CN107657852B - Infant teaching robot, teaching system and storage medium based on face recognition - Google Patents
Infant teaching robot, teaching system and storage medium based on face recognition Download PDFInfo
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- CN107657852B CN107657852B CN201711118479.9A CN201711118479A CN107657852B CN 107657852 B CN107657852 B CN 107657852B CN 201711118479 A CN201711118479 A CN 201711118479A CN 107657852 B CN107657852 B CN 107657852B
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B5/00—Electrically-operated educational appliances
- G09B5/08—Electrically-operated educational appliances providing for individual presentation of information to a plurality of student stations
- G09B5/14—Electrically-operated educational appliances providing for individual presentation of information to a plurality of student stations with provision for individual teacher-student communication
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/172—Classification, e.g. identification
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The present invention relates to a human face recognition-based teaching robot for infants, a teaching system, and a storage medium storing a computer program executable on a processor. The infant teaching system provided by the invention comprises the position signal transmitting device which is provided with the robot and can be worn on the body of a learner, the robot can receive the position signal of the position of the learner and adjust the second camera to shoot the face image signal of the learner according to the position signal, and the interactive feedback with the interactor is made according to the face image signal of the learner, and the situation of the interactor and the teaching direction are considered during the interactive feedback, so that the interactor can easily and deeply intervene with the robot, and the teaching effect is improved.
Description
Technical Field
The invention relates to the field of infant teaching, in particular to an infant teaching robot based on face recognition, an infant teaching system and a teaching interaction method, and relates to a computer readable storage medium which stores a computer program and can be executed on a processor.
Background
With the rise of intelligent technology, the method of introducing intelligent robots in the young children education links is increasingly promoted. At present, in the infant education link, the application of intelligent robots based on face recognition is popular, and as the robots can recognize the faces of children and judge the emotion change of the children according to the face state change of the children, the corresponding interactive feedback is further made. Therefore, the teaching aid can better guide children, and better teaching effect is achieved.
However, at present, the intelligent robot still only considers the interaction between the robot and the child, and does not consider the interaction among the robot, the child and the teacher. But in the class, the teacher is still a controller of the class rhythm, and has more deep knowledge of the conditions of each child, so that more humanized judgment can be made. Therefore, if the interaction between the robot and the child is lack of the intervention of a teacher in a class, the interaction between the robot and the student is lack of humanization, so that the real teaching in the material is difficult to achieve, and the teaching rhythm of the teacher is also influenced.
Therefore, the teacher must be added to intervene in the interaction between the intelligent robot and the student, and the means of the teacher must be added, so that at present, part of the intelligent robots can be added with remote control functions, and the teacher controls the robot through the remote controller, so that the teacher can also intervene in the interaction between the intelligent robot and the student. However, due to the limited functionality of the remote control, such intervention is difficult to reach at a deeper level, and brings more complex operations to the teacher, affecting the concentration of the teacher's teaching.
Disclosure of Invention
The invention aims to enable a teaching person to easily and deeply intervene in the interaction between the interactive person and the robot so as to improve the teaching effect.
The invention provides a face recognition-based infant teaching robot, which comprises: the teaching robot comprises a position signal receiving device for receiving the position of a teaching person, a first camera for acquiring the face image signal of the current interaction person and a second camera for acquiring the face image signal of the teaching person, wherein the second camera is arranged at the top of the teaching robot through a rotating device, the teaching robot further comprises a main controller, the main controller controls the rotating device to rotate according to the position information of the teaching person received by the position signal receiving device, so that the second camera is aligned to the teaching person and acquires the face image signal of the teaching person, and the main controller also performs interaction feedback according to the face image signal of the interaction person and the face image signal of the teaching person.
The robot further comprises a robot body, wherein a display device is arranged on the front face of the robot body, and the first camera is arranged on the front face of the robot body.
The voice print recognition device is characterized by further comprising a voice print recognition device, and the main controller judges the identity of the current interactor according to the voice print information acquired by the voice print recognition device and the interactor face image signal.
The self-walking device is characterized by further comprising a self-walking device, and the main controller controls the self-walking device to walk to a preset position according to a preset self-walking strategy and position information of a learner.
The invention also provides a baby teaching system based on face recognition, which is characterized by comprising the position signal transmitting device which can be worn on a person to be taught and the baby teaching robot, wherein the position signal receiving device receives the position signal transmitted by the position signal transmitting device.
The invention also provides a baby teaching interaction method based on face recognition, which is characterized by comprising the following steps:
an interactor identification step: acquiring an interactor face image signal of a current interactor;
a step of identifying a teaching person: acquiring position information of a learner, and adjusting the position of a camera according to the position information of the learner, so as to acquire a face image signal of the learner;
and an interactive feedback step: judging the current emotion state of the interactor according to the face image signal of the interactor, judging the guiding intention of the learner according to the face image signal of the learner, generating an interaction feedback strategy for the next feedback according to the emotion state and the guiding intention, and executing corresponding interaction feedback according to the interaction feedback strategy.
Wherein the interactive feedback step includes an emotional state judgment step: the method comprises the steps of obtaining a pre-stored image set of a current interactor, selecting an image model closest to a face image signal of the interactor from the pre-stored image set, and judging the emotion state of the current interactor according to emotion attributes preset by the image model.
The interactive feedback step comprises a guiding intention judging step: the method comprises the steps of obtaining a pre-stored guiding image set of a learner, selecting an image model closest to a face image signal of the learner from the guiding image set, and judging the guiding intention of the learner according to guiding intention attributes preset by the image model.
The invention also provides a computer readable storage medium storing a computer program which, when executed by a processor, performs the infant teaching interaction method based on face recognition.
The beneficial effects of the invention are as follows: the infant teaching system provided by the invention comprises the position signal transmitting device which is provided with the robot and can be worn on the body of a learner, the robot can receive the position signal of the position of the learner and adjust the second camera to shoot the face image signal of the learner according to the position signal, and the interactive feedback with the interactor is made according to the face image signal of the learner, and the situation of the interactor and the teaching direction are considered during the interactive feedback, so that the interactor can easily and deeply intervene with the robot, and the teaching effect is improved.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention, and other drawings can be obtained by one of ordinary skill in the art without inventive effort from the following drawings.
Fig. 1 is a schematic block diagram of a face recognition-based infant teaching system of the present invention.
In fig. 1, it is included that: 1-a main controller, 2-a first camera, 3-a second camera, 4-a rotating device, 5-a position signal transmitting device, 6-a position signal receiving device, 7-a voiceprint recognition device and 8-a self-walking device.
Detailed Description
The invention will be further described with reference to the following examples.
As shown in fig. 1, the infant teaching system based on face recognition of the present invention comprises an infant teaching robot and a position signal transmitting device 5 wearable on a person to be taught, wherein the infant teaching robot comprises a main controller 1, a position signal receiving device 6 for receiving the position of the person to be taught, a first camera 2 for acquiring the face image signal of the person interacting with the current person, a rotating device 4 and a second camera 3 for acquiring the face image signal of the person to be taught, and the second camera 3 is mounted on the top of the teaching robot through the rotating device 4.
In a classroom, since a teacher (i.e., a teacher) needs to move around continuously during a teaching, the teacher wears a position signal transmitting device 5 on the body, the position signal transmitting device 5 detects a position signal of the teacher in real time or intermittently and transmits the position signal to a position signal receiving device 6, the position signal receiving device 6 transmits the received position signal to a main controller 1, and in order to enable the second camera 3 to clearly photograph a facial expression (i.e., a teacher face image signal) of the teacher in real time, the main controller 1 controls a rotating device 4 to rotate according to the position information so that the second camera 3 is aligned with the teacher and acquires the teacher face image signal, and the main controller 1 determines a guiding intention of the teacher according to the acquired teacher face image signal. In order to more accurately judge the guiding intention of the teacher, the main controller 1 stores in advance a guiding image set of the teacher, where the guiding image set is a set of different facial expressions made by the teacher when representing different guiding attributes, that is, each of the different guiding attributes has a different one-to-one correspondence to each of the different facial expressions. Because each infant (i.e. the interactor) is generally seated on the fixed seat, the teaching robot is placed on the platform side, the front of the teaching robot faces the infant, the front of the teaching robot body is provided with a display device for the infant to watch, and in order to clearly shoot the facial image signals of the infant interacted with by the teaching robot, the first camera 2 is installed above the display device, so that the first camera 2 clearly shoots the facial expression (i.e. the interactor facial image signals) of each infant. The first camera 2 transmits the captured infant face image signal to the main controller 1, and the main controller 1 judges the current emotional state of the infant based on the infant face image signal. In order to more accurately determine the current emotional state of the infant, the main controller 1 stores a pre-stored image set of each infant, where the pre-stored image set is a set of various image models expressed by each infant in different emotional states (i.e., emotional attributes).
During lesson interaction, the teaching robot faces each infant, the first camera 2 sends the facial expression (i.e. the facial image signal of the interactor) of the infant shot in real time to the main controller 1, the main controller 1 selects an image model closest to the facial image signal of the interactor from the prestored image set according to the facial expression (i.e. the facial image signal of the interactor) and judges the emotion state of the current interactor according to the emotion attribute preset by the image model; because the first camera 2 shoots a plurality of infants, in order to more accurately identify the currently interacted infants, the teaching robot is provided with the voiceprint identification device 7 capable of identifying the voice of the person, the voiceprint identification device 7 sends the acquired voiceprint information to the main controller 1, and the main controller 1 judges the identity of the current infant according to the voiceprint information and the interacted face image signal. The second camera 3 sends the facial expression of the teacher (i.e. the face image signal of the learner) shot in real time to the main controller 1, the main controller 1 selects an image model closest to the face image signal of the learner from the guiding image set according to the facial expression, and the guiding intention of the learner is judged according to the guiding intention attribute preset by the image model; the main controller 1 generates an interactive feedback strategy for the next feedback according to the current emotional state of the interactor and the guiding intention of the learner, and executes corresponding interactive feedback according to the interactive feedback strategy. The main controller 1 makes interactive feedback according to the interactive face image signals and the teaching person face image signals, and the situation of infants is considered during the interactive feedback, and the guidance of teachers is also considered, so that the teachers can easily and deeply intervene in the interaction between the interactive person and the robot, and the teaching effect is improved.
Since the teacher may move the position continuously in the interaction process, in order to increase the interaction interest, the teaching robot is further provided with a self-walking device 8, and the main controller 1 controls the self-walking device 8 to walk to the preset position according to the preset self-walking strategy and the position information of the learner.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (7)
1. Infant teaching robot based on face identification, its characterized in that includes: the teaching robot further comprises a main controller, wherein the main controller controls the rotating device to rotate according to the position information of the learner received by the position signal receiving device, so that the second camera aims at the learner and acquires the face image signal of the learner, and the main controller performs interaction feedback according to the face image signal of the interactor and the face image signal of the learner;
the interactive feedback comprises emotion state judgment and guiding intention judgment, wherein the emotion state judgment step comprises the following steps: acquiring a pre-stored image set of a current interactor, selecting an image model closest to a face image signal of the interactor from the pre-stored image set, and judging the emotion state of the current interactor according to emotion attributes preset by the image model; the guiding intention judging step: the method comprises the steps of obtaining a pre-stored guiding image set of a learner, selecting an image model closest to a face image signal of the learner from the guiding image set, and judging the guiding intention of the learner according to guiding intention attributes preset by the image model.
2. The face recognition-based teaching robot for infants according to claim 1, further comprising a robot body, wherein the front surface of the robot body is provided with a display device, and the first camera is disposed on the front surface of the robot body.
3. The human face recognition-based teaching robot for infants according to claim 1, further comprising a voiceprint recognition device, wherein the main controller judges the identity of the current interactor according to voiceprint information acquired by the voiceprint recognition device and the interactor face image signal.
4. The human face recognition-based teaching robot for infants according to claim 1, further comprising a self-walking device, wherein the main controller controls the self-walking device to walk to a preset position according to a preset self-walking strategy and position information of a learner.
5. A face recognition-based child teaching system comprising a position signal transmitting device wearable on a teaching person and the child teaching robot according to any one of claims 1 to 4, wherein the position signal receiving device receives a position signal transmitted by the position signal transmitting device.
6. The infant teaching interaction method based on face recognition is characterized by comprising the following steps of:
an interactor identification step: acquiring an interactor face image signal of a current interactor;
a step of identifying a teaching person: acquiring position information of a learner, and adjusting the position of a camera according to the position information of the learner, so as to acquire a face image signal of the learner;
and an interactive feedback step: judging the current emotion state of an interactor according to the face image signal of the interactor, judging the guiding intention of the learner according to the face image signal of the learner, generating an interaction feedback strategy for the next feedback according to the emotion state and the guiding intention, and executing corresponding interaction feedback according to the interaction feedback strategy;
the interactive feedback step includes an emotional state judgment step: acquiring a pre-stored image set of a current interactor, selecting an image model closest to a face image signal of the interactor from the pre-stored image set, and judging the emotion state of the current interactor according to emotion attributes preset by the image model;
the interactive feedback step includes an instruction intention judging step: the method comprises the steps of obtaining a pre-stored guiding image set of a learner, selecting an image model closest to a face image signal of the learner from the guiding image set, and judging the guiding intention of the learner according to guiding intention attributes preset by the image model.
7. A computer readable storage medium storing a computer program, which when executed by a processor performs the face recognition based baby teaching interaction method of claim 6.
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| CN108427722A (en) * | 2018-02-09 | 2018-08-21 | 卫盈联信息技术（深圳）有限公司 | intelligent interactive method, electronic device and storage medium |
| US11422568B1 (en) * | 2019-11-11 | 2022-08-23 | Amazon Technolgoies, Inc. | System to facilitate user authentication by autonomous mobile device |
| CN113393717A (en) * | 2021-06-10 | 2021-09-14 | 上海宝明教育科技有限公司 | Computer multimedia distance education training set |
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