified to user when, shift position orients user position, then passes through setting until recognize user
Storehouse of saving one's life, user is arranged in storehouse of saving one's life and sued and laboured to user.For this purpose, user can be preferably solved because sleeping soundly or sending out
The problem of now no enough time is escaped afterwards, substantially reduces earthquake fatality rate.
Description of the drawings
Fig. 1 is a kind of earthquake robot schematic diagram provided in an embodiment of the present invention；
Fig. 2 sues and labours method flow diagram for a kind of earthquake provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
In the following description when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different attached drawings represent same or similar
Element.Embodiment described in following exemplary embodiment does not represent all embodiment party consistent with the application
Formula.On the contrary, they are only the device consistent with some aspects being described in detail in such as the appended claims, the application and side
The example of method.
It is only merely for the purpose of description specific embodiment in term used in this application, and is not intended to be limiting the application.
It is also intended in the application and " one kind " of singulative used in the attached claims, " described " and "the" including majority
Form, unless context clearly shows that other meanings.
Fig. 1 is a kind of earthquake robot schematic diagram provided in an embodiment of the present invention, as shown in Figure 1, the robot includes：It protects
Storehouse 101, monitor 102, memory 103, panoramic shooting module 104, picture recognition module 105 and processing module 106 of suing and labouring are ordered,
Wherein,
Storehouse 101 save one's life for a kind of positive trigone wimble structure, it is the most firm, both can be that the earthquake robot auto Deformation is formed
, or this body structure of the earthquake robot.The daily necessities such as some foods and water can be placed in storehouse of saving one's life, and
Periodic replacement, while set some apertures ventilative in the external world on storehouse saving one's life, the oxygen in storehouse of saving one's life is sufficient.Save one's life storehouse to
User provides the requirement of existence, after processing module 106 of suing and labouring orients user position, is disposed using by user
It sues and labours to the mode in storehouse 101 of saving one's life to user.
Monitor 102, for a situation arises and earthquake intensity situation is monitored in real time to Peripheral earthquake, when monitoring to send out
During raw ruinous earthquake, start picture recognition module 105, panoramic shooting module 103 and processing module 106 of suing and labouring works；
Memory 103, for storing the photo of user and physical characteristic information, wherein physical characteristic information include height,
Weight and whether deformity etc.；
Panoramic shooting module 104, for carrying out real time panoramic shooting to space where robot, by the panoramic pictures of shooting
It is sent to picture recognition module 105；
Picture recognition module 105, for according to 104 pan-shot of panoramic shooting module to picture and memory 103 deposit
The user picture of storage carries out image identification to user；
Processing module of suing and labouring 106, for picture recognition module 105 it is unidentified to user when, mobile robot until know
User is clipped to, when picture recognition module 105 recognizes user, orients user position, institute is arranged to using by user
The mode stated in storehouse of saving one's life sues and labours to user.
In addition, the earthquake robot further includes wireless communication module, for user to be arranged to guarantor in processing module of suing and labouring
Start after ordering in storehouse, opening is searched in automatic online, and robot is controlled to be automatically moved to opening；And work as robot
When can not move, wireless distress signal is sent.
The earthquake robot further includes voice broadcast module, for when monitor monitors to occur ruinous earthquake, leading to
Voice reminder user is crossed into the storehouse hedging or when wireless communication module receives the return information of wireless distress signal of saving one's life,
User is pacified by voice and bears with rescue.
Fig. 2 sues and labours method flow diagram for a kind of earthquake provided in an embodiment of the present invention, which is provided with storehouse of saving one's life, and protects
Order the structure that storehouse is formed for robot structure in itself or robot auto Deformation；As shown in Fig. 2, this method includes：
Step S11：To Peripheral earthquake, a situation arises and earthquake intensity situation is monitored in real time；
Step S12：When monitoring to occur ruinous earthquake, real time panoramic shooting is carried out to space where robot；
Step S13：According to pan-shot to picture and the user picture that prestores, image identification is carried out to user, not
When recognizing user, shift position is until recognize user；
Step S12 and step S13 include：Pan-shot is carried out to the first open space, based on regarding for current panorama shooting
Frequency carries out three-dimensional modeling；World coordinate system is established using itself position as coordinate origin, according to the picture of pan-shot and in advance
The user picture deposited judges to whether there is user in the first coordinate space by recognition of face mode；If no, it is moved to first
The edge of open space into the second open space, is repeated the first open space the step of, until finding user.
Step S14：User position is oriented, user is applied in a manner that user is arranged in the storehouse of saving one's life
It rescues.
Method further includes shown in Fig. 2：：After user is arranged in storehouse of saving one's life, opening is searched in automatic online, automatically
Opening is moved to, and wireless distress signal is sent when that can not move；User is wherein arranged to storehouse of saving one's life to be included：
User be more than preset time not actively into save one's life storehouse when, establish world coordinate system by coordinate origin of itself position, it is right
User carries out three-dimensional modeling, goes out each position of user's body by image recognition and verification, the body part that is identified according to image and
The physical characteristic information of the user to prestore automatically embraces user into storehouse of saving one's life.
Method further includes shown in Fig. 2：When monitoring to occur ruinous earthquake, storehouse of saving one's life is entered by voice reminder user
Hedging or when receiving the return information of wireless distress signal, pacifies user by voice and bears with rescue.
The seismic monitoring method is applied in robot, be stored in earthquake robot earthquake classification situation and
The photo of user, height, weight, whether disabled information, the classification situation of wherein earthquake includes：Earthquake magnitude is less than 3 grades of weak shock, shake
Grade is equal to or more than 3 grades, the felt earthquake less than or equal to 4.5 grades, and earthquake magnitude is more than 4.5 grades and the middle macroseism less than 6 grades, earthquake magnitude
Macroseism equal to or more than 6 grades, earthquake magnitude are greater than or equal to 8 grades of Giant Bullous.Earthquake robot monitors local in real time always
The earthquake conditions monitored and the earthquake classification situation of storage are compared, 4.5 ground earthquake situations are less than or equal to earthquake magnitude by earthquake conditions
Condition, earthquake robot voice remind user, user are made to enhance your vigilance, carries out psychological preparation；It is more than 4.5 grades of ground earthquake situations to earthquake magnitude
Condition is considered as ruinous earthquake, and the full-view camera in earthquake robot is started to work, and itself starts institute to the first open space
Space carry out real time panoramic shooting, based on current panorama shooting video carry out three-dimensional modeling；Using itself position as
Coordinate origin (0,0,0) establishes world coordinate system, according to the picture of pan-shot and the user picture to prestore, passes through recognition of face
Mode is judged in the first coordinate space with the presence or absence of user；If no, being moved to the edge of the first open space, opened into second
Between emptying, the panoramic pictures of the second open space, and three-dimensional modeling again are shot again through full-view camera, and is searched
Second open space whether there is user, and so on until find user.If all open spaces in room are looked for, still not
User is recognized, illustrates that user stays out, without carrying out next work of suing and labouring.
After finding user, then voice reminder user " currently just in earthquake, F.F. being asked to be saved one's life storehouse ", user is into saving one's life at this time
The mode in storehouse, is divided into situations below：
(1) if user is in waking state, user enters storehouse of saving one's life after hearing prompting.
(2) if it exceeds preset time, such as 30s, user still do not enter storehouse of saving one's life actively, then robot can lift
Hand pats user's shoulder or other positions, if user does not still move at all, then has robot automatically to embrace user into guarantor
Order storehouse.Wherein user's shoulder or other positions are clapped by robot and the process of automatic armful of user is specific as follows：
Real time panoramic shooting is carried out to space where user by full-view camera, user institute is navigated to by recognition of face
World coordinate system is established in position, and by coordinate origin (0,0,0) of itself position.Then three-dimensional is carried out to user to build
Mould, and identify by image the parts of body of user, such robot can raise one's hand to pat user's shoulder or its
His position, then a hand through user close to the armpit of oneself, along user's shoulder (user's recumbency either standing or seat
) or chest (user is on all fours), under another armpit for reaching user, another hand passes through below two knees of user,
Two hands lift user simultaneously, are put into the storehouse of saving one's life of itself.Dynamics when two hands lift user is using the weight of user as initial value.
(3) if having prestored the information that user is disabled person in earthquake robot, user cannot actively move, then
Shake robot can not clap the shoulder (or other positions) of user, directly automatically embrace user into storehouse of saving one's life.
After confirming that user enters in storehouse of saving one's life, the automatic internet searching opening of earthquake robot, and be automatically moved to
Opening.When robot is automatically moved to opening, if the thing to be collapsed is pushed down, buried, it is impossible to it continues to move to,
Robot can automatically turn on " help-asking mode ".For power saving, the pattern can at regular intervals (such as half an hour), to 110,
Internet etc. is cried for help or the fixed electromagnetic wave for sending certain frequency, the electromagnetic wave can be consulted with government offices, if
It is set to emergency electromagnetic wave.No matter which kind of mode, if other side receives information, and replies, robot can verbal announcement use
Family " rescue team has replied, and please bear with ", pacifies user and bears with rescue.
The present invention in robot by setting monitor, memory, panoramic shooting module, picture recognition module, suing and labouring
Processing module, wireless communication module, voice broadcast module and storehouse of saving one's life, make robot have the function of that earthquake is sued and laboured, that is, pass through
To Peripheral earthquake, a situation arises and earthquake intensity situation is monitored in real time, when monitoring to occur ruinous earthquake, to itself
First open space at place carries out real time panoramic shooting, according to pan-shot to picture and the user picture that prestores, to
Family carries out image identification, it is unidentified to user when, shift position is until recognize user；User position is oriented, it is right
User takes the measure of suing and labouring.The earthquake robot overcome existing robot only sweep the floor, the basic functions such as voice-enabled chat, can not
Carry out the problem of earthquake is sued and laboured；When occur earthquake especially night occur ruinous earthquake when, people's unconsciousness is waken up, without when
Between escape or no time look for object of taking refuge either escape during the object that easily collapsed injure by a crashing object or kill, earthquake robot
Have the characteristics that without sleep, it is pressure-resistant it is resistance to pound, reaction speed it is fast, can effectively overcome the above problem, reduce earthquake fatality rate.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modifications, equivalent replacements and improvements are made within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (9)
- The robot 1. a kind of earthquake is sued and laboured, which is characterized in that the robot is provided with storehouse of saving one's life, and robot is in the storehouse of saving one's life The structure that the structure or robot auto Deformation of itself are formed；Include monitor, memory, panoramic shooting mould in the robot Block, picture recognition module and processing module of suing and labouring,The monitor, for a situation arises and earthquake intensity situation is monitored in real time to Peripheral earthquake, when monitoring to occur During ruinous earthquake, start described image identification module, the panoramic shooting module and the processing module work of suing and labouring；The memory, for storing the photo of user and physical characteristic information；For carrying out real time panoramic shooting to space where robot, the panoramic pictures of shooting are sent out for the panoramic shooting module Give described image identification module；Described image identification module, for the picture arrived according to the panoramic shooting module pan-shot and the memory storage User picture, to user carry out image identification；The processing module of suing and labouring, for described image identification module it is unidentified to user when, the mobile robot until User is recognized, when described image identification module recognizes user, user position is oriented, is arranged to using by user Mode in the storehouse of saving one's life sues and labours to user.
- 2. robot as described in claim 1, which is characterized in that the storehouse of saving one's life is provided with several apertures and breathes freely with the external world, Also storage has food and water for users to use.
- 3. robot as described in claim 1, which is characterized in that the robot further includes wireless communication module,The wireless communication module, for starting after user is arranged in the storehouse of saving one's life by the processing module of suing and labouring, from Opening is searched in dynamic online, and the robot is controlled to be automatically moved to opening；And when the robot can not move When dynamic, wireless distress signal is sent.
- 4. robot as claimed in claim 3, which is characterized in that the robot further includes voice broadcast module, for working as When the monitor monitors to occur ruinous earthquake, by voice reminder user into the storehouse hedging or when described wireless of saving one's life When communication module receives the return information of wireless distress signal, user is pacified by voice and bears with rescue.
- A kind of method 5. earthquake is sued and laboured, which is characterized in that the method is applied to robot, and the robot, which is provided with, saves one's life Storehouse, the structure that storehouse is formed for robot structure in itself or robot auto Deformation of saving one's life；The described method includes：To Peripheral earthquake, a situation arises and earthquake intensity situation is monitored in real time；When monitoring to occur ruinous earthquake, real time panoramic shooting is carried out to space where robot；According to pan-shot to picture and the user picture that prestores, image identification is carried out to user, it is unidentified to user when, Shift position is until recognize user；User position is oriented, is sued and laboured in a manner that user is arranged in the storehouse of saving one's life to user.
- 6. method as claimed in claim 5, which is characterized in that it is described according to pan-shot to picture and the user that prestores shine Piece carries out image identification to user, it is unidentified to user when, shift position is until recognizing user and including：Pan-shot is carried out to the first open space, the video based on current panorama shooting carries out three-dimensional modeling；With where itself World coordinate system is established in position for coordinate origin, according to the picture of pan-shot and the user picture to prestore, passes through recognition of face Mode is judged in the first coordinate space with the presence or absence of user；If no, being moved to the edge of the first coordinate space, opened into second It between emptying, repeats the first open space the step of, until finding user.
- 7. method as claimed in claim 5, which is characterized in that the method further includes：After user is arranged in the storehouse of saving one's life, opening is searched in automatic online, is automatically moved to opening, and Wireless distress signal is sent when can not move.
- 8. method as claimed in claim 5, which is characterized in that the storehouse of saving one's life that is arranged to user includes：When user does not enter actively more than preset time and saves one's life storehouse, world coordinates is established using itself position as coordinate origin System carries out three-dimensional modeling to user, goes out each position of user's body, the body identified according to image by image recognition and verification The physical characteristic information of position and the user to prestore automatically embrace user into storehouse of saving one's life.
- 9. the method for claim 7, which is characterized in that the method further includes：When monitor occur ruinous earthquake When, by voice reminder user into the storehouse hedging or when receiving the return information of wireless distress signal of saving one's life, pacified by voice It comforts user and bears with rescue.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711215628.3A CN108114387B (en) | 2017-11-28 | 2017-11-28 | Earthquake rescue robot and earthquake rescue method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711215628.3A CN108114387B (en) | 2017-11-28 | 2017-11-28 | Earthquake rescue robot and earthquake rescue method |
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| CN108114387A true CN108114387A (en) | 2018-06-05 |
| CN108114387B CN108114387B (en) | 2021-05-14 |
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| CN109227557A (en) * | 2018-10-09 | 2019-01-18 | 安徽信息工程学院 | Six sufficient earthquake rescue robots |
| CN109940639A (en) * | 2019-05-06 | 2019-06-28 | 广东工业大学 | An earthquake emergency robot |
| CN111419123A (en) * | 2020-04-08 | 2020-07-17 | 张伟君 | Floor sweeping intelligent robot capable of providing protection during earthquake |
| CN112673410A (en) * | 2018-09-12 | 2021-04-16 | 韩国地质资源研究院 | Earthquake vulnerability analysis system for user living space and earthquake vulnerability analysis method for user living space using same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112673410A (en) * | 2018-09-12 | 2021-04-16 | 韩国地质资源研究院 | Earthquake vulnerability analysis system for user living space and earthquake vulnerability analysis method for user living space using same |
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| CN111419123A (en) * | 2020-04-08 | 2020-07-17 | 张伟君 | Floor sweeping intelligent robot capable of providing protection during earthquake |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108114387B (en) | 2021-05-14 |
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