CN106355242A - Interactive robot on basis of human face detection - Google Patents
Interactive robot on basis of human face detection Download PDFInfo
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- CN106355242A CN106355242A CN201610848652.XA CN201610848652A CN106355242A CN 106355242 A CN106355242 A CN 106355242A CN 201610848652 A CN201610848652 A CN 201610848652A CN 106355242 A CN106355242 A CN 106355242A
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- G06N3/004—Artificial life, i.e. computing arrangements simulating life
- G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
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Abstract
The invention relates to an interactive robot on the basis of human face detection. The interactive robot has the advantages that an angle of a head can be adjusted in real time by means of human face chasing, so that the head can directly face users, reliable data sources can be provided for follow-up further human face recognition, and the interactive robot is good in science and technology feeling and user experience; levels of the users can be judged by means of human face recognition, and accordingly excellent support can be provided for providing different types of service for the different users.
Description
Technical field
The present invention relates to a kind of intelligent robot, more particularly, to a kind of interactive robot based on Face datection.
Background technology
With computer technology continuous to intelligent direction development, the continuous extension in robot application field and in-depth,
Roboticses just extend rapidly to fields such as medical services, Edutainment, home services from industry manufacture field.
The research of face identification system starts from the sixties in 20th century, with computer technology and optical imagery skill after the eighties
The development of art is improved, and actually enters the application stage of primary then 90 year later stage.The development of artificial intelligence has promoted people
Face identifies the development to face tracking direction, makes intelligent subscriber experience more smooth.
Recognition of face, is a kind of biological identification technology that facial feature information based on people carries out identification.With shooting
Machine or the photographic head image containing face for the collection or video flowing, and automatic detect and track face in the picture, and then to detection
To face carry out a series of correlation techniques of face, generally also referred to as Identification of Images, facial recognition.Face tracking is mainly base
Add that related frame for movement to coordinate in face recognition technology, the intelligence carrying out face is followed the trail of.
Current recognition of face is mainly used in the intrinsic function of the photographic head such as auto-focusing, does not move with robot head
Deng external equipment linkage, when robot is with user interaction, need people's ceaselessly adjustment position or state adjusting video camera
It is identified, be mainly shown as and use inconvenience it is impossible to accomplish real-time tracing.
In view of above-mentioned defect, the design people, actively research and innovation in addition, to found a kind of new structure based on
The interactive robot of Face datection is so as to more the value in industry.
Content of the invention
For solving above-mentioned technical problem, it is an object of the invention to provide a kind of interactive robot based on Face datection, make
Face can be followed the trail of with face recognition technology, all around shift position real-time adjustment robot head is up and down according to user
Rotate, make robot head just carry out question and answer interaction to user.
The interactive robot based on Face datection of the present invention, including
- photographic head, positioned at described robot head middle, for the image containing face for the collection or video flowing；
- face recognition module, is connected with photographic head, for identifying the face in image or video flowing；
- range sensor, for detecting the distance of user opposed robots；
- control main frame, connects described face recognition module and range sensor, use is detected according to described range sensor
The distance of family opposed robots, judges whether user enters detection range, and controls whether described face recognition module enters pedestrian
Face detects；
- face location computing module, is connected with described control main frame, according to face position in the picture, calculates user
Whether photographic head is offset and deviation post；
- head control, is connected with described face location computing module, and is connected with motor rotational angle computing module,
Described motor rotational angle computing module by described head control according to described face location computing module calculate inclined
Move data reduction to send as an envoy to robot angle just to be rotated to user's head motor；
- head motor driver, is connected with described motor rotational angle computing module, calculates mould according to motor rotational angle
Angle driven machine head part's motor that block calculates rotates corresponding angle, and the head making robot is just to user.
Further, also include cloud computing platform and the action expression interactive module being connected with described control main frame, described
Cloud computing platform has face database, and described control main frame is according to the face inquiry that described face recognition module detects
Face database is simultaneously compared, according to comparison result control described action expression interactive module whether make corresponding action with
Expression.
Further, described control main frame is also associated with voice acquisition module and voice output module；Described cloud computing is put down
Platform also has sound identification module, semantic meaning analysis module and intelligent Answering module；Described control main frame is according to described voice collecting
The voice of module collection controls described voice output by described sound identification module, semantic meaning analysis module and intelligent Answering module
Module makes answer.
Further, described cloud computing platform is wirelessly connected with described control main frame.
Further, described robot carries out interaction with user by the following method, and methods described includes step:
(1) judge user whether in the detection range of robot, if waking up the robot execution being in park mode
Next step, if not existing, continues detection；
(2) face is identified by face recognition technology；
(3) position in whole map sheet according to face, determines whether user offsets and deviation post to photographic head；
(4) if user is not in photographic head middle, the angle up and down adjusting head makes photographic head just to user；
(5) when no longer capturing face, return positive robot head.
Further, methods described also can carry out inquiry operation during carrying out face tracking simultaneously.
Further, methods described, when inquiry operates, also can be passed through to contrast face database according to the face detecting,
Discriminating user is classified, and provides differentiated service for inhomogeneity user.
By such scheme, the present invention is chased by face, energy real-time adjustment head angle, makes head just to user, can
To provide more reliable data source for subsequently further recognition of face, also bring more preferable technology sense and user's body in addition
Test；Simultaneously by user gradation be may determine that to the identification of face, and then provide different services for different user, there is provided good
Support.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Brief description
Fig. 1 is the system framework figure of the robot of the present invention；
Fig. 2 is the interactive flow chart of the robot of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.Hereinafter implement
Example is used for the present invention is described, but is not limited to the scope of the present invention.
Referring to Fig. 1, a kind of interactive robot based on Face datection described in a preferred embodiment of the present invention, including
- photographic head, positioned at robot head middle, for the image containing face for the collection or video flowing；
- face recognition module, is connected with photographic head, for identifying the face in image or video flowing；
- range sensor, for detecting the distance of user opposed robots；
- control main frame, connects face recognition module and range sensor, user is detected relative to machine according to range sensor
The distance of device people, judges whether user enters detection range, and controls whether face recognition module carries out Face datection；
- face location computing module, is connected with control main frame, according to face position in the picture, calculates user to taking the photograph
As whether head offsets and deviation post；
- head control, is connected with face location computing module, and is connected with motor rotational angle computing module, motor
The offset data conversion that rotational angle computing module is calculated according to face location computing module by head control is sent as an envoy to machine
Device people angle just to be rotated to user's head motor；
- head motor driver, is connected with motor rotational angle computing module, according to motor rotational angle computing module meter
The angle driven machine head part's motor calculating rotates corresponding angle, and the head making robot is just to user.
The present invention can follow the trail of face by face recognition technology, according to user's shift position real-time adjustment machine all around
Device head part rotate up and down, makes robot head just to user, substantially increases Consumer's Experience；Do not stop without the need for people
Adjustment robot location, you can make robot automatic tracing user.
For lifting interaction effect, present invention additionally comprises the cloud computing platform being connected with control main frame and the interactive mould of action expression
Block, cloud computing platform has face database, and control main frame inquires about human face data according to the face that face recognition module detects
Simultaneously comparing in storehouse, whether makes corresponding action and expression according to comparison result control action expression interactive module；Control master
Machine is also associated with voice acquisition module and voice output module；Cloud computing platform also has sound identification module, semantic parsing mould
Block and intelligent Answering module；Control main frame passes through sound identification module, semantic parsing according to the voice that voice acquisition module gathers
Answer made by module and intelligent Answering module control voice output module.
Robot is combined by the present invention with cloud computing platform, make robot can freely smooth and user session, machine
Device people also can carry out communication exchange according to the different identity recognizing with it or provide specific priority service, and has rich
Rich facial expressions and acts, bring more preferable technology sense and Consumer's Experience.
For enabling a cloud computing platform to serve multiple robots, in the present invention, cloud computing platform and control main frame be no
Line connects.Face Database vendors can be made to multiple robots, make sound identification module, semantic meaning analysis module and intelligent Answering
Module provides inquiry answer according to sequential for multiple robots.
As shown in Fig. 2 the robot of the present invention carries out interaction with user by the following method, interactive approach includes step:
(1) judge user whether in the detection range of robot, if waking up the robot execution being in park mode
Next step, if not existing, continues detection；
(2) face is identified by face recognition technology；
(3) position in whole map sheet according to face, determines whether user offsets and deviation post to photographic head；
(4) if user is not in photographic head middle, the angle up and down adjusting head makes photographic head just to user；
(5) when no longer capturing face, return positive robot head.
Certainly, also can carry out inquiry operation during carrying out face tracking simultaneously, when inquiry operates, also can be according to inspection
The face measuring passes through to contrast face database, and discriminating user is classified, and provides differentiated service for inhomogeneity user.
The operation principle of the present invention is as follows: user reaches in face of robot, and robot is identified by face recognition technology
Face；According to position in whole map sheet for the face, determine whether user offsets and deviation post to photographic head；If user is not
Photographic head middle again, then the angle up and down adjusting head makes robot head just to user；By continuous tracker
Face simultaneously adjusts robot head in real time, makes robot head always just to user, with user's face-to-face exchange；Identify face
Afterwards, compare from face database, thus discriminating user classification, provide differentiated service for inhomogeneity user；When no longer
When capturing face, return positive robot head.
The above is only the preferred embodiment of the present invention, is not limited to the present invention it is noted that for this skill
For the those of ordinary skill in art field, on the premise of without departing from the technology of the present invention principle, can also make some improve and
Modification, these improve and modification also should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of interactive robot based on Face datection it is characterised in that: include
- photographic head, positioned at described robot head middle, for the image containing face for the collection or video flowing；
- face recognition module, is connected with photographic head, for identifying the face in image or video flowing；
- range sensor, for detecting the distance of user opposed robots；
- control main frame, connects described face recognition module and range sensor, user's phase is detected according to described range sensor
Distance to robot, judges whether user enters detection range, and controls whether described face recognition module carries out face inspection
Survey；
- face location computing module, is connected with described control main frame, according to face position in the picture, calculates user to taking the photograph
As whether head offsets and deviation post；
- head control, is connected with described face location computing module, and is connected with motor rotational angle computing module, described
The offset numbers that motor rotational angle computing module is calculated according to described face location computing module by described head control
According to the robot angle just to be rotated to user's head motor of sening as an envoy to that converts；
- head motor driver, is connected with described motor rotational angle computing module, according to motor rotational angle computing module meter
The angle driven machine head part's motor calculating rotates corresponding angle, and the head making robot is just to user.
2. the interactive robot based on Face datection according to claim 1 it is characterised in that: also include and described control
Cloud computing platform and action expression interactive module that main frame connects, described cloud computing platform has face database, described control
Main frame is inquired about described face database and is compared according to the face that described face recognition module detects, according to comparison result
Control whether described action expression interactive module makes corresponding action and expression.
3. the interactive robot based on Face datection according to claim 2 it is characterised in that: described control main frame also connects
It is connected to voice acquisition module and voice output module；Described cloud computing platform also has sound identification module, semantic meaning analysis module
With intelligent Answering module；The voice that described control main frame gathers according to described voice acquisition module is by described speech recognition mould
Block, semantic meaning analysis module and intelligent Answering module control described voice output module to make answer.
4. the interactive robot based on Face datection according to claim 3 it is characterised in that: described cloud computing platform with
Described control main frame wirelessly connects.
5. the interactive robot based on Face datection according to claim 4 it is characterised in that: described robot pass through with
Lower method and user carry out interaction, and methods described includes step:
(1) judge user whether in the detection range of robot, if waking up and being in the robot of park mode and execute next
Step, if not existing, continues detection；
(2) face is identified by face recognition technology；
(3) position in whole map sheet according to face, determines whether user offsets and deviation post to photographic head；
(4) if user is not in photographic head middle, the angle up and down adjusting head makes photographic head just to user；
(5) when no longer capturing face, return positive robot head.
6. the interactive robot based on Face datection according to claim 5 it is characterised in that: methods described is entering pedestrian
Inquiry operation also can be carried out in face tracing process simultaneously.
7. the interactive robot based on Face datection according to claim 6 it is characterised in that: methods described inquiry grasp
When making, also can pass through to contrast face database according to the face detecting, discriminating user is classified, and provides difference for inhomogeneity user
Change service.
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| CN201610848652.XA CN106355242A (en) | 2016-09-26 | 2016-09-26 | Interactive robot on basis of human face detection |
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| CN201610848652.XA CN106355242A (en) | 2016-09-26 | 2016-09-26 | Interactive robot on basis of human face detection |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106826867A (en) * | 2017-03-31 | 2017-06-13 | 上海思依暄机器人科技股份有限公司 | A kind of method that robot and control robot head are rotated |
| CN107133609A (en) * | 2017-06-02 | 2017-09-05 | 王永安 | A kind of man-machine communication robot and its control method |
| CN107908008A (en) * | 2017-12-28 | 2018-04-13 | 许峰 | A kind of certainly mobile AR display screens |
| CN108733084A (en) * | 2018-03-21 | 2018-11-02 | 北京猎户星空科技有限公司 | Control method, device, robot and the storage medium of revolute |
| CN109461169A (en) * | 2018-10-22 | 2019-03-12 | 同济大学 | A kind of system and method positioned for face tracking and human body |
| CN109955257A (en) * | 2017-12-22 | 2019-07-02 | 深圳市优必选科技有限公司 | A kind of awakening method of robot, device, terminal device and storage medium |
| 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 |
| CN110326273A (en) * | 2017-02-24 | 2019-10-11 | 夏普株式会社 | Control device, terminal installation, bracket, notice system, control method and control program |
| CN110861107A (en) * | 2019-12-03 | 2020-03-06 | 北京海益同展信息科技有限公司 | Service robot, display control method thereof, controller, and storage medium |
| TWI739339B (en) * | 2020-03-11 | 2021-09-11 | 國立陽明交通大學 | System for indoor positioning of personnel and tracking interactions with specific personnel by mobile robot and method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110326273A (en) * | 2017-02-24 | 2019-10-11 | 夏普株式会社 | Control device, terminal installation, bracket, notice system, control method and control program |
| CN106826867A (en) * | 2017-03-31 | 2017-06-13 | 上海思依暄机器人科技股份有限公司 | A kind of method that robot and control robot head are rotated |
| CN107133609A (en) * | 2017-06-02 | 2017-09-05 | 王永安 | A kind of man-machine communication robot and its control method |
| CN107133609B (en) * | 2017-06-02 | 2020-01-14 | 王永安 | Man-machine communication robot and control method thereof |
| CN109955257A (en) * | 2017-12-22 | 2019-07-02 | 深圳市优必选科技有限公司 | A kind of awakening method of robot, device, terminal device and storage medium |
| CN107908008A (en) * | 2017-12-28 | 2018-04-13 | 许峰 | A kind of certainly mobile AR display screens |
| 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 |
| CN108733084A (en) * | 2018-03-21 | 2018-11-02 | 北京猎户星空科技有限公司 | Control method, device, robot and the storage medium of revolute |
| CN109461169A (en) * | 2018-10-22 | 2019-03-12 | 同济大学 | A kind of system and method positioned for face tracking and human body |
| CN110861107A (en) * | 2019-12-03 | 2020-03-06 | 北京海益同展信息科技有限公司 | Service robot, display control method thereof, controller, and storage medium |
| CN110861107B (en) * | 2019-12-03 | 2020-12-22 | 北京海益同展信息科技有限公司 | Service robot, display control method thereof, controller, and storage medium |
| WO2021109806A1 (en) * | 2019-12-03 | 2021-06-10 | 京东数科海益信息科技有限公司 | Service robot and display control method therefor, controller, and storage medium |
| US20220402142A1 (en) * | 2019-12-03 | 2022-12-22 | Jingdong Technology Information Technology Co., Ltd. | Service robot and display control method thereof, controller and storage medium |
| TWI739339B (en) * | 2020-03-11 | 2021-09-11 | 國立陽明交通大學 | System for indoor positioning of personnel and tracking interactions with specific personnel by mobile robot and method thereof |
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