CN103268150A - Intelligent robot management and control system and intelligent robot management and control method on basis of facial expression recognition - Google Patents
Intelligent robot management and control system and intelligent robot management and control method on basis of facial expression recognition Download PDFInfo
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- CN103268150A CN103268150A CN201310174351XA CN201310174351A CN103268150A CN 103268150 A CN103268150 A CN 103268150A CN 201310174351X A CN201310174351X A CN 201310174351XA CN 201310174351 A CN201310174351 A CN 201310174351A CN 103268150 A CN103268150 A CN 103268150A
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Abstract
The invention relates to an intelligent robot management and control system and an intelligent robot management and control method on the basis of facial expression recognition. The intelligent robot management and control system is characterized by comprising a facial expression acquiring unit, a sample facial expression database, a processing unit, a remote control device and a signal receiving device. The facial expression acquiring unit is used for acquiring facial expression images and converting the facial expression images into characteristic data to be stored. A mass amount of sample facial expression images and characteristic data of the sample facial expression images are stored in the sample facial expression database. The processing unit is used for calling sample characteristic data in the sample facial expression database and the characteristic data in the facial expression acquiring unit to perform comparative analysis. The remote management and control device is used for receiving instructions sent out by the processing unit according to analysis results and sending out signals. The signal receiving device is arranged in a household appliance and used for receiving the signals sent by the remote control device and triggering the household appliance to work. The intelligent robot management and control system uses facial expressions as an interactive mode, does not need user's initiative operation, can perform corresponding service actions at any time and any place according to the facial expressions of the user, and meets requirements of the user.
Description
Technical field
The present invention relates to a kind of intelligent managing and control system, relate in particular to a kind of intelligent managing and control system of man-machine interaction.
Background technology
Recognition of face is based on a kind of biological identification technology that people's face feature information is carried out identification.The image or the video flowing that contain people's face with video camera or camera collection, and detection and tracking people face in image automatically, and then detected people's face is carried out a series of correlation techniques of face, comprise man face image acquiring, people's face location, recognition of face pre-service, memory storage and comparison identification, reach the purpose of identification different people identity.
Human face expression is identified compared to recognition of face further, and it passes through the analysis and judgement to the expression of the expression of static state and dynamic change, obtains people's emotion information, thereby reaches the purpose of understanding and satisfying people's needs based on understanding.
In the modern life, increasing family has introduced intelligent robot and has carried out service for life, for example sweep the floor, dust suction, end tea, amusements etc. are though the user can carry out predetermined and type service selection of regular hour, but all need the user independently to operate at every turn, can't satisfy rhythm of life is fast and working pressure is big modern metropolitan cities people to service product initiatively change, intelligentized demand.
Summary of the invention
The present invention has overcome the deficiencies in the prior art, and a kind of, intelligent robot managing and control system that can initiatively, in time, flexibly utilize existing household electrical appliances meet consumers' demand good based on Expression Recognition, human-computer interaction is provided.
For achieving the above object, the technical solution used in the present invention is: a kind of intelligent robot managing and control system based on Expression Recognition, it is characterized in that, and comprising:
The expression collecting unit be used for to be gathered the human face expression image, and is converted into characteristic and stores;
Sample expression database stores magnanimity sample human face expression image and sample characteristics data thereof;
Processing unit comprises that the characteristic in the sample characteristics data of calling in the sample expression database and the collecting unit of expressing one's feelings compares analysis;
Telechiric device is used for receiving the instruction that processing unit sends according to analysis result, and sends signal;
Signal receiving device is located in the home appliance, be used for to receive the signal that telechiric device sends and triggers home appliance work.
Preferably, described home appliance comprises multiple electrical equipment, and some instructions that processing unit sends are corresponding one by one with some signals that telechiric device sends, and the signal correspondence that telechiric device sends also triggers corresponding electrical work.
Preferably, described intelligent robot managing and control system also comprises the control module with first human-computer interaction module, and described first human-computer interaction module is selected according to the user, and acquiescence or the instruction of change processing unit concern with the corresponding triggering of each signal of telechiric device.
Preferably, described control module also comprises second human-computer interaction module, and described second human-computer interaction module is according to user's input, increases sample human face expression image to the sample database of expressing one's feelings.
Preferably, described expression collecting unit comprises image capture module and starts or stops the start and stop module of image capture module that when the start and stop module was opened, image capture module continued to catch facial image, when the start and stop module stopped, image capture module was suspended the seizure facial image.
Preferably, described processing unit comprises judge module, be used for to calculate and judge the variation of the same human face expression image that the expression collecting unit transmitted in a period of time, triggers described start and stop module according to changing value and opens or stop.
The present invention also provides a kind of management-control method of the intelligent robot managing and control system based on Expression Recognition, comprises the steps:
(1) image capture module captures user's facial expression image;
(2) analysis module accesses the expression characteristic of collecting unit and the sample characteristics data in the database are carried out similarity relatively, identifies expression and sends corresponding instruction and give telechiric device;
(3) telechiric device receives instruction and sends corresponding signal to specific electrical equipment, and then triggers the work of specific electrical equipment.
The invention solves the defective that exists in the background technology, intelligent robot managing and control system of the present invention as interactive mode, need not user's active operation with human face expression, can be whenever and wherever possible expresses one's feelings according to the user and triggers corresponding household electrical appliances and serve, utilize existing home appliance resource, satisfy user's needs.Especially can adjust the electrical equipment of work flexibly according to the expression shape change of identification, satisfy the demand that the user changes.Human-computer interaction module can be set, the service of following one's inclinations and needing under the mood of selecting the particular emotion representative and the state for the user.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the system architecture synoptic diagram of the embodiment of the invention.
Embodiment
The present invention is further detailed explanation in conjunction with the accompanying drawings and embodiments now, and these accompanying drawings are the synoptic diagram of simplification, basic structure of the present invention only is described in a schematic way, so it only shows the formation relevant with the present invention.
As shown in Figure 1, a kind of intelligent robot managing and control system based on Expression Recognition is for the dwelling house that is provided with home appliance, comprise robot body, be arranged on the processor in the robot body, the storer that links to each other with processor and camera head respectively, and the telechiric device that links to each other with processor.
Be provided with the expression collecting unit in the camera head, be used for by camera collection human face expression image, and be converted into characteristic and store;
Be provided with sample expression database in the storer, store magnanimity sample human face expression image and sample characteristics data thereof;
Set handling unit in the processor comprises that the characteristic in the sample characteristics data of calling in the sample expression database and the collecting unit of expressing one's feelings compares analysis;
Telechiric device is used for receiving the instruction that processing unit sends according to analysis result, and sends signal;
Signal receiving device is located in the home appliance, be used for to receive the signal that telechiric device sends and triggers home appliance work.
Concrete, processing unit by the sample characteristics data in the comparative sample expression database and the characteristic in the expression collecting unit, draws the similarity of two people's face facial expression images of comparing, and then identifies human face expression.Different expressions is mainly according to face, eye, the action of nose changes, the crooked radian of the corners of the mouth for example, bending direction, eyes open size, degree of crook, whether face has tear stains.Therefore, these characteristic features are carried out emphasis relatively.
Usually home appliance comprises multiple electrical equipment, and some instructions that processing unit sends are corresponding one by one with some signals that telechiric device sends, and the signal correspondence that telechiric device sends also triggers corresponding electrical work.For example home appliance comprises music player, electric heater, TV, desk lamp with dimmer switch, electric cooker, the processing unit analysis obtains expressing one's feelings behind the result, send corresponding instruction to telechiric device, telechiric device sends corresponding signal to the signal receiving device in the target electric appliance, triggers this electrical work.For example the analytical table love knot really is tired out, cold, and processing and analysis unit is sent the instruction that the manufacture hot water has a bath to telechiric device, and telechiric device sends corresponding signal triggering electric heater and starts working, the heating water for bathing.The user can conveniently enjoy service.
Preferably, intelligent robot managing and control system of the present invention also comprises the control module with first human-computer interaction module, and in the controller that control module is arranged on processor links to each other, this moment, telechiric device also was arranged in the controller.First human-computer interaction module is selected according to the user, and acquiescence or the instruction of change processing unit concern with the corresponding triggering of each signal of telechiric device.For example under the default conditions, when processing unit recognizes tired expression, the instruction correspondence of sending be the remote signal that triggers music player, after the user changed by first human-computer interaction module, identical expression is then corresponding to trigger the remote signal that electric heater begins to heat.
Preferably, control module also comprises second human-computer interaction module, and second human-computer interaction module is according to user's input, increases sample human face expression image to the sample database of expressing one's feelings.User's input mode can be directly to import to second human-computer interaction module by movable storage device, perhaps by importing interactive module behind the image capture module collection in worksite, transmit and store into sample expression database again by second human-computer interaction module, enrich stock's image, improve the identification accuracy.Newly-increased image can be user or public's countenance image, and when using user's facial expression image, the accuracy rate of identification is higher during the work of intelligent robot managing and control system, the user's needs of fitting more.The user's facial expression image that uses collection in worksite is during as newly-increased sample image, and user's expression that the bright and dark light of image etc. capture during with work is more close, and further accuracy is identified in raising.
Preferably, the expression collecting unit comprises image capture module and the start and stop module that starts or stops image capture module, and when the start and stop module was opened, image capture module continued to catch facial image, and when the start and stop module stopped, image capture module was suspended the seizure facial image.Further preferred, processing unit comprises judge module, is used for calculating and judging the variation of the same human face expression image that the expression collecting unit transmitted in a period of time, triggers described start and stop module according to changing value and opens or stop.For example, the start and stop module is opened image capture module, and the fatigue that captures the user is at first expressed one's feelings, trigger the deepening of desk lamp with dimmer switch light, soften, in this process, image capture module is still continuing to catch expression, and send judge module identification to, desk lamp with dimmer switch is adjusted to than after half-light line a period of time, judge module recognizes to express one's feelings to become and loosens, and then can trigger desk lamp with dimmer switch and brighten, starts other electrical equipment, for example turns on TV, perhaps do not trigger electrical work and the start and stop module is stopped, suspending the seizure image.Can continue the follow-up service user, up to obtaining psychological condition preferably.Expression can also arrange timer in the collecting unit, is used for triggering the start and stop module and opens and stop or suspending unlatching behind the certain hour behind the certain hour.For example set lasting seizure and suspend 1 hour after 1 minute, restart again to catch 1 minute, so circulation.What continue to catch can be that the image of single frames also can be continuous video image.
Management-control method based on intelligent robot managing and control system of the present invention comprises the steps:
Image capture module captures user's facial expression image, and analysis module identification expression is also sent corresponding instruction and given telechiric device, and telechiric device sends corresponding signal to specific electrical equipment, and then triggers the work of specific electrical equipment.Concrete, analysis module accesses characteristic and the sample characteristics data in the database of expression collecting unit and carries out similarity relatively, identifies expression, and then triggers corresponding electrical work by controller.The user selects to make the service of managing and control system better to press close to by control module and satisfies oneself requirement.
In addition, when processing unit carries out Expression Recognition, also can adopt in the following method: utilize the ASM algorithm to extract shape and the unique point of the facial image of collection, utilize the amplitude textural characteristics of Gabor Wavelet Transformation Algorithm extract minutiae, and obtain eigenface to be identified by the projection of amplitude textural characteristics.The sample human face expression image of storing in the sample expression database also in advance is converted into the sample characteristics face by identical method, and the similarity by eigenface more to be identified and sample characteristics face identifies expression to be identified.
Above foundation desirable embodiment of the present invention is enlightenment, and by above-mentioned description, the related personnel can carry out various change and modification fully in the scope that does not depart from this invention technological thought.The technical scope of this invention is not limited to the content on the instructions, must determine technical scope according to the claim scope.
Claims (7)
1. the intelligent robot managing and control system based on Expression Recognition is characterized in that, comprising:
The expression collecting unit be used for to be gathered the human face expression image, and is converted into characteristic and stores;
Sample expression database stores magnanimity sample human face expression image and sample characteristics data thereof;
Processing unit comprises that the characteristic in the sample characteristics data of calling in the sample expression database and the collecting unit of expressing one's feelings compares analysis;
Telechiric device is used for receiving the instruction that processing unit sends according to analysis result, and sends signal;
Signal receiving device is located in the home appliance, be used for to receive the signal that telechiric device sends and triggers home appliance work.
2. a kind of intelligent robot managing and control system based on Expression Recognition according to claim 1, it is characterized in that: described home appliance comprises multiple electrical equipment, some instructions that processing unit sends are corresponding one by one with some signals that telechiric device sends, and the signal correspondence that telechiric device sends also triggers corresponding electrical work.
3. a kind of intelligent robot managing and control system based on Expression Recognition according to claim 2, it is characterized in that: also comprise the control module with first human-computer interaction module, described first human-computer interaction module is selected according to the user, and acquiescence or the instruction of change processing unit concern with the corresponding triggering of each signal of telechiric device.
4. a kind of intelligent robot managing and control system based on Expression Recognition according to claim 3, it is characterized in that: described control module also comprises second human-computer interaction module, described second human-computer interaction module is according to user's input, increases sample human face expression image to the sample database of expressing one's feelings.
5. a kind of intelligent robot managing and control system based on Expression Recognition according to claim 4, it is characterized in that: described expression collecting unit comprises image capture module and starts or stops the start and stop module of image capture module, when the start and stop module is opened, image capture module continues to catch facial image, when the start and stop module stopped, image capture module was suspended the seizure facial image.
6. a kind of intelligent robot managing and control system based on Expression Recognition according to claim 5, it is characterized in that: described processing unit comprises judge module, be used for to calculate and judge the variation of the same human face expression image that the expression collecting unit transmits in a period of time, trigger described start and stop module according to changing value and open or stop.
7. the management-control method of a kind of intelligent robot managing and control system based on Expression Recognition according to claim 1 is characterized in that, comprises the steps:
(1) image capture module captures user's facial expression image;
(2) analysis module accesses the expression characteristic of collecting unit and the sample characteristics data in the database are carried out similarity relatively, identifies expression and sends corresponding instruction and give telechiric device;
(3) telechiric device receives instruction and sends corresponding signal to specific electrical equipment, and then triggers the work of specific electrical equipment.
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| CN104077579A (en) * | 2014-07-14 | 2014-10-01 | 上海工程技术大学 | Facial expression image recognition method based on expert system |
| CN104700094A (en) * | 2015-03-31 | 2015-06-10 | 江苏久祥汽车电器集团有限公司 | Face recognition method and system for intelligent robot |
| CN105511608A (en) * | 2015-11-30 | 2016-04-20 | 北京光年无限科技有限公司 | Intelligent robot based interaction method and device, and intelligent robot |
| CN105607504A (en) * | 2016-03-15 | 2016-05-25 | 美的集团股份有限公司 | Intelligent home system, and intelligent home control apparatus and method |
| CN105843050A (en) * | 2016-03-18 | 2016-08-10 | 美的集团股份有限公司 | Intelligent household system, intelligent household control device and method |
| CN106817541A (en) * | 2017-01-10 | 2017-06-09 | 惠州Tcl移动通信有限公司 | A kind of method and system taken pictures based on facial expression control |
| CN107657963A (en) * | 2016-07-25 | 2018-02-02 | 韦创科技有限公司 | Sob identification system and sob discrimination method |
| CN107807537A (en) * | 2017-11-16 | 2018-03-16 | 四川长虹电器股份有限公司 | Intelligent household appliances control system and method based on expression recognition |
| TWI618994B (en) * | 2015-06-30 | 2018-03-21 | 芋頭科技(杭州)有限公司 | An intelligent control system and method |
| CN111207516A (en) * | 2020-02-27 | 2020-05-29 | 常熟高通智能装备有限公司 | Intelligent switch, water heater capable of intelligently controlling outlet water temperature and intelligent control method |
| CN113963528A (en) * | 2021-10-20 | 2022-01-21 | 浙江理工大学 | Man-machine interaction system |
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Cited By (13)
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| CN104077579B (en) * | 2014-07-14 | 2017-07-04 | 上海工程技术大学 | Facial expression recognition method based on expert system |
| CN104077579A (en) * | 2014-07-14 | 2014-10-01 | 上海工程技术大学 | Facial expression image recognition method based on expert system |
| CN104700094A (en) * | 2015-03-31 | 2015-06-10 | 江苏久祥汽车电器集团有限公司 | Face recognition method and system for intelligent robot |
| TWI618994B (en) * | 2015-06-30 | 2018-03-21 | 芋頭科技(杭州)有限公司 | An intelligent control system and method |
| CN105511608A (en) * | 2015-11-30 | 2016-04-20 | 北京光年无限科技有限公司 | Intelligent robot based interaction method and device, and intelligent robot |
| CN105511608B (en) * | 2015-11-30 | 2018-12-25 | 北京光年无限科技有限公司 | Exchange method and device, intelligent robot based on intelligent robot |
| CN105607504A (en) * | 2016-03-15 | 2016-05-25 | 美的集团股份有限公司 | Intelligent home system, and intelligent home control apparatus and method |
| CN105843050A (en) * | 2016-03-18 | 2016-08-10 | 美的集团股份有限公司 | Intelligent household system, intelligent household control device and method |
| CN107657963A (en) * | 2016-07-25 | 2018-02-02 | 韦创科技有限公司 | Sob identification system and sob discrimination method |
| CN106817541A (en) * | 2017-01-10 | 2017-06-09 | 惠州Tcl移动通信有限公司 | A kind of method and system taken pictures based on facial expression control |
| CN107807537A (en) * | 2017-11-16 | 2018-03-16 | 四川长虹电器股份有限公司 | Intelligent household appliances control system and method based on expression recognition |
| CN111207516A (en) * | 2020-02-27 | 2020-05-29 | 常熟高通智能装备有限公司 | Intelligent switch, water heater capable of intelligently controlling outlet water temperature and intelligent control method |
| CN113963528A (en) * | 2021-10-20 | 2022-01-21 | 浙江理工大学 | Man-machine interaction system |
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