CN105234945A - Welcome robot based on network voice dialog and somatosensory interaction - Google Patents
Welcome robot based on network voice dialog and somatosensory interaction Download PDFInfo
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Abstract
The invention discloses a welcome robot based on network voice dialog and somatosensory interaction. The welcome robot based on network voice dialog and somatosensory interaction comprises a robot body and a cloud voice computing platform, and is characterized by further comprising a high-performance control host, a camera, an image projector, a human body recognition sensor, a light-emitting diode (LED) expression display screen, a head portion with two freedom degrees and capable of rotating up and down and left and right, double arms each with two freedom degrees and capable of moving front and back and up and down, a liquid crystal display (LCD) touch display screen used for man-machine interaction, and a loudspeaker. All detection and control drivers are connected to a bus together and connected to the control host after protocol conversion, the control host judges the state according to the detection information and conducts complex calculation, and the result obtained after calculation is sent to all responsible parts. Combination of the robot and the cloud voice computing platform is achieved, so that the robot makes a dialogue with the people freely and fluently and has the rich expression actions like pleasure, anger, sorrow and joy, and the robot is a highly intelligent chat interaction welcome robot integrated with the various functions of human body action following, sound orientation following and human face recognition.
Description
Technical field
The present invention relates to cloud voice computing platform and robot field, particularly relate to the guest-meeting robot of a kind of voice dialogue Network Based and body sense interaction.
Background technology
Along with the continuous of computer technology is developed to intelligent direction, the continuous expansion in robot application field and in-depth, Robotics just from industry manufacture field to medical services, the field such as Edutainment, home services expands rapidly, and speech recognition technology explosion type developing stage just, adding of speech recognition technology, more just representational feature will certainly be brought for intelligent robot.
Summary of the invention
The voice dialogue Network Based the object of the present invention is to provide and a kind ofly realize multifreedom motion, realizing Internet chat interaction and the guest-meeting robot of body sense interaction.
To achieve these goals, the technical solution used in the present invention is: the guest-meeting robot of a kind of voice dialogue Network Based and body sense interaction, comprise robot body, it is characterized in that: also comprise main control system, Face detection camera, image projector, human bioequivalence sensor, LED express one's feelings display screen, the head and arms of described robot body all has two frees degree, and described human bioequivalence sensor, LED expression display screen, image projector, Face detection camera are all connected with main control system.
The guest-meeting robot of aforesaid a kind of voice dialogue Network Based and body sense interaction, also comprise the cloud voice computing platform being integrated in main control system, described cloud voice computing platform is made up of sound identification module, meaning of one's words parsing module, Intelligent Answering module and voice synthetic module; By network, robot is connected with cloud voice computing platform.
The guest-meeting robot of aforesaid a kind of voice dialogue Network Based and body sense interaction, described main control system program package is containing starting selftest module, voice acquisition module, human action orientation recognition module, action expression control module, voice output module, interface display module; Voice acquisition module gathers voice and is sent to cloud voice computing platform, human action orientation recognition module detects limb action and face orientation simultaneously, speech processes result is returned to main control system by cloud voice computing platform, main control system is according to speech processes result, limb action and face azimuth information, and control makes expression, action, answer.
The guest-meeting robot of aforesaid a kind of voice dialogue Network Based and body sense interaction, described human bioequivalence sensor is used for skeleton identification, gesture identification, depth recognition, audio direction identification; Judge human action feature by bone identification and gesture identification, depth recognition can the distance of human body, and audio direction identification can determine direction and the position of speaker.
The guest-meeting robot of aforesaid a kind of voice dialogue Network Based and body sense interaction, the inner integrated multiple expression of described LED expression display screen, shows in the mode of dot matrix.
The guest-meeting robot of aforesaid a kind of voice dialogue Network Based and body sense interaction, the head of described robot body and both arms coordinate reduction gearing to drive by direct current carbon brush motor, and motor adopts close-loop control mode, tape speed feedback and position feedback.
The guest-meeting robot of aforesaid a kind of voice dialogue Network Based and body sense interaction, described robot body is fixed on exhibition booth by support frame, exhibition booth is provided with the LCD touch control display as alternating interface between man and computer.
The guest-meeting robot of aforesaid a kind of voice dialogue Network Based and body sense interaction, also comprise the detection and control and drive system that are connected with main control system, specifically comprise electric machine rotation range sensor, encoder, capacitance sensor, infrared sensor, LED driver, motor driver; Electric machine rotation range sensor is used for the anglec of rotation of limiting motor, encoder is used for detecting the speed of motor and absolute position, capacitance sensor be used for human body touch, infrared sensor is used for whether having people in surveyed area, LED driver is then used to drive eye expression and other expression, motor driver is responsible for received code device and position sensor information, and controls motor and rotate to the position that main control system sends.
The guest-meeting robot of aforesaid a kind of voice dialogue Network Based and body sense interaction, the described robot body head motor that moves up and down with head side-to-side movement motor and head is respectively connected; Described robot body both arms motor and the arm motor that moves up and down that seesaws with arm is respectively connected.
The invention has the beneficial effects as follows:
Present invention achieves robot to combine with cloud voice computing platform, robot can freely smoothly be talked with people, and there is abundant expression action, such as happiness, anger, grief and joy, human action followed, the interactive guest-meeting robot of high intelligence chat that the several functions such as sound bearing is followed, recognition of face is integrated.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is sectional view of the present invention.
Fig. 3 is front view of the present invention.
Fig. 4 is side view of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
The guest-meeting robot of a kind of voice dialogue Network Based and body sense interaction, comprise robot body, cloud voice computing platform, it is characterized in that: also comprise high performance control main frame, Face detection camera, image projector, human bioequivalence sensor, LED expresses one's feelings display screen, head two frees degree, can rotate up and down, each two frees degree of both arms, can move up and down front and back, LCD touch control display, for man-machine interaction, loudspeaker, various detection and control and drive system are connected in bus in the lump, main control system is connected to after protocol conversion, main control system is responsible for detecting current machine human arm and head pose, and the controling parameters calculated required for new attitude, the controling parameters calculated the most at last sends to motor driver, motor driver rotates to new position according to state modulator motor.
Described cloud voice computing platform is made up of speech recognition, meaning of one's words parsing, Intelligent Answering and a few part of phonetic synthesis; By network, robot is connected with cloud voice computing platform, connects bandwidth and be not less than 10Mbps.
Described high performance control mainframe program comprises startup selftest module, voice acquisition module, human action orientation recognition module, action expression control module, voice output module, interface display module; Voice acquisition module gathers voice and is sent to cloud voice computing platform, human action orientation recognition module detects limb action and face orientation simultaneously, speech processes result is returned to main control system by cloud voice computing platform, main control system is according to speech processes result, limb action and face azimuth information, and control makes expression, action, answer.
Described human bioequivalence sensor (having another name called body propagated sensation sensor) includes skeleton identification, gesture identification, depth recognition, audio direction identification; Can judge human action feature by bone identification and gesture identification, depth recognition can the distance of human body, and audio direction identification can determine direction and the position of speaker.
The inner integrated multiple expression of described LED expression display screen, shows in the mode of dot matrix, and has vivid animation effect.Described head and both arms coordinate reduction gearing to drive by direct current carbon brush motor, and motor adopts close-loop control mode, tape speed feedback and position feedback.Described LCD touch control display comprises alternating interface between man and computer, prompting and operation guide is described.
Described detection and control and drive system comprise electric machine rotation range sensor, encoder, capacitance sensor, infrared sensor, LED driver, motor driver; Electric machine rotation range sensor is used for the anglec of rotation of limiting motor, encoder is used for detecting the speed of motor and absolute position, capacitance sensor be used for human body touch, infrared sensor is used for whether having people in surveyed area, LED driver is then used to drive eye expression and other expressions, motor driver is responsible for received code device and position sensor information, and controls motor and rotate to the position that main control system sends.
As Figure 1-4, a kind of voice dialogue Network Based of chat feature Network Based and the guest-meeting robot of body sense interaction, comprise control LED expression display screen 1, image projector 2, arm travelling gear 3, Face detection camera 4, LED mood expression lamp 5, acrylic lamp housing 6, human bioequivalence sensor 7, LCD touch control display 8, high-performance main frame 9, audio amplifier 10, proximity transducer 11, head moves up and down motor 12, arm seesaws motor 13, arm moves up and down motor 14, head side-to-side movement motor 15, support frame 16, detect and control circuit board 17.Described support frame 16 is made with steel material, for connecting exhibition booth and the robot person, plays a supporting role, and detection and control circuit board 17 are arranged on support frame 16, and robot health skeleton is connected with support frame.
Robot body-support skeleton is provided with fixture, for connecting arm and miscellaneous part.Robot body-support skeleton is provided with head side-to-side movement motor 15, and head side-to-side movement motor 15 axle is provided with gear, and gear is connected on neck sub-connecting member.Robot body-support skeleton is provided with arm to seesaw motor 13, arm seesaws on motor 13 axle and gear is housed, gear is connected on arm connector, arm connector is provided with arm to move up and down motor 14, the arm motor 14 that moves up and down is provided with gear, gear is connected in the upper and lower rotational structure of arm, the upper and lower rotational structure of arm is provided with robot arm shell, arm shell is provided with touch sensor.
Robot neck sub-connecting member is provided with robot head shell, robot head shell is provided with LED expression display screen 1.Robot head shell is provided with gear, gear is provided with motor fixture, motor fixture is provided with head side-to-side movement motor 15 and proximity transducer 11.
Robot health shell is provided with the outer cover of LED effect lamp, and the outer cover outer cover of LED effect lamp being provided with LED mood expression lamp 5, LED effect lamp is provided with acrylic lamp housing 6.Robot health shell is provided with camera bracket, camera straight bracket is provided with camera 4.Robot health shell is provided with microphone, robot shells is provided with indicator lamp, robot shells is provided with image projector 2.
Exhibition booth is provided with LCD touch control display support, LCD touch control display support is provided with LCD touch control display 8, LCD touch control display 8 and is connected with high performance control main frame 9.Exhibition booth is provided with body perception individual sensor support, body perception individual sensor support is provided with human bioequivalence sensor 7, human bioequivalence sensor 7 is provided with acrylic protection face board, body perception individual sensor support is also provided with infrared detection sensor.High performance control main frame 9 is installed in exhibition booth, audio amplifier 10 is installed in exhibition booth.
More than show and describe general principle of the present invention, principal character and advantage.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and description just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (9)
1. the guest-meeting robot of a voice dialogue Network Based and body sense interaction, comprise robot body, it is characterized in that: also comprise main control system, Face detection camera, image projector, human bioequivalence sensor, LED express one's feelings display screen, the head and arms of described robot body all has two frees degree, and described human bioequivalence sensor, LED expression display screen, image projector, Face detection camera are all connected with main control system.
2. the guest-meeting robot of a kind of voice dialogue Network Based according to claim 1 and body sense interaction, it is characterized in that: also comprise the cloud voice computing platform being integrated in main control system, described cloud voice computing platform is made up of sound identification module, meaning of one's words parsing module, Intelligent Answering module and voice synthetic module; By network, robot body is connected with cloud voice computing platform.
3. the guest-meeting robot of a kind of voice dialogue Network Based according to claim 2 and body sense interaction, is characterized in that: described main control system program package is containing starting selftest module, voice acquisition module, human action orientation recognition module, action expression control module, voice output module, interface display module; Voice acquisition module gathers voice and is sent to cloud voice computing platform, human action orientation recognition module detects limb action and face orientation simultaneously, speech processes result is returned to main control system by cloud voice computing platform, main control system is according to speech processes result, limb action and face azimuth information, and control makes expression, action, answer.
4. the guest-meeting robot of a kind of voice dialogue Network Based according to claim 1 and body sense interaction, is characterized in that: described human bioequivalence sensor is used for skeleton identification, gesture identification, depth recognition, audio direction identification; Judge human action feature by bone identification and gesture identification, depth recognition can the distance of human body, and audio direction identification can determine direction and the position of speaker.
5. the guest-meeting robot of a kind of voice dialogue Network Based according to claim 1 and body sense interaction, is characterized in that: the inner integrated multiple expression of described LED expression display screen, shows in the mode of dot matrix.
6. the guest-meeting robot of a kind of voice dialogue Network Based according to claim 1 and body sense interaction, is characterized in that: the head of described robot body and both arms coordinate reduction gearing to drive by direct current carbon brush motor; Motor adopts close-loop control mode, tape speed feedback and position feedback.
7. the guest-meeting robot of a kind of voice dialogue Network Based according to claim 1 and body sense interaction, it is characterized in that: described robot body is fixed on exhibition booth by support frame, exhibition booth is provided with the LCD touch control display as alternating interface between man and computer.
8. the guest-meeting robot of a kind of voice dialogue Network Based according to claim 6 and body sense interaction, it is characterized in that: also comprise the detection and control and drive system that are connected with main control system, specifically comprise electric machine rotation range sensor, encoder, capacitance sensor, infrared sensor, LED driver, motor driver; Electric machine rotation range sensor is used for the anglec of rotation of limiting motor, encoder is used for detecting the speed of motor and absolute position, capacitance sensor be used for human body touch, infrared sensor is used for whether having people in surveyed area, LED driver is then used to drive eye expression and other expression, motor driver is responsible for received code device and position sensor information, and controls motor and rotate to the position that main control system sends.
9. the guest-meeting robot of a kind of voice dialogue Network Based according to claim 6 and body sense interaction, is characterized in that: the described robot body head motor that moves up and down with head side-to-side movement motor and head is respectively connected; Described robot body both arms motor and the arm motor that moves up and down that seesaws with arm is respectively connected.
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| CN105856261A (en) * | 2016-05-26 | 2016-08-17 | 王帅 | Voice control action system of robot |
| CN105957521A (en) * | 2016-02-29 | 2016-09-21 | 青岛克路德机器人有限公司 | Voice and image composite interaction execution method and system for robot |
| CN106003077A (en) * | 2016-06-22 | 2016-10-12 | 昆山邦泰汽车零部件制造有限公司 | Robot voice conservation method |
| CN106346475A (en) * | 2016-11-01 | 2017-01-25 | 上海木爷机器人技术有限公司 | Robot and robot control method |
| CN106652602A (en) * | 2017-03-07 | 2017-05-10 | 大连民族大学 | Teaching robot |
| CN106695810A (en) * | 2016-11-25 | 2017-05-24 | 塔米智能科技（北京）有限公司 | Greeting service robot based on visual sense and working method |
| CN106737757A (en) * | 2017-02-15 | 2017-05-31 | 华南理工大学 | A kind of intelligent robot head construction |
| CN106730234A (en) * | 2017-01-11 | 2017-05-31 | 上海北辰软件股份有限公司 | A kind of intelligent mood persuasion system |
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| CN109830239A (en) * | 2017-11-21 | 2019-05-31 | 群光电子股份有限公司 | Voice processing apparatus, voice recognition input systems and voice recognition input method |
| CN110175150A (en) * | 2019-05-15 | 2019-08-27 | 重庆大学 | Guest-greeting machine personal data based on data compression stores monitoring system |
| CN110625608A (en) * | 2018-06-21 | 2019-12-31 | 卡西欧计算机株式会社 | Robot, robot control method, and storage medium |
| CN111161571A (en) * | 2020-03-10 | 2020-05-15 | 吉林工程技术师范学院 | Intelligent education robot |
| CN113319869A (en) * | 2021-06-25 | 2021-08-31 | 重庆理工大学 | Welcome robot system with emotion interaction function |
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| CN105856261A (en) * | 2016-05-26 | 2016-08-17 | 王帅 | Voice control action system of robot |
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| CN109830239A (en) * | 2017-11-21 | 2019-05-31 | 群光电子股份有限公司 | Voice processing apparatus, voice recognition input systems and voice recognition input method |
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| CN109227514A (en) * | 2018-09-25 | 2019-01-18 | 南京帅瑞科技有限公司 | A kind of robot mobile device for science and technology center welcome |
| CN110175150A (en) * | 2019-05-15 | 2019-08-27 | 重庆大学 | Guest-greeting machine personal data based on data compression stores monitoring system |
| CN110175150B (en) * | 2019-05-15 | 2023-02-24 | 重庆大学 | Welcome robot data storage monitoring system based on data compression |
| CN111161571A (en) * | 2020-03-10 | 2020-05-15 | 吉林工程技术师范学院 | Intelligent education robot |
| CN113319869A (en) * | 2021-06-25 | 2021-08-31 | 重庆理工大学 | Welcome robot system with emotion interaction function |
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Application publication date: 20160113 |