CN104159061A - Virtual attendance system based on remote attendance equipment - Google Patents
Virtual attendance system based on remote attendance equipment Download PDFInfo
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- CN104159061A CN104159061A CN201410307237.4A CN201410307237A CN104159061A CN 104159061 A CN104159061 A CN 104159061A CN 201410307237 A CN201410307237 A CN 201410307237A CN 104159061 A CN104159061 A CN 104159061A
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Abstract
The invention discloses remote attendance equipment and a corresponding remote attendance system. In the remote attendance equipment, a moving part receives a control command from a control part; a video part collects on-site images and sends the images to a cloud server; an audio part collects on-site sounds and sends the sounds to the cloud server; and the audio and video parts receive audio and video signals from the cloud server for restoring sounds and images. The audio part adopts a multi-microphone array for collecting the on-site sounds. Sounds collected by each microphone are subjected to primary filtering, audio frequencies are subjected to wave beam processing for forming single signals, and then the single signals are subjected to secondary filtering, and thus the position of a main sound source is obtained. According to the invention, a user is allowed to start the remote attendance equipment at any place capable of accessing to the Internet, and to appear at an expected place for on-site communication. Thus, the user is prevented from frequently attending various on-site conferences, and wasted travel time is reduced.
Description
Technical field
The present invention relates to a kind of virtual presence systems, relate in particular to a kind ofly based on long-range virtual presence systems of attending equipment, belong to teleconference technical field.
Background technology
At present, computer teleconferencing system every field be in social life used widely.Meanwhile, along with the development of electronic information technology, Robotics also starts to enter teleconference technical field.
According to relevant media report, U.S. Anybots company develops the remote monitoring machine people of a kind of QB of being called.The alterable height of GaiQB robot, the highest nearly 1.75 meters, be equivalent to an adult's normal height.QB robot relies on two wheels to move everywhere, and mobile speed can reach the speed of mankind's walking, and can in moving process, keep homeostasis.QB robot is by having the video camera of 5,000,000 pixels in eyes, and a video camera that resolution is lower of installing down at its head, can " see " object around; The video content that simultaneously can video camera be taken by the Internet sends Long-distance Control person to.Other eyes of QB robot play a part laser pen, and built-in laser guidance system guarantees that it can not knock furniture or doorframe.Sound around can " be heard " by three microphones by QB robot, and sends sound to Long-distance Control person.It also has a high-quality loud speaker, in order to play Long-distance Control person's sound.QB robot, by LCD Panel, can be sent to Long-distance Control person's image on-the-spot people there.Like this, QB robot has advantages of can make Long-distance Control person exchange at meeting room outward, can replace owner to be in the action and attend a meeting.
But the moving range of GaiQB robot is limited, can not automatically locate main sound source, cause Long-distance Control person sometimes to can't see live view.Because price is relatively costly, only have at present limited user using, so the utilization rate of GaiQB robot is also lower.
Summary of the invention
For the deficiencies in the prior art, primary technical problem to be solved by this invention is to provide a kind of long-range equipment (also referred to as RPD robot) of attending.
It is a kind of based on above-mentioned long-range virtual presence systems of attending equipment that another technical problem to be solved by this invention is to provide.
For achieving the above object, the present invention adopts following technical scheme:
The long-range equipment of attending, comprises motion parts, control section, video section, audio-frequency unit and network portion; Wherein,
Described motion parts receives the control command from described control section, is used for controlling the described long-range equipment of attending and travels according to fixed route;
Described video section collection site picture, delivers to described control section after processing, by described control section, by described network portion, deliver to Cloud Server; Described control section receives the vision signal from Cloud Server by described network portion, and is sent to described video section, realizes picture reduce by described video section;
Described control section receives the audio signal from Cloud Server by described network portion, and is sent to described audio-frequency unit, by described audio-frequency unit, realizes sound-reducing;
Described audio-frequency unit adopts multi-microphone array collection site sound, audio frequency to each microphone collection in described multi-microphone array carries out elementary filtering, and the audio frequency of all passages is carried out to wave beam and process formation single signal, described single signal is carried out to secondary filtering processing, thereby obtain the orientation in keynote source.
Wherein more preferably, described control section obtains sending control command behind the orientation in keynote source, and convert the rate signal of motor to, form by pwm signal sends to motor driver, described motor driver carries out power amplification to described pwm signal, thereby drive motors completes corresponding go to action, make visual field camera towards the orientation in keynote source.
Wherein more preferably, described motion parts comprises two driving wheels, is arranged at respectively the left and right sides, when two synchronous constant speed forwards of driving wheel advance, after left driving wheel, biography and right driving wheel forward are to turn left, and left driving wheel forward pass and right driving wheel forward are to turn right.
Wherein more preferably, described video section comprises visual field camera and tracking camera, and tracking camera is followed the tracks of keynote source, and carries out face recognition, after spotting, regulates the position of visual field camera to make it aim at the face in keynote source.
A virtual presence systems, the long-range equipment of attending based on above-mentioned is realized, and comprising:
Remote terminal, for controlling the long-range equipment of attending;
The long-range equipment of attending, for the audio & video of collection site, plays the Voice & Video of remote terminal;
Cloud Server, for collection, storage and transmission network data flow;
The described long-range equipment of attending is connected with described Cloud Server by the Internet, and described Cloud Server is connected with described remote terminal by the Internet, by described remote terminal, controls the long-range equipment of attending.
Wherein more preferably, the key that the described long-range equipment of attending is used described Cloud Server to provide, connects described remote terminal, and described key is compared.
Wherein more preferably, described key is compared successfully, describedly long-rangely attends equipment and described remote terminal carries out time synchronized, establishes a communications link.
Wherein more preferably, the signal of described time synchronized comprises vision signal, audio signal and control signal, and described vision signal, described audio-frequency information are compressed, and adds the time mark of unified benchmark simultaneously, becomes Frame; Described control terminal sends the correct instruction of controlling according to described unified benchmark.
Wherein more preferably, when the described long-range equipment of attending is not worked, in low power consumpting state, after the described long-range equipment of attending receives the starting command request of described Cloud Server, do not start to wake up and carry out work.
Wherein more preferably, when the described long-range equipment of attending adopts powered battery, utilize wireless charging mode to charge.
Compared with prior art, the present invention has following beneficial effect:
User can start the long-range equipment of attending at the anywhere of accessible the Internet, carries out scene link up in desired place.This long-range equipment of attending can be located main sound source automatically, allows Long-distance Control person's real-time tracking speaker's picture, produces the sensation that body faces meeting scene.In addition, user can control the long-range equipment autonomous in wireless signal coverage of attending by remote terminal, realizes anywhere video and links up, flexible and convenient operation.
Accompanying drawing explanation
Fig. 1 is the long-range data flow figure that attends equipment provided by the present invention;
Fig. 2 is long-range attending in equipment, the structural representation of motion parts;
Fig. 3 is long-range attending in equipment, and the schematic diagram of lifting is realized in tracks facial position;
Fig. 4 is long-range attending in equipment, realizes the principle schematic of head lifting;
Fig. 5 is long-range attending in equipment, the structural representation of core processor;
Fig. 6 is long-range attending in equipment, the principle schematic of acquisition of media process;
Fig. 7 is long-range attending in equipment, the principle schematic of decoding procedure for displaying;
Fig. 8 is long-range attending in equipment, the principle schematic of wireless charging process;
Fig. 9 is the overall structure schematic diagram of virtual presence systems provided by the present invention;
Figure 10 is in virtual presence systems, the principle schematic of network data flow synchronizing process;
Figure 11 is in virtual presence systems, the principle schematic of Remote Wake Up process.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Shown in Fig. 1, be a kind of long-range equipment (Remote Presence Device, RPD) of attending provided by the invention, also referred to as RPD robot.It is comprised of motion parts, control section, video section, audio-frequency unit and network portion.Wherein, motion parts receives the control command from control section, is used for controlling the long-range equipment of attending and travels according to fixed route; Video section collection site picture, delivers to control section after processing accordingly and by network portion, delivers to Cloud Server by control section; Audio-frequency unit collection site sound, delivers to control section after processing accordingly and by network portion, delivers to Cloud Server by control section; Control section receives the vision signal from Cloud Server by network, and is sent to video section, realizes picture reduce by video section; Control section receives the audio signal from Cloud Server by network, and is sent to audio-frequency unit, realizes picture reduce by audio-frequency unit; By control section, receive and send data, thus realize long-range attend equipment at the scene with user's interaction.
The motion parts of the robot of ShiRPD shown in Fig. 2, comprises single-chip microcomputer, motor driver, motor, decelerator and driving wheel.Wherein, driving wheel consists of two driving wheels, is arranged at respectively RPD robot left side and right side, can advance, turns left, turn right, and can not retreat.The synchronous constant speed forward of two-wheel advances, and after revolver, biography, the right forward of taking turns are to turn left, otherwise are to turn right, as shown in double-head arrow in Fig. 2.Because two-wheeled pivot and robot center superposition, can think that its radius of turn is 0.For guaranteeing that RPD robot can steadily move, be also provided with a plurality of driven pulleys, wherein front end arranges 2 driven pulleys, and rear end arranges 1 driven pulley (not shown).In Ben RPD robot, single-chip microcomputer can adopt but be not limited to 51 single-chip microcomputers, ARM plate, FPGA etc., for receiving control command from communication serial port, and this control command is converted to the rate signal of motor, form by pwm signal sends to motor driver, this motor driver carries out power amplification to pwm signal, thus drive motors.Motor is connected with driving wheel by decelerator, makes RPD robot complete corresponding action.For example control section obtains sending control command behind the orientation in keynote source, and convert the rate signal of motor to, form by pwm signal sends to motor driver, motor driver carries out power amplification to pwm signal, thereby drive motors completes corresponding go to action, make visual field camera towards the orientation in keynote source.
For the user of different heights or user's difference station, sit back and wait posture, the motion parts of RPD robot is also provided with head regulon.As shown in Figure 3 and Figure 4, by the lifting of long-distance user's manual adjustments or according to the result of face recognition and tracking, realize automatic lifting.Manual mode and automatic mode can, by controlling remote terminal setting, also can arrange at the scene.Be described as follows: (1) hand-operated lifting: in communication process, if the communication object height that robot faces is not mated with robot, the image showing in the camera of the visual field can allow manipulator feel ill.Now, onsite user can regulate robot display (comprising visual field camera) by lifting button, is located at suitable position.(2) automatic lifting: if be highly not suitable for, people's face can depart from center in the position of visual field camera.By following the tracks of camera, carry out people's face location recognition, and automatically adjust height of display according to this position, be located at suitable position.
Shown in Fig. 5, be the internal structure of core processor, comprise driver module, encryption algorithm module, decoding algorithm module, RTP (RTP) module.Wherein, RTP module is connected with network portion by WiFi, LAN, 3G wireless network, 4G wireless network etc.RTP module receives by network portion transmits next control command, by decoding algorithm module converts, becomes the corresponding signal that drives.Driver module amplifies above-mentioned driving signal, thereby can drive the equipment such as camera, microphone, display and audio amplifier., after the signal of the equipment such as camera, microphone, display and audio amplifier is amplified by driver module, by encryption algorithm module, it is encoded meanwhile, then by RTP module, by network portion, be transferred to remote terminal.
In the present invention, video section comprises visual field camera and tracking camera.Tracking camera is followed the tracks of keynote source, and carries out face recognition, after spotting, regulates the position of visual field camera to make it aim at the face in keynote source.
Fig. 6 is the principle schematic of acquisition of media process.Video section gathers the image information of each camera in RPD robot and remote terminal, is encoded to required form, through RTP module, transfers out; From network portion, obtain image information frame, decode and pass through the image library broadcasting that QT (the C++ graphic user interface storehouse that Norway TrollTech company produces) environment carries simultaneously.
Because the picture format from each camera collection is different, in order to encode conveniently, it need be converted into YUV420 form in advance, coded system adopts H264 or H265.Specifically, on the one hand, image format conversion is become to YUV420P form, via video encoding module, carry out H264/H265 coding, passing to RTP module tissue becomes the Internet protocol data and transfers to network portion; On the other hand, video encoding module is received the RTP data from network portion, according to SDP (Session Description Protocol), carry out interpretation to obtain H264/H265 coding parameter information, and accordingly view data is decoded, the result of decoding is YUV420P RAW picture format, this picture format need convert it video flowing of RGB24 form to again through modular converter, by QT display module driving display, is shown.
As shown in Figure 7, audio-frequency unit gathers the audio-frequency information of RPD robot and remote terminal microphone, adopts AAC coded system to encode after the processing such as filtering, and through RTP module, the audio-frequency information after coding is transferred out; From network portion, obtain audio data frame, be decoded as PCM form and play simultaneously.Between RPD robot and remote terminal, adopting RTSP (real-time streams transmission) agreement to communicate, is the other side's RTSP server each other, is also the other side's RTSP client.RPD robot loads RTSP server program after starting automatically.After remote terminal XiangRPD robot submit applications, as the RPD robot of RTSP server, start to provide video and the service of audio network data flow, also to remote terminal, file an application simultaneously.After receiving application as the remote terminal of RTSP server, also provide corresponding video, audio frequency and the service of control flow data.
In general, RPD robot is operated in office building corridor, office, meeting room, and even the occasion of factory floor is many, and environmental noise is many.Meeting room particularly, situation about hotly arguing with regard to certain subject under discussion is quite a few sees.In order to address this problem, the present invention adopts multi-microphone array, by the difference of microphone, points to and layout, adopts and includes but not limited to AEC or NLMS equal echo elimination algorithm, eliminates echo and background noise, realizes sound fidelity.Be described as follows: first, audio frequency for each microphone collection in multi-microphone array carries out elementary filtering, then the audio frequency of all passages is carried out to wave beam processing, form after single signal, again this single signal is carried out to secondary filtering processing, the filtering exponent number of secondary filtering is higher than elementary filtering.On this basis, the signal of multi-microphone array is processed, known the orientation in keynote source.Multi-microphone array, when processing, can adopt existing audio frequency 3d space mapping algorithm, analyzes and draws main sound bearing.After obtaining the orientation in keynote source, according to bearing data, adjust camera and pointed to the real-time tracking to speaker.
In addition, RPD robot can adopt battery, direct current or exchange way to power.When DangRPD robot adopts direct current or exchange way power supply, need to run to the place that has power supply of appointment, by manually plug insertion socket being charged.If while adopting powered battery, can select wireless charging mode, robot is placed into and on charging platform, automatically starts charging process.As shown in Figure 8, RPD robot can be automatically moved to charging platform and charge, and the situation of electric weight is sent to remote terminal in real time according to electric weight situation when arriving set point, is user-friendly to.
Shown in Fig. 9, be a kind of virtual presence systems towards teleconference provided by the present invention, based on the above-mentioned long-range equipment of attending, realize, comprising: long-range equipment, remote terminal and the webserver of attending.Wherein, user carries out network registry in Cloud Server, and the product ID of Bing Ba RPD robot is added on the management of accepting cloud in Cloud Server, and sets up and distribute account with the scope of restricting user access RPD robot.After user's register account number, can login anywhere Cloud Server.After login, user can browse own addressable RPD list, and know its state, as battery electric quantity, whether occupied, whether charge etc., find and oneself think the RPD robot of access and after it can access, can being connected to Cloud Server request foundation and robot.User starts to control RPD robot by remote terminal.
In the present invention, remote terminal may operate on the equipment such as desktop computer, notebook computer, panel computer, smart mobile phone, and its operating system is Windows, Linux, MacOS, iOS, Android etc. also.The mode of remote terminal accessing Internet can be LAN+Router, WiFi+AP or 3G/4G network.In addition, the mode of RPD robot accessing Internet can be WiFi+AP or 3G/4G network.
In controlling process, the image that RPD robot gathers and sound are by various forms, and access network server is also transferred to Cloud Server, then be sent to remote terminal.Image, sound and the user's control command that remote terminal gathers is by network delivery GeiRPD robot.RPD robot and remote terminal are the other side's RTSP server each other, are also the other side's RTSP clients.RPD robot loads RTSP server program after starting automatically.After remote terminal XiangRPD robot submit applications, as the RPD robot of RTSP server, start to provide video and the service of audio network data flow, also to remote terminal, file an application simultaneously.After receiving application as the remote terminal of RTSP server, also provide corresponding video, audio frequency and the service of control flow data.
In actual applications, the image that the RPD robot that user sees transmits and sound are before the some time, need synchronously to process before broadcasting.Consider network delay, the present invention also regards special network data flow as and carries out time mark to realize synchronous processing controlling instruction.Shown in Figure 10, be network data flow synchronization principles figure, Cloud Server reply is received after the request that client regularly sends, by visual field camera with tracking camera image through H264/H265 compression, microphone audio, after AAC compresses, becomes Frame; And the time mark of adding unified benchmark, by the sub-session of network data flow separately, carried out respectively after RTP preliminary treatment, transfer to RTP mechanism by network destined client.Client is regularly sent request by RTP, and flow with asynchronous system monitoring network, obtain Frame, according to the entrained time mark of Frame, do synchronous processing, and play, control command is sent to electric machine controller simultaneously, by controlling instruction, be considered as special network data flow and processed.
For promoting the stand-by time of RPD robot, BenRPD robot automatically enters sleep state after quitting work, and to save electricity consumption, extends robot stand-by time.Cloud Server receives after user's request, can be sent and be waken up instruction by the Internet, starts signal procedure and network data streaming server, and the IP address that obtains remote terminal, sets up RPD robot and is connected to carry out long-distance video call with the network of remote terminal.As shown in figure 11, the basic procedure of Remote Wake Up work is as follows:
1. user logins cloud by remote terminal, and the username and password of oneself is provided, if by system authentication, automatically generates random key.
2. user browses and oneself possesses after RPD authority, addressable robot in cloud, provides the ID of RPD robot to Cloud Server, and request connects.
3. Cloud Server receives after request, can send wake command, wakes corresponding RPD robot up and enters operating state.
4. Cloud Server starts RPD robot communication program, and key is provided.
5.RPD robot uses key to connect remote terminal, after key comparison, the synchronous two machine times, establishes a communications link.
After user finishes using, remote terminal is sent and is ceased and desisted order by Cloud Server.RPD robot provides feedback to Cloud Server after receiving and ceasing and desisting order, and continues to start dormancy.
Utilize the present invention, can allow user to start the long-range equipment of attending at the anywhere of accessible the Internet, scene communication is carried out in the place that appears at expectation; Avoid the various on-the-spot meetings of the frequent participation of user, reduce the consumption of travel time.
To provided by the present invention, based on long-range virtual presence systems of attending equipment, have been described in detail above.For one of ordinary skill in the art, any apparent change of under the prerequisite that does not deviate from connotation of the present invention, it being done, all will form infringement of patent right of the present invention, will bear corresponding legal liabilities.
Claims (10)
1. the long-range equipment of attending, is characterized in that comprising motion parts, control section, video section, audio-frequency unit and network portion; Wherein,
Described motion parts receives the control command from described control section, is used for controlling the described long-range equipment of attending and travels according to fixed route;
Described video section collection site picture, delivers to described control section after processing, by described control section, by described network portion, deliver to Cloud Server; Described control section receives the vision signal from Cloud Server by described network portion, and is sent to described video section, realizes picture reduce by described video section;
Described control section receives the audio signal from Cloud Server by described network portion, and is sent to described audio-frequency unit, by described audio-frequency unit, realizes sound-reducing;
Described audio-frequency unit adopts multi-microphone array collection site sound, audio frequency to each microphone collection in described multi-microphone array carries out elementary filtering, and the audio frequency of all passages is carried out to wave beam and process formation single signal, described single signal is carried out to secondary filtering processing, thereby obtain the orientation in keynote source.
2. the long-range equipment of attending as claimed in claim 1, is characterized in that,
Described control section obtains sending control command behind the orientation in keynote source, and convert the rate signal of motor to, form by pwm signal sends to motor driver, described motor driver carries out power amplification to described pwm signal, thereby drive motors completes corresponding go to action, make visual field camera towards the orientation in keynote source.
3. the long-range equipment of attending as claimed in claim 1, is characterized in that,
Described motion parts comprises two driving wheels, is arranged at respectively the left and right sides; When two synchronous constant speed forwards of driving wheel advance, after left driving wheel, biography and right driving wheel forward are to turn left, and left driving wheel forward pass and right driving wheel forward are to turn right.
4. the long-range equipment of attending as claimed in claim 1, is characterized in that,
Described video section comprises visual field camera and tracking camera, and tracking camera is followed the tracks of keynote source, and carries out face recognition, after spotting, regulates the position of visual field camera to make it aim at the face in keynote source.
5. a virtual presence systems, the long-range equipment of attending based on described in any one in claim 1～4 is realized, and it is characterized in that comprising:
Remote terminal, for controlling the long-range equipment of attending;
The long-range equipment of attending, for the audio & video of collection site, plays the Voice & Video of remote terminal;
Cloud Server, for collection, storage and transmission network data flow;
The described long-range equipment of attending is connected with described Cloud Server by the Internet, and described Cloud Server is connected with described remote terminal by the Internet, by described remote terminal, controls the long-range equipment of attending.
6. virtual presence systems as claimed in claim 5, is characterized in that,
The key that the described long-range equipment of attending is used described Cloud Server to provide, connects described remote terminal, and described key is compared.
7. virtual presence systems as claimed in claim 6, is characterized in that,
Described key is compared successfully, describedly long-rangely attends equipment and described remote terminal carries out time synchronized, establishes a communications link.
8. virtual presence systems as claimed in claim 7, is characterized in that,
The signal of described time synchronized comprises vision signal, audio signal and control signal, and described vision signal, described audio-frequency information are compressed, and adds the time mark of unified benchmark simultaneously, becomes Frame; Described control terminal sends the correct instruction of controlling according to described unified benchmark.
9. long-range presence systems as claimed in claim 5, is characterized in that,
When the described long-range equipment of attending is not worked, in low power consumpting state, after the described long-range equipment of attending receives the starting command request of described Cloud Server, do not start to wake up and carry out work.
10. long-range presence systems as claimed in claim 5, is characterized in that,
When the described long-range equipment of attending adopts powered battery, utilize wireless charging mode to charge.
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| CN201410307237.4A CN104159061A (en) | 2014-06-30 | 2014-06-30 | Virtual attendance system based on remote attendance equipment |
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