CN105373784A - Intelligent robot data processing method, intelligent robot data processing device and intelligent robot system - Google Patents
Intelligent robot data processing method, intelligent robot data processing device and intelligent robot system Download PDFInfo
- Publication number
- CN105373784A CN105373784A CN201510857591.9A CN201510857591A CN105373784A CN 105373784 A CN105373784 A CN 105373784A CN 201510857591 A CN201510857591 A CN 201510857591A CN 105373784 A CN105373784 A CN 105373784A
- Authority
- CN
- China
- Prior art keywords
- expression
- output order
- face
- data processing
- intelligent robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/174—Facial expression recognition
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
- G06V40/166—Detection; Localisation; Normalisation using acquisition arrangements
Abstract
The present invention provides an intelligent robot data processing method, an intelligent robot data processing device and an intelligent robot system. The method provided by the invention comprises: an image capture step of capturing face images in a preset shooting range; a face expression information acquisition step of locking a target face in the face images and performing expression recognition of the target face to obtain face expression information; a machine expression output instruction determination step of analyzing the face expression information and matching the obtained analysis data and the preset expression output instruction database to obtain a corresponding machine expression output instruction; an expression output step of outputting corresponding machine expressions according to the machine expression output instruction. The intelligent robot data processing method is able to effectively overcome the defect that the current expression robot cannot present the expression associated with the user's face emotion at present, therefore the emotion expression ability of a robot system is enhanced and the emotional interaction between the robot system and a user is improved.
Description
Technical field
The present invention relates to bio-robot technical field, specifically, relate to a kind of intelligent robot data processing method and device, intelligent robot system.
Background technology
Along with the development of science and technology, the introducing of infotech, computer technology and artificial intelligence technology, the research of robot progressively walks out industrial circle, extend to the fields such as medical treatment, health care, family, amusement and service industry gradually.And people are promoted to have highly intelligent, independence and the intelligent robot mutual with other intelligent bodies for the requirement of the robot multiple mechanical actions of substance of also conforming to the principle of simplicity.For intelligent robot, it not only needs the ability with assigned work, also needs to assist to finish the work in many occasions and people, and this just requires that intelligent robot can carry out effective emotion and information interchange with people.
Facial expression is the performance of mood at face, and it is the main thoroughfare of emotion expression service.Research shows, the mankind are when carrying out emotional expression, and the use of words often only accounts for 7%, and tone accounts for 38%, and remaining 55% has then come primarily of body language.Body language is the body language of people, just refers to expression and the action of people particularly.Therefore, intelligent robot is when practical application, and the application of facial expression is absolutely necessary, and is also very important.Thus the research for expression robot is also very necessary.
Existing expression robot still can not show be associated with user mood (such as identical mood, contrary mood or other set mood), this also just causes the emotional expression Shortcomings of existing expression robot, emotional interaction between robot shortcoming and user, cannot provide best Consumer's Experience.
Summary of the invention
For solving the problem, the invention provides a kind of intelligent robot data processing method, it comprises the following steps:
Image capture step, catches the facial image preset in coverage;
Human facial expression information obtaining step, lock onto target face from described facial image, and Expression Recognition is carried out to described target face, obtain human facial expression information;
Machine expression output order determining step, resolves described human facial expression information, and is mated with default output order storehouse of expressing one's feelings by the resolution data obtained, and obtains corresponding machine expression output order;
Expression exports step, exports corresponding machine expression according to described machine expression output order.
According to one embodiment of present invention, the face quantity in described facial image is one or more, wherein,
When the face quantity in described facial image is one, lock onto target face also carries out Expression Recognition to this target face, obtains human facial expression information;
When the face quantity in described facial image is multiple, locks each face and respectively Expression Recognition carried out to each face, and obtaining human facial expression information based on default expression model according to Expression Recognition result statistics.
According to one embodiment of present invention, in described expression output order determining step, whether normally to go back Sampling network connection status,
If normal, then described human facial expression information is sent in remote server to determine corresponding machine expression output order by described remote server according to described human face expression;
If abnormal, then utilize and be configured in local local data processor determines correspondence machine expression output order according to described human face expression.
According to one embodiment of present invention, described image capture step comprises:
Video information in the default coverage that acquisition photographs;
Still image is intercepted from described video information;
Described facial image is caught from described still image.
According to one embodiment of present invention, in described image capture step, if catch the failure of described facial image, then export and preset prompting, and again obtain video information.
Present invention also offers a kind of intelligent robot data processing equipment, described device comprises:
Image capture module, for catching the facial image in default coverage;
Human facial expression information acquisition module, for from described facial image lock onto target face, and carries out Expression Recognition to described target face, obtains human facial expression information;
Machine expression output order determination module, for resolving described human facial expression information, and mates the resolution data obtained with default output order storehouse of expressing one's feelings, and obtains corresponding machine expression output order;
Expression output module, for exporting corresponding machine expression according to described machine expression output order.
According to one embodiment of present invention, the face quantity in described facial image is one or more, wherein,
When the face quantity in described facial image is one, described human facial expression information acquisition module is configured to lock onto target face and carries out Expression Recognition to this target face, obtains human facial expression information;
When the face quantity in described facial image is multiple, described human facial expression information acquisition module is configured to lock each face and carry out Expression Recognition to each face respectively, and obtains human facial expression information based on preset rules according to Expression Recognition result statistics.
According to one embodiment of present invention, described device also comprises:
Whether network detection module is normal for Sampling network connection status;
If normal, described human facial expression information is then sent in remote server to determine corresponding machine expression output order by described remote server according to described human face expression by human facial expression information acquisition module;
If abnormal, human facial expression information acquisition module then utilizes and is configured in correspondence determined by local data processor machine expression output order according to described human face expression.
According to one embodiment of present invention, described image capture module is configured to first to obtain the video information in the default coverage that photographs, intercepts still image subsequently, finally from described still image, catch described facial image from described video information.
According to one embodiment of present invention, whether described image capture module is also configured to detect facial image and catches failed, if failure, then exports the prompting again obtaining video information.
Present invention also offers a kind of intelligent robot system, it comprises:
Image collecting device, it is for gathering the facial image in default coverage;
Expression information acquisition device, it is connected with described image collecting device, for obtaining human facial expression information according to facial image;
Data processing equipment, it is connected with described expression information acquisition device, for determining corresponding machine expression output order according to described face information;
Expression output unit, it is connected with described data processing equipment, for producing corresponding machine expression according to described machine expression output order.
According to one embodiment of present invention, described data processing equipment comprises:
Be configured in the local data treatment circuit of described image collecting device and/or expression output unit this locality.
According to one embodiment of present invention, described local data treatment circuit comprises:
Data-carrier store, it presets expression output order storehouse for storing;
Local data processor, it is connected with described expression information acquisition device, data-carrier store and output unit of expressing one's feelings, for resolving described human facial expression information, and the resolution data obtained is mated with default output order storehouse of expressing one's feelings, determine corresponding machine expression output order, and described expression output unit is sent to described expression output unit.
According to one embodiment of present invention, described data processing equipment comprises:
Datel circuit, it is connected with described image collecting device, for carrying out the forwarding of data;
Remote data processing device, it is connected with described datel circuit, described facial image for coming according to described datel circuit transmission obtains described human facial expression information, determine corresponding machine expression output order according to described human facial expression information, and described machine expression output order is transferred to described expression output unit by described datel circuit.
According to one embodiment of present invention, described data processing equipment comprises:
Datel circuit, it is connected with described image collecting device, for carrying out the forwarding of data;
Remote data processing device, it is connected with described datel circuit, described facial image for coming according to described datel circuit transmission obtains described human facial expression information, determine corresponding machine expression output order according to described human facial expression information, and described machine expression output order is transferred to described expression output unit by described datel circuit.
According to one embodiment of present invention,
When communication connection between described datel circuit and described remote data processing device is normal, the machine expression output order that described expression output unit comes according to described datel circuit transmission produces corresponding machine expression;
When communication connection between described datel circuit and described remote data processing device disconnects, the machine expression output order that described expression output unit comes according to described local data processor transmission produces corresponding machine expression.
According to one embodiment of present invention, described remote data processing device comprises server.
According to one embodiment of present invention, described expression output module comprises any one in following lising or several:
LED dot matrix, LCDs, glass screen and bionic human face.
Intelligent robot data processing method provided by the present invention and device, intelligent robot system obtains the machine expression output order (expression that this machine expression output order sign expression robot system should present by carrying out analysis to the facial information of the user collected, this expression not necessarily must be identical with the current expression of user), and present machine expression in visual mode, effectively overcome the defect that existing expression robot cannot present the expression be associated with user's current face mood, improve the emotion expression service ability of robot system, improve the emotional interaction of robot system and user.
Other features and advantages of the present invention will be set forth in the following description, and, partly become apparent from instructions, or understand by implementing the present invention.Object of the present invention and other advantages realize by structure specifically noted in instructions, claims and accompanying drawing and obtain.
Accompanying drawing explanation
Accompanying drawing shows the various embodiments of each aspect of the present invention, and they and instructions one are used from and explain principle of the present invention.Those skilled in the art understand, specific embodiment shown in the drawings is only exemplary, and they are not intended to limit the scope of the invention.Should be realized that, in some examples, the element be illustrated also can be designed as multiple element, or multiple element also can be designed as an element.In some examples, the element being shown as the internal part of another element also may be implemented as the external component of this another element, and vice versa.In order to clearly, in detail exemplary embodiment of the present invention understand more thorough to enable the advantage of those skilled in the art to each aspect of the present invention and feature thereof, existing accompanying drawing to be introduced, in the accompanying drawings:
Fig. 1 is the process flow diagram of intelligent robot data processing method according to an embodiment of the invention;
Fig. 2 is the structural representation of intelligent robot according to an embodiment of the invention;
Fig. 3 is the process flow diagram obtaining facial image according to an embodiment of the invention;
Fig. 4 is the particular flow sheet of intelligent robot data processing method according to an embodiment of the invention;
Fig. 5 is the structural representation of intelligent robot data processing equipment according to an embodiment of the invention;
Fig. 6 is the structural representation of intelligent robot system according to an embodiment of the invention;
Fig. 7 is the structural representation of intelligent robot system in accordance with another embodiment of the present invention;
Fig. 8 is the structural representation of the intelligent robot system according to another embodiment of the present invention;
Fig. 9 is the structural representation of the intelligent robot system according to another embodiment of the present invention;
Figure 10 is the concrete structure figure of intelligent robot system according to an embodiment of the invention.
Embodiment
Describe embodiments of the present invention in detail below with reference to drawings and Examples, to the present invention, how application technology means solve technical matters whereby, and the implementation procedure reaching technique effect can fully understand and implement according to this.It should be noted that, only otherwise form conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other, and the technical scheme formed is all within protection scope of the present invention.
Meanwhile, in the following description, many details have been set forth for illustrative purposes, to provide thorough understanding of embodiments of the invention.But, it will be apparent to those skilled in the art that the present invention can detail here or described ad hoc fashion implement.
embodiment one:
Cannot show the problem of the mood be associated with user for existing intelligent robot, the invention provides a kind of new intelligent robot data processing method, Fig. 1 shows the process flow diagram of the method in the present embodiment.
As shown in Figure 1, first the intelligent robot data processing method that the present embodiment provides catches the facial image preset in coverage in image capture step S101.Fig. 2 shows the structural representation of intelligent robot involved in the present embodiment, and Fig. 3 shows in the present embodiment the particular flow sheet catching facial image.
Composition graphs 2 and Fig. 3 known, in the present embodiment, the video information in specified scope is taken in step s 201 by the camera be arranged on intelligent robot housing, in step S202, from the video information got, intercept still image subsequently, finally in step S203, from the still image intercepted out, catch out facial image.
In the present embodiment, if catch facial image failure in step S101, so output is preset prompting by the method, and facial image is looked in acquisition again.Particularly, when catching facial image failure in step S101, the method will export prompting " identification error please be tried again facing to camera " in the form of speech.After exporting this voice message, the method is by the video information in lasting shooting specified scope.And when user is according to this voice message adjustment self-position being in after in this specified scope, the method also just can normally get the video information comprising facial image.
It is pointed out that in other embodiments of the invention, the method can also export with other reasonable manners and preset prompting, the present invention is not limited thereto.Such as in one embodiment of the invention, the method can also adopt the mode that pilot lamp glimmers or camera watch region is highlighted to carry out reminding user adjustment self-position.
, also it is pointed out that in other embodiments of the invention, the method can also adopt other reasonable manners to catch facial image in image capture step S101, and the present invention is not limited thereto equally meanwhile.
Again as shown in Figure 1, after obtaining facial image, lock out target face in the facial image that the method that the present embodiment provides captures in human facial expression information obtaining step S102 from step S101, and Expression Recognition is carried out to this target face, thus obtain human facial expression information.
In machine expression output order determining step S103, the method determines corresponding machine expression output order according to the human facial expression information obtained in step S102.Particularly, in the present embodiment, first the method resolves human facial expression information, is mated by the resolution data obtained subsequently with default output order storehouse of expressing one's feelings, thus obtains corresponding machine expression output order according to matching result.
Export in step S104 in expression, the method exports corresponding machine expression according to the machine expression output order obtained in step S103, also presents relevant machine expression with regard to achieving according to the expression of user thus.
embodiment two:
Fig. 4 shows the process flow diagram of intelligent robot data processing method in the present embodiment.
As shown in Figure 4, first the method that the present embodiment provides catches the facial image preset in coverage in step S401.It is pointed out that in step S401 the principle that catches facial image and process same as shown in Figure 1, therefore not repeat them here.
When reality uses, probably there is the situation that multiple people is positioned at coverage simultaneously.When only there is people's (only comprising a face in the still image namely got) in coverage, this people expresses one's feelings the expression of namely reference required for intelligent robot; And when there is multiple people (comprising multiple faces in the still image namely got) in coverage, intelligent robot then needs the method adopting other to determine to need the human face expression of associated.
Therefore, as shown in Figure 4, in the facial image that the method that the present embodiment provides obtains in determining step S401 in step S402, whether face quantity is one.If face quantity is one in facial image, so the party's rule execution step S403 locks out target face and carries out Expression Recognition to this target face from this facial image, thus obtains human facial expression information.
And if face quantity is multiple in facial image, so the party's rule performs step S404 and lock out each face from this facial image, and carry out Expression Recognition to each face, and then default expression model is utilized to determine human facial expression information according to each Expression Recognition result.In the present embodiment, determine human facial expression information preferably by the mean data calculating each Expression Recognition result.Certainly, in other embodiments of the invention, other rational methods can also be adopted to make a return journey determine the human facial expression information of corresponding multiple Expression Recognition result, the present invention is not limited thereto.
After obtaining human facial expression information, this method judges that in step S405 whether the network of intelligent robot connects normal, namely judges that whether the connection between intelligent robot and remote server is normal.If network connects normal, so then in step S406, the human facial expression information obtained in step S403 or step S404 is sent to remote server, to determine corresponding machine expression output order by remote server according to this human facial expression information.
Particularly, in the present embodiment, store and preset expression output order storehouse in remote server, this expression output order storehouse includes multiple machine expression output order, and different machine expression output orders can control intelligent robot and present different expressions.After remote server receives human facial expression information, can resolve this human facial expression information, subsequently the resolution data obtained and this are preset output order storehouse of express one's feelings to mate, thus preset output order storehouse of expressing one's feelings determine that the machine corresponding with above-mentioned resolution data is expressed one's feelings output order from this.
Now, in step S408, the machine expression output order that the expression presentation portion of intelligent robot just can be come according to remote server transmission present corresponding machine expression visually, also presents relevant machine expression (namely the expression that presents of intelligent robot is relevant to the actual expression of user) with regard to achieving according to the expression of user thus.
If network malunion is normal, such intelligent robot also just cannot generate corresponding machine expression output order by remote server, so the human facial expression information obtained in step S403 or step S404 is sent to local data processor by the party's rule in step S 407, to determine corresponding machine expression output order by local data processor according to this human facial expression information.
Particularly, in the present embodiment, local data processor is first resolved human facial expression information, is mated by the resolution data obtained subsequently with default output order storehouse of expressing one's feelings, thus obtains corresponding machine expression output order according to matching result.
Finally, in step S408, the machine expression output order that the expression presentation portion of intelligent robot just can be come according to local data processor transmission present corresponding machine expression visually, also presents relevant machine expression (namely the expression that presents of intelligent robot is relevant to the actual expression of user) with regard to achieving according to the expression of user thus.
Meanwhile, the present embodiment additionally provides a kind of data processing equipment being applied to intelligent robot, and Fig. 5 shows the structural representation of this device.
As shown in Figure 5, the data processing equipment that the present embodiment provides comprises: image capture module 501, human facial expression information acquisition module 502, machine expression output order determination module 503 and expression output module 504.Wherein, image capture module 501 is for catching the facial image in default coverage.Particularly, in the present embodiment, first image capture module 501 obtains the video information in the specified scope that photographs, intercepts still image subsequently, finally from the still image intercepted out, catch out facial image from the video information got.
In the present embodiment, whether image capture module 501 also catches failed for detecting facial image.If failure, output is preset prompting by image capture module 501, and facial image is looked in acquisition again.Particularly, when when catching facial image failure, image capture module 501 will export prompting " identification error please be tried again facing to camera " in the form of speech.After exporting this voice message, image capture module 501 is by the video information in lasting shooting specified scope.And when user is according to this voice message adjustment self-position being in after in this specified scope, image capture module 501 also just can normally get the video information comprising facial image.
It is pointed out that in other embodiments of the invention, this data processing equipment can also export with other reasonable manners and preset prompting, the present invention is not limited thereto.Such as in one embodiment of the invention, this data processing equipment can also adopt the mode that pilot lamp glimmers or camera watch region is highlighted to come reminding user adjustment position.
, also it is pointed out that in other embodiments of the invention, image is caught module 501 and other reasonable manners can also be adopted to catch facial image, and the present invention is not limited thereto equally meanwhile.
Again as shown in Figure 5, after obtaining facial image, human facial expression information acquisition module 502 locks out target face by from the facial image captured, and carries out Expression Recognition to this target face, thus obtains human facial expression information.
Machine expression output order determination module 503 can determine corresponding machine expression output order according to above-mentioned human facial expression information.Particularly, in the present embodiment, first machine expression output order determination module 503 resolves human facial expression information, is mated by the resolution data obtained subsequently with default output order storehouse of expressing one's feelings, thus obtains corresponding machine expression output order according to matching result.
Finally, the machine expression output order that expression output module 504 obtains according to machine expression output order determination module 503 exports corresponding machine expression, also presents relevant machine expression with regard to achieving according to the expression of user thus.
In addition, present invention also offers a kind of intelligent robot system, Fig. 6 shows the structural representation of this system in the present embodiment.
As shown in Figure 6, the expression robot system that the present embodiment provides comprises: data collector 601, expression information acquisition device 602, data processing equipment 603 and expression output unit 604.Wherein, expression information acquisition device 602 is connected with data acquisition module 601, and data processing equipment 603 is connected between expression information acquisition device 602 and expression output unit 604.
Data collector 601 can gather face information, and the face information collected is transferred to the expression information acquisition device 602 be attached thereto.After expression information acquisition device 602 receives face information, human facial expression information can be extracted to this face information analysis.The human facial expression information extracted is sent to data processing equipment 603 by expression information acquisition device 602, and data processing equipment 603 can determine corresponding machine expression output order according to the human facial expression information received.After expression output unit 604 receives above-mentioned machine expression output order, just can present corresponding machine expression according to this instruction.
In order to clearly set forth principle and the advantage of intelligent robot system provided by the present invention, below in conjunction with different embodiments, intelligent robot system provided by the present invention is further elaborated.
embodiment three:
Fig. 7 shows the structural representation of the intelligent robot system that the present embodiment provides.
As shown in Figure 7, in the expression robot system that the present embodiment provides, data processing equipment 603 is for being configured in the local data treatment circuit of image collecting device 601 and/or expression output unit 604 this locality, and this circuit specifically contains local data processor 701 and data-carrier store 702.Wherein,
Local data processor 701 is in same housing with expression information acquisition device 602 and/or output unit 603 of expressing one's feelings.Due to the close together of local data processor 701 and expression information acquisition device 602 and/or output unit 603 of expressing one's feelings, therefore it can not only be connected with expression information acquisition device 602 and/or output unit 603 of expressing one's feelings comparatively easily, can also carry out data communication rapidly with expression information acquisition device 602 and/or output unit 603 of expressing one's feelings.
In the present embodiment, data collector 601 preferably includes camera.When intelligent robot system is in opening, data collector 601 captured in real-time video, collects video data and extracts still image, thus obtains image information.
Collected image information is transferred to expression information acquisition device 602 by data collector 601, and expression information acquisition device 602 judges whether there is face in received data acquisition region (i.e. image information) by face tracking or face recognition technology.When there is face (such as someone appears in the coverage of data collector 601) in image information, the analysis that expression information acquisition device 602 will trigger face information.
This human facial expression information, after obtaining human facial expression information, can be sent to the local data processor 701 be attached thereto by expression information acquisition device 602.The default expression output order storehouse that the human facial expression information received and data-carrier store 702 can store by local data processor 701 is mated, thus from default expression output order storehouse, extract corresponding machine expression output order.
It is to be noted, in different embodiments of the invention, local data processor 701 by preset that contingency table finds with the machine corresponding to active user's expression information express one's feelings that output order characterizes both can be express one's feelings with active user expression identical (such as active user's expression information corresponding be happiness, corresponding to the machine expression output order found also is happiness), also can be express one's feelings with active user expression contrary (such as active user's expression information corresponding for happy, corresponding to the machine expression output order found but is sadness), or be express one's feelings relevant to active user other express one's feelings (such as active user's expression information corresponding be indignation, corresponding to the machine expression output order found is sadness), the present invention is not limited thereto.
As shown in Figure 7, expression output unit 604 is connected with local data processor 701, and it can transmit to local data processor 701 the machine expression instruction come and carry out visual, thus presents corresponding machine expression visually.
In the present embodiment, expression output unit 604 preferably adopts LCDs to realize.Like this, the expression that machine is namely expressed one's feelings corresponding to output order by expression output unit 604 is directly presented in LCDs, and this expression presentation mode is more convenient and efficient.
Certainly, in other embodiments of the invention, according to actual needs, expression output unit 604 can also adopt other rational forms to realize, and the present invention is not limited thereto.Such as, in one embodiment of the invention, LED dot matrix, glass can be adopted to project for output unit 604 of expressing one's feelings or bionic human face realizes.
In the present embodiment, when the image information that data collector 601 collects exists abnormal, this intelligent robot system will send corresponding miscue by the mode of image and/or voice, such as, send voice messaging " identification error please be tried again facing to camera " etc.
As can be seen from foregoing description, the intelligent robot system that the present embodiment provides obtains the machine expression output order (expression that this machine expression output order sign expression robot system should present by carrying out analysis to the facial information of the user collected, this expression not necessarily must be identical with the current expression of user), and present machine expression in visual mode.This system effectively overcomes the defect that existing expression robot cannot present the expression be associated with user's current face mood, improves the emotion expression service ability of robot system, improves the emotional interaction of robot system and user.
embodiment four:
Fig. 8 shows the structural representation of the intelligent robot system that the present embodiment provides.
As shown in Figure 8, in the expression robot system that the present embodiment provides, data processing equipment 603 comprises datel circuit 801 and remote data processing device 802.Wherein, datel circuit 801 is connected between expression information acquisition device 602 and remote data processing device 802, and meanwhile, datel circuit 801 is also connected with expression output unit 604.
In the present embodiment, data collector 601 and expression information acquisition device 602 identical with the data collector that embodiment one is set forth and expression information acquisition device, do not repeat them here.
Datel circuit 801 can realize the forwarding of data.Particularly, after expression information acquisition device 602 generates human facial expression information, this human facial expression information can be transferred to datel circuit 801, to be transferred to remote data processing device 802 by datel circuit 801, process further for remote data processing device 802.
In the present embodiment, datel circuit 801 is arranged in same housing with data collector 601 and/or output unit 604 of expressing one's feelings.
Remote data processing device 802 is then arranged on range data communication circuit 801 position far away, and it has powerful data-handling capacity, can carry out collective analysis process to mass data.Wherein, in the present embodiment, remote data processing device 802 preferably adopts server to realize.Certainly, in other embodiments of the invention, remote data processing device 802 can also adopt other rational devices to realize, and the present invention is not limited thereto.
Certain distance is separated with between datel circuit 801 and remote data processing device 802, therefore in order to ensure that whole robot system can respond the action of user fast, in the present embodiment, optical fiber between datel circuit 801 with remote data processing device 802, is preferably adopted to be connected.It is to be noted, in other embodiments of the invention, according to actual needs, the communication mode between datel circuit 801 and remote data processing device 802 can also adopt other rational methods (such as radio communication etc.), and the present invention is not limited thereto equally.
In the present embodiment, after remote data processing device 802 recipient facial expression information, utilize preset contingency table from default expression output order storehouse find out output order of expressing one's feelings with the machine corresponding to active user's expression information, finally this instruction is sent to datel circuit 801.
This command can be given expression output unit 604 after receiving the next machine expression output order of remote data processing device 802 transmission by datel circuit 801.The expression that the machine expression output order that expression output unit 604 can come remote data processing device 802 transmission characterizes is carried out visual, thus presents corresponding machine expression.
In the present embodiment, expression output unit 604 preferably adopts bionic human face to realize.Particularly, in the present embodiment, comprise for vivid the bionic human face presenting expression: head member's implement device, facial housing skin and expression drive unit.Wherein, expression drive unit is connected with datel circuit 801, it can transmit according to datel circuit 801 state that the machine expression output order come adjusts facial housing skin and/or head member's implement device, thus makes bionic human face present corresponding expression.
Expression drive unit preferably includes multiple drive electrode, and it can operate according to machine expression information, thus drives facial housing skin and/or head member's implement device to produce corresponding displacement, and then presents required facial expression.
It is pointed out that in other embodiments of the invention, expression output unit 604 can also adopt other reasonable manners (such as LED dot matrix, LCDs and/or glass projection etc.) to realize, and the present invention is not limited thereto.
As can be seen from foregoing description, the data processing equipment for generating machine expression output order in the intelligent robot system that the present embodiment provides have employed datel circuit and remote data processing device realizes jointly.Compared with the intelligent robot system provided with embodiment one, this system can realize the process of more complicated expression relevant information.
embodiment five:
As shown in Figure 9, the expression robot system that the present embodiment provides comprises: data collector 601, expression information acquisition device 602, data processing equipment 603 and expression output unit.Wherein, data processing module 102 comprises: local data processor 701, data-carrier store 702, datel circuit 801 and remote data processing device 802.Wherein, local data processor 701 and data-carrier store 702 together constitute local data treatment circuit.
In the present embodiment, local data processor 701 is identical with the local data processor that embodiment one is set forth and data-carrier store with data-carrier store 702, datel circuit 801 and remote data processing device 802 are then identical with the corresponding contents that embodiment two is set forth, therefore easy in order to what describe, principle and the function of these ingredients is just repeated no more at this.
In the present embodiment, time communication connection between datel circuit 801 and remote data processing device 802 normal (namely intelligent robot system is in normal cluster state), local data processor 701 is no longer transmitted to expression information acquisition device 602 human facial expression information come and is processed, and be transmit according to datel circuit 801 human facial expression information come by remote data processing device 802 to generate corresponding machine expression output order, and this instruction is transferred to expression output unit 604 by datel circuit 801, corresponding expression is presented visually to control expression output unit 604.
And the communication connection between datel circuit 801 and remote data processing device 802 is when disconnecting (namely intelligent robot system is in non-networked state), expression information acquisition device 602 also just cannot be transmitted the human facial expression information come and be transferred to remote data processing device 802 by datel circuit 801.Now, intelligent robot system generates corresponding machine expression output order by transmitting according to expression information acquisition device 602 human facial expression information come by local data processor 701, and give expression output unit 604 by this command, present corresponding expression visually to control expression output unit 604.
Particularly, as shown in Figure 10, in the present embodiment, Data Data harvester 601 preferably adopts camera 1001 to realize.Expression information acquisition device 602 and local data processor 701 are integrated in same processor 1002, and processor 1002 is also connected with the storer 1003 storing default output order storehouse of expressing one's feelings.Like this, the acquisition of human facial expression information and the determination of corresponding machine expression output order all can complete in processor 1002.Liquid crystal display 1004 as expression output unit 604 is connected with processor 1002, and processor 1002 can be transmitted the machine expression output order come and carry out visual by it, thus goes out machine expression to user's imaging intuitively.
In the present embodiment, camera 1001, processor 1002, storer 1003 and liquid crystal display 1004 are all integrated in the main casing of intelligent robot, and the server 1005 as remote data processing device 802 is then connected with the processor 1002 in the main casing of intelligent robot by cordless communication network.Wherein, the communication data between server 1005 and liquid crystal display 1004 can be forwarded by processor 1002.
As can be seen from foregoing description, on the basis of the expression robot system that the intelligent robot system that the present embodiment provides provides in embodiment one and embodiment two, there are local data process and Remote data processing two kinds of data processing methods.Therefore, when wherein a kind of data processing method breaks down, this expression robot system still can normally work, and which substantially increases reliability and the applicability of whole system, thus improves the Consumer's Experience of system, improve the competitive power of system.
It should be understood that disclosed embodiment of this invention is not limited to ad hoc structure disclosed herein, treatment step or material, and the equivalent of these features that those of ordinary skill in the related art understand should be extended to substitute.It is to be further understood that term is only for describing the object of specific embodiment as used herein, and and do not mean that restriction.
Although above-mentioned example is for illustration of the principle of the present invention in one or more application, but for a person skilled in the art, when not deviating from principle of the present invention and thought, obviously can in form, the details of usage and enforcement does various amendment and need not creative work be paid.Therefore, the present invention is limited by appending claims.
Claims (18)
1. an intelligent robot data processing method, is characterized in that, comprises the following steps:
Image capture step, catches the facial image preset in coverage;
Human facial expression information obtaining step, lock onto target face from described facial image, and Expression Recognition is carried out to described target face, obtain human facial expression information;
Machine expression output order determining step, resolves described human facial expression information, and is mated with default output order storehouse of expressing one's feelings by the resolution data obtained, and obtains corresponding machine expression output order;
Expression exports step, exports corresponding machine expression according to described machine expression output order.
2. the method for claim 1, is characterized in that, the face quantity in described facial image is one or more, wherein,
When the face quantity in described facial image is one, lock onto target face also carries out Expression Recognition to this target face, obtains human facial expression information;
When the face quantity in described facial image is multiple, locks each face and respectively Expression Recognition carried out to each face, and obtaining human facial expression information based on default expression model according to Expression Recognition result statistics.
3. method as claimed in claim 1 or 2, is characterized in that, in described expression output order determining step, whether normally to go back Sampling network connection status,
If normal, then described human facial expression information is sent in remote server to determine corresponding machine expression output order by described remote server according to described human face expression;
If abnormal, then utilize and be configured in local local data processor determines correspondence machine expression output order according to described human face expression.
4. the method according to any one of claims 1 to 3, is characterized in that, described image capture step comprises:
Video information in the default coverage that acquisition photographs;
Still image is intercepted from described video information;
Described facial image is caught from described still image.
5. method as claimed in claim 4, is characterized in that, in described image capture step, if catch the failure of described facial image, then exports and presets prompting, and again obtain video information.
6. an intelligent robot data processing equipment, is characterized in that, described device comprises:
Image capture module, for catching the facial image in default coverage;
Human facial expression information acquisition module, for from described facial image lock onto target face, and carries out Expression Recognition to described target face, obtains human facial expression information;
Machine expression output order determination module, for resolving described human facial expression information, and mates the resolution data obtained with default output order storehouse of expressing one's feelings, and obtains corresponding machine expression output order;
Expression output module, for exporting corresponding machine expression according to described machine expression output order.
7. device as claimed in claim 6, it is characterized in that, the face quantity in described facial image is one or more, wherein,
When the face quantity in described facial image is one, described human facial expression information acquisition module is configured to lock onto target face and carries out Expression Recognition to this target face, obtains human facial expression information;
When the face quantity in described facial image is multiple, described human facial expression information acquisition module is configured to lock each face and carry out Expression Recognition to each face respectively, and obtains human facial expression information based on preset rules according to Expression Recognition result statistics.
8. device as claimed in claims 6 or 7, it is characterized in that, described device also comprises:
Whether network detection module is normal for Sampling network connection status;
If normal, described human facial expression information is then sent in remote server to determine corresponding machine expression output order by described remote server according to described human face expression by human facial expression information acquisition module;
If abnormal, human facial expression information acquisition module then utilizes and is configured in correspondence determined by local data processor machine expression output order according to described human face expression.
9. the device according to any one of claim 6 ~ 8, it is characterized in that, described image capture module is configured to first to obtain the video information in the default coverage that photographs, from described video information, intercept still image subsequently, finally from described still image, catch described facial image.
10. device as claimed in claim 9, is characterized in that, whether described image capture module is also configured to detect facial image and catches failed, if failure, then exports the prompting again obtaining video information.
11. 1 kinds of intelligent robot systems, is characterized in that, comprising:
Image collecting device, it is for gathering the facial image in default coverage;
Expression information acquisition device, it is connected with described image collecting device, for obtaining human facial expression information according to facial image;
Data processing equipment, it is connected with described expression information acquisition device, for determining corresponding machine expression output order according to described face information;
Expression output unit, it is connected with described data processing equipment, for producing corresponding machine expression according to described machine expression output order.
12. intelligent robot systems as claimed in claim 11, it is characterized in that, described data processing equipment comprises:
Be configured in the local data treatment circuit of described image collecting device and/or expression output unit this locality.
13. intelligent robot systems as claimed in claim 12, it is characterized in that, described local data treatment circuit comprises:
Data-carrier store, it presets expression output order storehouse for storing;
Local data processor, it is connected with described expression information acquisition device, data-carrier store and output unit of expressing one's feelings, for resolving described human facial expression information, and the resolution data obtained is mated with default output order storehouse of expressing one's feelings, determine corresponding machine expression output order, and described expression output unit is sent to described expression output unit.
14. intelligent robot systems as claimed in claim 11, it is characterized in that, described data processing equipment comprises:
Datel circuit, it is connected with described image collecting device, for carrying out the forwarding of data;
Remote data processing device, it is connected with described datel circuit, described facial image for coming according to described datel circuit transmission obtains described human facial expression information, determine corresponding machine expression output order according to described human facial expression information, and described machine expression output order is transferred to described expression output unit by described datel circuit.
15. intelligent robot systems as described in claim 12 or 13, it is characterized in that, described data processing equipment comprises:
Datel circuit, it is connected with described image collecting device, for carrying out the forwarding of data;
Remote data processing device, it is connected with described datel circuit, described facial image for coming according to described datel circuit transmission obtains described human facial expression information, determine corresponding machine expression output order according to described human facial expression information, and described machine expression output order is transferred to described expression output unit by described datel circuit.
16. intelligent robot systems as claimed in claim 15, is characterized in that,
When communication connection between described datel circuit and described remote data processing device is normal, the machine expression output order that described expression output unit comes according to described datel circuit transmission produces corresponding machine expression;
When communication connection between described datel circuit and described remote data processing device disconnects, the machine expression output order that described expression output unit comes according to described local data treatment circuit transmission produces corresponding machine expression.
17. intelligent robot systems according to any one of claim 14 ~ 16, it is characterized in that, described remote data processing device comprises server.
18. intelligent robot systems according to any one of claim 11 ~ 17, is characterized in that, described expression output module comprises any one in following lising or several:
LED dot matrix, LCDs, glass screen and bionic human face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510857591.9A CN105373784A (en) | 2015-11-30 | 2015-11-30 | Intelligent robot data processing method, intelligent robot data processing device and intelligent robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510857591.9A CN105373784A (en) | 2015-11-30 | 2015-11-30 | Intelligent robot data processing method, intelligent robot data processing device and intelligent robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105373784A true CN105373784A (en) | 2016-03-02 |
Family
ID=55375968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510857591.9A Pending CN105373784A (en) | 2015-11-30 | 2015-11-30 | Intelligent robot data processing method, intelligent robot data processing device and intelligent robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105373784A (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835071A (en) * | 2016-06-07 | 2016-08-10 | 苏州全谱光电科技有限公司 | Projection type humanoid robot |
| CN105965478A (en) * | 2016-05-30 | 2016-09-28 | 北京海鑫智圣技术有限公司 | Robot based on mobile terminal |
| CN106202418A (en) * | 2016-07-12 | 2016-12-07 | 北京光年无限科技有限公司 | A kind of image data collection method for intelligent robot and system |
| CN106182032A (en) * | 2016-08-24 | 2016-12-07 | 陈中流 | One is accompanied and attended to robot |
| CN106326981A (en) * | 2016-08-31 | 2017-01-11 | 北京光年无限科技有限公司 | Method and device of robot for automatically creating personalized virtual robot |
| CN106326980A (en) * | 2016-08-31 | 2017-01-11 | 北京光年无限科技有限公司 | Robot and method for simulating human facial movements by robot |
| CN106339219A (en) * | 2016-08-19 | 2017-01-18 | 北京光年无限科技有限公司 | Robot service awakening method and device |
| CN106650610A (en) * | 2016-11-02 | 2017-05-10 | 厦门中控生物识别信息技术有限公司 | Human face expression data collection method and device |
| CN107309883A (en) * | 2016-04-27 | 2017-11-03 | 王方明 | Intelligent robot |
| CN107307850A (en) * | 2016-04-27 | 2017-11-03 | 王方明 | Intelligent robot system |
| CN107329990A (en) * | 2017-06-06 | 2017-11-07 | 北京光年无限科技有限公司 | A kind of mood output intent and dialogue interactive system for virtual robot |
| CN107330699A (en) * | 2017-06-27 | 2017-11-07 | 王田 | Mobile terminal payment system based on image processing algorithm |
| CN107786803A (en) * | 2016-08-29 | 2018-03-09 | 中兴通讯股份有限公司 | A kind of image generating method, device and terminal device |
| CN109159129A (en) * | 2018-08-03 | 2019-01-08 | 深圳市益鑫智能科技有限公司 | A kind of intelligence company robot based on facial expression recognition |
| CN109262627A (en) * | 2018-10-26 | 2019-01-25 | 深圳市三宝创新智能有限公司 | A kind of machine person to person exchange method and system with a variety of personality |
| CN109773807A (en) * | 2019-03-04 | 2019-05-21 | 昆山塔米机器人有限公司 | Motion control method, robot |
| CN109981970A (en) * | 2017-12-28 | 2019-07-05 | 深圳市优必选科技有限公司 | A kind of method, apparatus and robot of determining photographed scene |
| CN109992091A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | A kind of man-machine interaction method, device, robot and storage medium |
| CN111016784A (en) * | 2018-10-09 | 2020-04-17 | 上海擎感智能科技有限公司 | Image presentation method and device, electronic terminal and medium |
| CN112060080A (en) * | 2020-07-31 | 2020-12-11 | 深圳市优必选科技股份有限公司 | Robot control method and device, terminal equipment and storage medium |
| CN112733994A (en) * | 2020-12-10 | 2021-04-30 | 中国科学院深圳先进技术研究院 | Autonomous emotion generation method and system for robot and application |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102566474A (en) * | 2012-03-12 | 2012-07-11 | 上海大学 | Interaction system and method for robot with humanoid facial expressions, and face detection and tracking method |
| CN103246879A (en) * | 2013-05-13 | 2013-08-14 | 苏州福丰科技有限公司 | Expression-recognition-based intelligent robot system |
| US20140369571A1 (en) * | 2011-12-13 | 2014-12-18 | Panasonic Intellectual Property Corporation Of America | Measurement-target-selecting device, face-shape-estimating device, method for selecting measurement target, and method for estimating face shape |
| CN104636734A (en) * | 2015-02-28 | 2015-05-20 | 深圳市中兴移动通信有限公司 | Terminal face recognition method and device |
-
2015
- 2015-11-30 CN CN201510857591.9A patent/CN105373784A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140369571A1 (en) * | 2011-12-13 | 2014-12-18 | Panasonic Intellectual Property Corporation Of America | Measurement-target-selecting device, face-shape-estimating device, method for selecting measurement target, and method for estimating face shape |
| CN102566474A (en) * | 2012-03-12 | 2012-07-11 | 上海大学 | Interaction system and method for robot with humanoid facial expressions, and face detection and tracking method |
| CN103246879A (en) * | 2013-05-13 | 2013-08-14 | 苏州福丰科技有限公司 | Expression-recognition-based intelligent robot system |
| CN104636734A (en) * | 2015-02-28 | 2015-05-20 | 深圳市中兴移动通信有限公司 | Terminal face recognition method and device |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309883A (en) * | 2016-04-27 | 2017-11-03 | 王方明 | Intelligent robot |
| CN107307850A (en) * | 2016-04-27 | 2017-11-03 | 王方明 | Intelligent robot system |
| CN105965478A (en) * | 2016-05-30 | 2016-09-28 | 北京海鑫智圣技术有限公司 | Robot based on mobile terminal |
| CN105835071A (en) * | 2016-06-07 | 2016-08-10 | 苏州全谱光电科技有限公司 | Projection type humanoid robot |
| CN106202418A (en) * | 2016-07-12 | 2016-12-07 | 北京光年无限科技有限公司 | A kind of image data collection method for intelligent robot and system |
| CN106202418B (en) * | 2016-07-12 | 2019-12-13 | 北京光年无限科技有限公司 | Picture data collection method and system for intelligent robot |
| CN106339219A (en) * | 2016-08-19 | 2017-01-18 | 北京光年无限科技有限公司 | Robot service awakening method and device |
| CN106182032A (en) * | 2016-08-24 | 2016-12-07 | 陈中流 | One is accompanied and attended to robot |
| CN107786803A (en) * | 2016-08-29 | 2018-03-09 | 中兴通讯股份有限公司 | A kind of image generating method, device and terminal device |
| CN106326980A (en) * | 2016-08-31 | 2017-01-11 | 北京光年无限科技有限公司 | Robot and method for simulating human facial movements by robot |
| CN106326981B (en) * | 2016-08-31 | 2019-03-26 | 北京光年无限科技有限公司 | Robot automatically creates the method and device of individualized virtual robot |
| CN106326981A (en) * | 2016-08-31 | 2017-01-11 | 北京光年无限科技有限公司 | Method and device of robot for automatically creating personalized virtual robot |
| CN106650610A (en) * | 2016-11-02 | 2017-05-10 | 厦门中控生物识别信息技术有限公司 | Human face expression data collection method and device |
| CN107329990A (en) * | 2017-06-06 | 2017-11-07 | 北京光年无限科技有限公司 | A kind of mood output intent and dialogue interactive system for virtual robot |
| CN107330699A (en) * | 2017-06-27 | 2017-11-07 | 王田 | Mobile terminal payment system based on image processing algorithm |
| CN109981970B (en) * | 2017-12-28 | 2021-07-27 | 深圳市优必选科技有限公司 | Method and device for determining shooting scene and robot |
| CN109981970A (en) * | 2017-12-28 | 2019-07-05 | 深圳市优必选科技有限公司 | A kind of method, apparatus and robot of determining photographed scene |
| CN109992091A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | A kind of man-machine interaction method, device, robot and storage medium |
| CN109159129A (en) * | 2018-08-03 | 2019-01-08 | 深圳市益鑫智能科技有限公司 | A kind of intelligence company robot based on facial expression recognition |
| CN111016784A (en) * | 2018-10-09 | 2020-04-17 | 上海擎感智能科技有限公司 | Image presentation method and device, electronic terminal and medium |
| CN111016784B (en) * | 2018-10-09 | 2022-11-15 | 上海擎感智能科技有限公司 | Image presentation method and device, electronic terminal and medium |
| CN109262627A (en) * | 2018-10-26 | 2019-01-25 | 深圳市三宝创新智能有限公司 | A kind of machine person to person exchange method and system with a variety of personality |
| CN109773807A (en) * | 2019-03-04 | 2019-05-21 | 昆山塔米机器人有限公司 | Motion control method, robot |
| CN109773807B (en) * | 2019-03-04 | 2024-03-12 | 苏州塔米机器人有限公司 | Motion control method and robot |
| CN112060080A (en) * | 2020-07-31 | 2020-12-11 | 深圳市优必选科技股份有限公司 | Robot control method and device, terminal equipment and storage medium |
| CN112733994A (en) * | 2020-12-10 | 2021-04-30 | 中国科学院深圳先进技术研究院 | Autonomous emotion generation method and system for robot and application |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105373784A (en) | Intelligent robot data processing method, intelligent robot data processing device and intelligent robot system | |
| CN111556294B (en) | Safety monitoring method, device, server, terminal and readable storage medium | |
| CN205193829U (en) | Intelligent robot system | |
| EP2688296B1 (en) | Video monitoring system and method | |
| CN110212451A (en) | A kind of electric power AR intelligent patrol detection device | |
| CN105590031A (en) | Data processing device applied to intelligent medical facility | |
| US20220181020A1 (en) | System and method for remote patient monitoring | |
| CN101782852B (en) | Method for extracting computer screen information for medical administration | |
| KR101978299B1 (en) | Apparatus for service contents in contents service system | |
| WO2013126532A1 (en) | Wireless intra-oral imaging system and method | |
| KR102482067B1 (en) | Electronic apparatus and operating method thereof | |
| CN112785278B (en) | 5G intelligent mobile ward round method and system based on edge cloud cooperation | |
| CN111695516B (en) | Thermodynamic diagram generation method, device and equipment | |
| JP7103229B2 (en) | Suspiciousness estimation model generator | |
| CN103957376A (en) | Infrared thermal-image probe controlling system and method based on mobile intelligent terminal | |
| KR20170035604A (en) | Electronic device for processing image and method for controlling thereof | |
| JP2015118448A (en) | Medical information processing system and information processing system | |
| CN110730305A (en) | Multi-source snapshot image processing and accessing method and device based on blocking queue | |
| US10664689B2 (en) | Determining user activity based on eye motion | |
| De Vito et al. | An IoT-enabled multi-sensor multi-user system for human motion measurements | |
| WO2020207252A1 (en) | Data storage method and device, storage medium, and electronic apparatus | |
| CN113447128A (en) | Multi-person body temperature detection method and device, electronic equipment and storage medium | |
| TWI503759B (en) | Cloud-based smart monitoring system | |
| CN106997449A (en) | Robot and face identification method with face identification functions | |
| KR20190015456A (en) | Media things based on media centric internet of things and method of operating the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160302 |
|
| RJ01 | Rejection of invention patent application after publication |