CN101504546A - Children robot posture tracking apparatus - Google Patents
Children robot posture tracking apparatus Download PDFInfo
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- CN101504546A CN101504546A CNA2008102395842A CN200810239584A CN101504546A CN 101504546 A CN101504546 A CN 101504546A CN A2008102395842 A CNA2008102395842 A CN A2008102395842A CN 200810239584 A CN200810239584 A CN 200810239584A CN 101504546 A CN101504546 A CN 101504546A
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Abstract
The invention relates to a body position tracking device for a child robot, which belongs to the field of robots and relates to a body position tracking technique when a child user is in different emotional states in interactions. The body position tracking device comprises an ultrasonic sensor, a pyroelectric sensor, a sound source positioning sensor and a vision sensor. By acquiring various sensor signals, and when sensor information is comprehensively fused and processed, the body position tracking device generates an action command data pack for an underside control system, thus action commands obtained by fusing and processing the sensor information are transmitted to a chassis stepped motor through a CAN bus so as to finish corresponding body position tracking actions. The robot of the invention has various body position tracking modes including slow-speed tracking, pasing, turning and the like, and can finish corresponding body position tracking aiming at different emotional states of the child user and meet the requirement on real-time interactions.
Description
Technical field
The invention belongs to the robot field, relate to a kind of position tracking technique at the different emotional states of child user in the reciprocal process.
Background technology
Along with the development of social cause and economic society, the family expenses emotional robot is just progressively come into common people's life.But the domestic personalized interaction robot that follows the tracks of at the carried out position of the different emotional needs of particular child user that substantially also do not develop at present.
Summary of the invention
The purpose of this invention is to provide and a kind ofly carry out mutual position tracking technique, to realize that robot is to the tracking of child user under different emotional states at the different emotional states of child user.
A kind of posture tracking apparatus of children robot comprises ultrasonic sensor, pyroelectric sensor, auditory localization sensor, vision sensor.
The range data that obtains of the downward acquisition time ultrasonic sensor of ultrasonic sensor (centimetre to be unit) is waited for obtaining the reading order of host computer to read range information behind the reading order at any time, packing data is submitted to host computer handled again.
The pyroelectric sensor module is determined the information of human body by the pyroelectric sensor array more than 3, such as there being the people to come into, have the people to move indoor etc. in the vacant house, packing data is submitted to host computer handled.
The auditory localization sensor then analyzing and processing position of the sounding analysis data result packing that will obtain is again submitted to host computer and is handled.
Vision sensor then analyzing and processing people's information such as the expression analysis data result packing that will obtain is again submitted to host computer and is handled.
Sensors such as ultrasound wave, touch, pyroelectricity, vision are by merging the information from different sensors, determine tracked person's position, call corresponding treatment progress after the information processing of host computer to multiple sensors, send the instruction bag to the chassis driving mechanism by the CAN bus, finish corresponding tracing process.The overall design framework as shown in Figure 1.Wherein send to and comprise expectation angle value and distance value and the direction instruction that each is taken turns in the instruction bag of base plate electric machine, electric machine control system is carried out corresponding action to the pulse control motor that these values are converted into respective frequencies, and its athletic performance process flow diagram as shown in Figure 2.
Chassis of the present invention driving mechanism comprises two groups of wheels that place platform chassis, one group of driving wheel is installed, one group of universal wheel.Drive motor is equipped with in the both sides of driving wheel, and the actuating speed of motor is adjustable; Two universal wheels adopt connecting rod to hang and are installed on the universal wheel seat, can go up in any direction and rotate, thereby well adapt to different road surface situations, and chassis driving mechanism machine drawing as shown in Figure 3.Driving wheel is by step motor drive, motor shaft is fixed in the wheel shaft by flat key, and stepper motor rotates by the rotating band axis of a movable block of motor shaft, in the bearing seat on the chassis frame deep groove ball bearing is housed, be used for supporting wheel shaft, drive the driving wheel rotation thereby wheel shaft transmits rotary torque by flat key.
The principle of work of chassis step motor control system is after receiving the packet that host computer sends and carrying out analyzing and processing, port by the PIC single-chip microcomputer sends the PWM ripple to the chassis stepper motor driver, realization is to the rotating speed of base plate electric machine and the control of stepping amount, thus realize robot all around and the realization that pattern such as turns to.The base plate electric machine control system be electrically connected schematic diagram as shown in Figure 4.
Multiple different position tracking mode (comprises at a slow speed and following the tracks of advantage of the present invention for robot of the present invention has with good effect, dodge, turn to etc.), can finish corresponding position tracking and satisfy the mutual demand of real-time at the different emotional state of child user.
This intelligent independent wheeled mobile robot, its research relates to multidisciplinary theory and technology such as image processing in real time, computer vision, sensor technology, artificial intelligence, control automatically, computing machine parallel processing technique, mechanics, embody the newest fruits of information science and artificial intelligence, had important theory and actual application value.
Robot of the present invention has adopted four-wheel-type chassis driving mechanism, adopts two high-precision driving wheels and two universal wheels respectively.Two driving wheels are controlled the motion that realizes mobile platform respectively, and the differential by two driving wheels decides direction of motion and comes the controlled motion direction by universal wheel.Robot motion of the present invention like this gets up and can more steadily effectively can guarantee robot stabilized, reliable and safe operation.
Description of drawings
Fig. 1 is that robot of the present invention finishes the overall design frame diagram to movable object tracking.
Fig. 2 is the process flow diagram that robot of the present invention finishes athletic performance.
Fig. 3 is the machine drawing of the chassis driving mechanism of robot of the present invention.
The universal wheel seat of wheel shaft (1) driving wheel (2) zanjon ball journal (3) bearing seat (4) stepper motor (5) (6) universal wheel (7)
Fig. 4 be robot of the present invention the base plate electric machine control system be electrically connected schematic diagram.
Fig. 5 be robot of the present invention the CAN bus module be electrically connected schematic diagram.
Fig. 6 is the process flow diagram of robot of the present invention by the CAN bus communication.
Embodiment
Robot of the present invention can be different according to child user emotional state (comprise happy, sadness, fear etc.) finish corresponding position and follow the tracks of action.Be described further below in conjunction with example.
1 driving control system for electric machine
It is low that the PIC series monolithic that U.S. Microchip company produces has price, processing speed is fast, characteristics such as volume is less relatively, the Harvard structure that its bus structure take data bus to separate with instruction bus, has very high stream treatment speed, it all is byte that its reduced instruction structure set (RISC) makes its all instruction basically, so the general single-chip microcomputer of the efficiency ratio of its program space is high a lot.That robot motor's controller of the present invention adopts is single-chip microcomputer PIC16F877A, and it is the intermediate product that Microchip company produces, and has 8 CMOS single-chip microcomputers of Flash program storage, has A, B, C, D and E5 I/O port, inside comprises 14 interrupt sources, three timers, two CCP (module of catcher/comparer/PWM), a watchdog circuit and a parallel subordinate port PSP, simultaneously integrated 8 passage A/D converters have been simplified peripheral circuit, have also saved cost.
Robot motor's control system of the present invention is integrated together CAN bus and electric machine control system, has guaranteed the validity and the high-level efficiency of Electric Machine Control, comprising the drive control part of chassis stepper motor and arm direct current generator.Single-chip microcomputer is resolved after receiving packet from host computer by the CAN bus interface, analyzing and processing obtains the corresponding action data, produce the PWM pulse-width signal by two CCP modules, use 4 I/O ports to produce high-low level simultaneously, each CCP module and two I/O ports are controlled a chassis stepper motor respectively, produce the tracking action of correspondence with the stepper motor of two driving wheels of this drive controlling.
The 2CAN bus communication system
CAN, full name are " Controller Area Network ", are one of most widely used fieldbus in the world, by early 1980s Germany Bosch company exploitation.The CAN bus can effectively be supported distributed control or the serial communication network of controlling in real time, has strong interference immunity and uses advantages such as reliable, and high-speed data transfer is provided, and has (1Mbit/s) data transmission capabilities at a high speed under short distance (40m) condition.The data communication of CAN bus has outstanding reliability, real-time and dirigibility, can be widely used in fields such as automatic control, numerically-controlled machine, Aero-Space, navigation, robot, sensor and automobile industry.At present, CAN has formed international standard, and has been acknowledged as several one of the most promising fieldbus.
Robot of the present invention comes transfer data packets by the CAN bus, can effectively improve stability of data transmission, security and validity.The circuit theory diagrams of CAN bus module as shown in Figure 5.The CAN controller has adopted the SJA1000T of NXP company, it is the Local Area Network control CAN that a kind of independent control is used for moving target and general industry environment, it is the substitute products of PHILIPS semiconductor PCA82C200 CAN controller (BasicCAN), and it has increased a kind of new mode of operation (PeliCAN), and this pattern support has the CAN2.0B agreement of a lot of new features.The CAN transceiver has adopted TJA1050, he is the interface between controller zone network (CAN) protocol controller and the physical bus, be a kind of high-speed CAN transceiver of standard, can provide differential transmission performance for bus, for the CAN controller provides differential receptivity.The treatment scheme of CAN bus communication as shown in Figure 6.
3 sensor information emerging systems
There is ultrasonic sensor in robot of the present invention, pyroelectric sensor, the auditory localization sensor, vision sensor is totally 4 kinds of sensors, activated sensors obtains the corresponding action packet after the signal data bag that obtains is submitted to the host computer analyzing and processing, send packet to chassis step motor drive control system by CAN bus communication module, and then produce corresponding position tracking action.
The ultrasonic sensor module is the sensor that utilizes hyperacoustic characteristic to develop.The module finding range is between 4cm-5m, and resolution is 1cm.
The mistiming is tried to achieve in the collection of the pulse signal that the auditory localization sensor sends by at least 4 MIC sensors, obtains the position angle according to algorithm, can distinguish the zones of 90 degree at least.
The pyroelectric sensor module is determined the information of human body by three pyroelectric sensors, such as there being the people to walk in the vacant house, and human body information such as walk in doors.
Vision sensor adopts the CCD vision sensor, it uses a kind of semiconductor material of ISO to make, can be transformed into electric charge to light, convert digital signal to by the analog to digital converter chip, when the CCD surface is subjected to irradiate light, each sensitization unit can be reflected in electric charge on the assembly, and the signal that all sensitization units produced adds together, has just constituted a complete picture.
When children user happy run the time, robot of the present invention obtains the countenance image by the CCD vision sensor and handles the mood result who obtains children's happiness by Algorithm Analysis again, send reading command then and read ultrasonic sensor acquisition range information, pyroelectric sensor and auditory localization sensor comprehensively obtain people's azimuth information, after the information fusion algorithm processing, send corresponding action director data bag to base plate electric machine by the CAN bus, robot is following the tracks of the sympathetic response that reaches with children's mood synchronously to child user.
When children user is sad, robot of the present invention obtains the countenance image by the CCD vision sensor and handles the mood result who obtains children's sadness by specific Algorithm Analysis again, send reading command then and read ultrasonic sensor acquisition range information, pyroelectric sensor and auditory localization sensor comprehensively obtain people's azimuth information, after the information fusion algorithm processing, send corresponding action director data bag to base plate electric machine by the CAN bus, robot pats children when child user is slowly followed the tracks of shoulder reaches the sympathetic response with children's mood.
When children user's indignation, robot of the present invention obtains the countenance image by the CCD vision sensor and handles the mood result who obtains children's indignation by Algorithm Analysis again, send reading command then and read ultrasonic sensor acquisition range information, pyroelectric sensor and auditory localization sensor comprehensively obtain people's azimuth information, after the information fusion algorithm processing, send corresponding action director data bag to base plate electric machine by the CAN bus, robot reaches sympathetic response with children's mood with the action that slowly retreats.
When children user is worried, robot of the present invention obtains the countenance image by the CCD vision sensor and handles the mood result who obtains children's worry by Algorithm Analysis again, send reading command then and read ultrasonic sensor acquisition range information, pyroelectric sensor and auditory localization sensor comprehensively obtain people's azimuth information, after the information fusion algorithm processing, send the action command packet to the base plate electric machine controller by the CAN bus, robot reaches the tracking of waving a little slowly to child user and reaches sympathetic response with children's mood.
Claims (3)
1, a kind of posture tracking apparatus of children robot is characterized in that comprising ultrasonic sensor, pyroelectric sensor, auditory localization sensor, vision sensor;
The range data that obtains of the downward acquisition time ultrasonic sensor of ultrasonic sensor is waited for the reading order of host computer at any time centimetre to be unit, obtains to read range information behind the reading order, packing data is submitted to host computer handled again;
The pyroelectric sensor module is determined the information of human body by the pyroelectric sensor array more than 3, packing data is submitted to host computer handled;
The auditory localization sensor then analyzing and processing position of the sounding analysis data result packing that will obtain is again submitted to host computer and is handled;
Vision sensor then analyzing and processing people's information such as the expression analysis data result packing that will obtain is again submitted to host computer and is handled;
Ultrasound wave, touch, pyroelectricity, vision sensor are by merging the information from different sensors, determine tracked person's position, call corresponding treatment progress after the information processing of host computer to multiple sensors, send the instruction bag to the chassis driving mechanism by the CAN bus, finish corresponding tracing process.
2, the posture tracking apparatus of a kind of children robot as claimed in claim 1 is characterized in that the chassis driving mechanism comprises: wheel shaft (1), driving wheel (2), deep groove ball bearing (3), bearing seat (4), stepper motor (5), universal wheel seat (6), universal wheel (7); Driving wheel (2) is driven by stepper motor (5), step motor shaft is fixed in the wheel shaft (1) by flat key, stepper motor (5) rotates by the rotating band axis of a movable block (1) of step motor shaft, deep groove ball bearing (3) is housed in the bearing seat on the chassis frame (4), be used for supporting wheel shaft (1), wheel shaft (1) thus transmitting rotary torque by flat key drives driving wheel (2) and rotates, universal wheel (7) adopts connecting rod to hang and is installed on the universal wheel seat (6), and such structure can be good at adapting to different road surface situations.
3, the posture tracking apparatus of a kind of children robot as claimed in claim 1 is characterized in that the ultrasonic sensor module is the sensor that utilizes hyperacoustic characteristic to develop, and the module finding range is between 4cm-5m, and resolution is 1cm;
The mistiming is tried to achieve in the collection of the pulse signal that the auditory localization sensor sends by at least 4 MIC sensors, merges the information that adopts local Gray Association Analysis to obtain sensor and obtains the position angle, can distinguish the zones of 90 degree at least; The reference sequence of the measurement features index by given sensor, the ordered series of numbers of relatively sampling then be with the degree of closeness of reference sequence, and then make the judgement of azimuth information;
Vision sensor adopts the CCD vision sensor, can be transformed into electric charge to light, convert digital signal to by the analog to digital converter chip, when the CCD surface is subjected to irradiate light, each sensitization unit can be reflected in electric charge on the assembly, the signal that all sensitization units produced adds together, has just constituted a complete picture.
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| CN2008102395842A CN101504546B (en) | 2008-12-12 | 2008-12-12 | Children robot posture tracking apparatus |
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| CN2008102395842A CN101504546B (en) | 2008-12-12 | 2008-12-12 | Children robot posture tracking apparatus |
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| CN101504546B CN101504546B (en) | 2010-04-21 |
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| CN2008102395842A Expired - Fee Related CN101504546B (en) | 2008-12-12 | 2008-12-12 | Children robot posture tracking apparatus |
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| CN102289556A (en) * | 2011-05-13 | 2011-12-21 | 郑正耀 | Supermarket shopping assistant robot |
| CN102385389A (en) * | 2011-11-01 | 2012-03-21 | 中国科学院深圳先进技术研究院 | Patrol robot, early warning system and monitoring method of patrol robot |
| CN102411371A (en) * | 2011-11-18 | 2012-04-11 | 浙江大学 | Multi-sensor service-based robot following system and method |
| CN103020656A (en) * | 2012-12-19 | 2013-04-03 | 中山大学 | Device and method for identifying gestures through compressed infrared sensing |
| CN105364931A (en) * | 2015-11-30 | 2016-03-02 | 北京光年无限科技有限公司 | Emotion information processing method and small intelligent robot |
| CN105404302A (en) * | 2015-12-03 | 2016-03-16 | 联想(北京)有限公司 | Mobile device and control method |
| CN106325112A (en) * | 2015-06-25 | 2017-01-11 | 联想(北京)有限公司 | Information processing method and electronic equipment |
| CN107111314A (en) * | 2014-11-07 | 2017-08-29 | 索尼公司 | Control system, control method and storage medium |
| CN107340498A (en) * | 2016-05-03 | 2017-11-10 | 深圳光启合众科技有限公司 | The determination method and apparatus of robot and sound source position |
| CN107530882A (en) * | 2015-04-22 | 2018-01-02 | 索尼公司 | Moving body control system, control method and storage medium |
| WO2018014762A1 (en) * | 2016-07-22 | 2018-01-25 | 腾讯科技（深圳）有限公司 | Positioning method, positioning system and terminal device |
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| CN102289556A (en) * | 2011-05-13 | 2011-12-21 | 郑正耀 | Supermarket shopping assistant robot |
| CN102385389A (en) * | 2011-11-01 | 2012-03-21 | 中国科学院深圳先进技术研究院 | Patrol robot, early warning system and monitoring method of patrol robot |
| CN102385389B (en) * | 2011-11-01 | 2014-08-06 | 中国科学院深圳先进技术研究院 | Patrol robot, early warning system and monitoring method of patrol robot |
| CN102411371A (en) * | 2011-11-18 | 2012-04-11 | 浙江大学 | Multi-sensor service-based robot following system and method |
| CN103020656A (en) * | 2012-12-19 | 2013-04-03 | 中山大学 | Device and method for identifying gestures through compressed infrared sensing |
| CN103020656B (en) * | 2012-12-19 | 2016-09-14 | 中山大学 | A kind of gesture identifying device compressing infrared perception realization and recognition methods |
| CN107111314B (en) * | 2014-11-07 | 2021-10-08 | 索尼公司 | Control system, control method, and storage medium |
| CN107111314A (en) * | 2014-11-07 | 2017-08-29 | 索尼公司 | Control system, control method and storage medium |
| CN107530882A (en) * | 2015-04-22 | 2018-01-02 | 索尼公司 | Moving body control system, control method and storage medium |
| US11385647B2 (en) | 2015-04-22 | 2022-07-12 | Sony Corporation | Mobile body control system, control method, and storage medium |
| CN107530882B (en) * | 2015-04-22 | 2021-08-10 | 索尼公司 | Mobile object control system, control method, and storage medium |
| CN106325112A (en) * | 2015-06-25 | 2017-01-11 | 联想(北京)有限公司 | Information processing method and electronic equipment |
| CN105364931A (en) * | 2015-11-30 | 2016-03-02 | 北京光年无限科技有限公司 | Emotion information processing method and small intelligent robot |
| CN105404302A (en) * | 2015-12-03 | 2016-03-16 | 联想(北京)有限公司 | Mobile device and control method |
| CN107340498A (en) * | 2016-05-03 | 2017-11-10 | 深圳光启合众科技有限公司 | The determination method and apparatus of robot and sound source position |
| WO2018014762A1 (en) * | 2016-07-22 | 2018-01-25 | 腾讯科技（深圳）有限公司 | Positioning method, positioning system and terminal device |
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| CN108710376A (en) * | 2018-06-15 | 2018-10-26 | 哈尔滨工业大学 | The mobile chassis of SLAM and avoidance based on Multi-sensor Fusion |
| CN115019799A (en) * | 2022-08-04 | 2022-09-06 | 广东工业大学 | Man-machine interaction method and system based on long voice recognition |
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