CN106547884A - A kind of behavior pattern learning system of augmentor - Google Patents
A kind of behavior pattern learning system of augmentor Download PDFInfo
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- CN106547884A CN106547884A CN201610954182.5A CN201610954182A CN106547884A CN 106547884 A CN106547884 A CN 106547884A CN 201610954182 A CN201610954182 A CN 201610954182A CN 106547884 A CN106547884 A CN 106547884A
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- people
- scapegoat
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- expression
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/30—Information retrieval; Database structures therefor; File system structures therefor of unstructured textual data
- G06F16/33—Querying
- G06F16/332—Query formulation
- G06F16/3329—Natural language query formulation or dialogue systems
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/26—Speech to text systems
Abstract
A kind of behavior pattern learning system of augmentor, it is related to robot control system technical field.Intelligent terminal is input into comprising action control, images first, microphone one, display screen one, loudspeaker one, images first；Augmentor interactive system includes robot motion, display screen two, loudspeaker two, camera two, microphone two；Scapegoat people's behavior subsystem includes interaction people's speech recognition, correlation grammar storehouse, speech habits storehouse, expression storehouse, maneuver library, scapegoat people's speech recognition, speech habits training, language expression matching training, language motion matching training.During use of the robot by scapegoat people, by learning algorithms such as neutral nets, feature to the behavioural habits of the scapegoat people can be expressed by the motor habit of scapegoat people, speech habits, expression custom etc., carry out prolonged deep learning, so that when not online by scapegoat people, robot remains to the behavioural characteristic for showing scapegoat people, to increase the affinity of the anthropomorphic scapegoat of augmentor.
Description
Technical field
The present invention relates to robot control system technical field, and in particular to a kind of behavior pattern study of augmentor
System.
Background technology
Augmentor is that, using anthropomorphic robot as carrier, people realize the behavior to the robot by remote terminal
Control, this control include that transmission of video, audio transmission, control logic are transmitted etc. so that people are even also can be with other party
The extremely short time is carrier by augmentor, returns to the playground at robot place, and using robot on behalf of complete
Into the thing that people feel like doing, household, conference participation etc. are such as accompanied.
But augmentor only can just give expression to the relatively warm and true of scapegoat people in scapegoat people's On-line Control at present
Real behavior pattern, when scapegoat people is offline, is then restored back to the original more stiff behavior pattern of robot, cause it is online and
Two kinds of offline completely different robot interactive experience.To solve this problem so that when offline robot remain to expression with
The behavior pattern that scapegoat people is relatively close to, herein proposes a kind of behavior pattern learning system of augmentor.
The content of the invention
It is an object of the invention to provide a kind of augmentor of the affinity of the anthropomorphic scapegoat for increasing augmentor
Behavior pattern learning system.
In order to solve the problems of background technology, the present invention is to employ the following technical solutions：A kind of augmentor
Behavior pattern learning system, it include intelligent terminal, augmentor interactive system, scapegoat people's behavior subsystem；
Described intelligent terminal is input into, images first, microphone one, display screen one, loudspeaker one comprising action control, is taken the photograph
As first；
Described augmentor interactive system includes robot motion, display screen two, loudspeaker two, camera two, wheat
Gram wind two；
Described scapegoat people's behavior subsystem includes interaction people's speech recognition, correlation grammar storehouse, speech habits storehouse, expression
Storehouse, maneuver library, scapegoat people's speech recognition, speech habits training, language expression matching training, language motion matching training.
The present invention using method be：
(1), online scapegoat's interaction：
Scapegoat people by the intelligent terminal such as mobile phone or computer remote control robot with interacting people and being chatted when, Ti Shenren
Acoustic information, expression information and action message connect by the microphone one of intelligent terminal, the equipment for imaging first, action control
Receive, and long distance wireless is delivered in robot, and play out and hold by the loudspeaker two of robot, display screen two, action
OK；The acoustic information and expression information of interaction people is received by the microphone two and camera two of robot, is delivered to intelligent terminal
On, and played out by the loudspeaker one and display screen one of intelligent terminal；
(2), database update：
In scapegoat's interaction, the acoustic information of scapegoat people of the robot to receiving carries out speech recognition, and phase
Same or similar keyword carries out pattern learning by intelligence learning algorithm, (oral by the speech habits of scapegoat people to learn
Buddhist), and deposit in the database of robot, in scapegoat's interaction, robot is respectively to the scapegoat people that receives and friendship
Mutually the acoustic information of people carries out speech recognition, and according to fixed regular expression, the sentence to identifying carries out keyword
Extract, keyword these scapegoat people for identifying, the keyword of interaction people and the now expression information of scapegoat people and dynamic
Make information association together, and deposit in the database of robot；
(3), offline scapegoat's interaction：
When scapegoat people is offline, robot is not controlled, when robot is with interacting people and carrying out chatting interactive, robot
By speech recognition being carried out to interaction people, and search for the semantic meaning representation of matching from database, in combination with the language of scapegoat people
Custom, being combined into a sentence with scapegoat people's speech habits carries out phonetic synthesis, and is played back by loudspeaker.Simultaneously
Find from database suitable scapegoat people speak expression information and action message is played out and is performed.
After using above-mentioned technical proposal, the invention has the advantages that：
During use of the robot by scapegoat people, by learning algorithms such as neutral nets, to by the action of scapegoat people
Custom, speech habits, expression custom etc. can express the feature of the behavioural habits of the scapegoat people, carry out prolonged deep learning,
So that when not online by scapegoat people, robot remains to the behavioural characteristic for showing scapegoat people, to increase the plan of augmentor
The affinity of people scapegoat.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is scapegoat people's behavior pattern on-line study block diagram of embodiment provided by the present invention；
Fig. 2 is that scapegoat people's behavior pattern of embodiment provided by the present invention interacts block diagram offline.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing and it is embodied as
Mode, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this
Invention, is not intended to limit the present invention.
Refer to Fig. 1-2, a kind of behavior pattern learning system of augmentor, it includes intelligent terminal, scapegoat's machine
People's interactive system, scapegoat people's behavior subsystem；
Fig. 1 is referred to, during scapegoat people's behavior pattern on-line study：Described intelligent terminal is input into, is taken the photograph comprising action control
As first, microphone one, display screen one, loudspeaker one, first, the expression and voice of the collection scapegoat people of microphone one are imaged, is shown
A pair of scapegoat people of display screen one and loudspeaker carry out image and phonetic representation；
Described augmentor interactive system includes robot motion, display screen two, loudspeaker two, camera two, wheat
Gram wind two, robot motion be connecteds with action control input, image first, microphone one by wireless signal remotely connection respectively
Display screen two, loudspeaker two, camera two, microphone two cross wireless signal long-range connection display screen one, loudspeaker one respectively, show
The interactive people of display screen two, loudspeaker two pairs carries out image, phonetic representation respectively, and camera two, microphone two gather interaction people respectively
Expression and voice；
Described scapegoat people's behavior subsystem includes interaction people's speech recognition, correlation grammar storehouse, speech habits storehouse, expression
Storehouse, maneuver library, scapegoat people's speech recognition, speech habits training, language expression matching training, language motion matching training, Mike
The connection interaction people's speech recognition of wind two, the connection scapegoat people's speech recognition of microphone one image first connection language expression matching instruction
Practice, action control input connection language motion matching training, scapegoat people's speech recognition connect correlation grammar storehouse, speech habits respectively
Training, language expression matching training and language motion matching training, interaction people speech recognition connection correlation grammar storehouse, speech habits
Training connection speech habits storehouse, language expression matching training connection expression storehouse, language motion matching training connection maneuver library.
Fig. 2 is referred to, when scapegoat people's behavior pattern is interacted offline, maneuver library connection robot motion, the connection of expression storehouse are aobvious
Display screen two, correlation grammar storehouse, speech habits storehouse are connected with phonetic synthesis, phonetic synthesis connection loudspeaker two, robot motion, aobvious
The interactive people of display screen two, loudspeaker two pairs carries out action, expression and phonetic representation；Camera two, microphone two are respectively to interaction people
Carry out image and voice collecting, the connection interaction people's speech recognition of microphone two, interaction people speech recognition connection correlation grammar storehouse.
The using method of this specific embodiment is：
(1), online scapegoat's interaction：
Scapegoat people by the intelligent terminal such as mobile phone or computer remote control robot with interacting people and being chatted when, Ti Shenren
Acoustic information, expression information and action message connect by the microphone one of intelligent terminal, the equipment for imaging first, action control
Receive, and long distance wireless is delivered in robot, and play out and hold by the loudspeaker two of robot, display screen two, action
OK；The acoustic information and expression information of interaction people is received by the microphone two and camera two of robot, is delivered to intelligent terminal
On, and played out by the loudspeaker one and display screen one of intelligent terminal；
(2), database update：
In scapegoat's interaction, the acoustic information of scapegoat people of the robot to receiving carries out speech recognition, and phase
Same or similar keyword carries out pattern learning by intelligence learning algorithm, (oral by the speech habits of scapegoat people to learn
Buddhist), and deposit in the database of robot, in scapegoat's interaction, robot is respectively to the scapegoat people that receives and friendship
Mutually the acoustic information of people carries out speech recognition, and according to fixed regular expression, the sentence to identifying carries out keyword
Extract, keyword these scapegoat people for identifying, the keyword of interaction people and the now expression information of scapegoat people and dynamic
Make information association together, and deposit in the database of robot；
(3), offline scapegoat's interaction：
When scapegoat people is offline, robot is not controlled, when robot is with interacting people and carrying out chatting interactive, robot
By speech recognition being carried out to interaction people, and search for the semantic meaning representation of matching from database, in combination with the language of scapegoat people
Custom, being combined into a sentence with scapegoat people's speech habits carries out phonetic synthesis, and is played back by loudspeaker.Simultaneously
Find from database suitable scapegoat people speak expression information and action message is played out and is performed.
This specific embodiment by when scapegoat people is online, the behavioural habits of controlled robot to scapegoat people
Practise.When scapegoat people is offline, the behavioural habits of the scapegoat people using study gained are interacted by robot, so that machine
People remains to show by the behavioural characteristic of scapegoat people, to increase the affinity of the anthropomorphic scapegoat of augmentor.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of spirit or essential attributes without departing substantially from the present invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as and limit involved claim.
Moreover, it will be appreciated that although this specification is been described by according to embodiment, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical scheme in each embodiment can also Jing it is appropriately combined, form those skilled in the art
Understandable other embodiment.
Claims (3)
1. the behavior pattern learning system of a kind of augmentor, it is characterised in that it is handed over comprising intelligent terminal, augmentor
Mutual system, scapegoat people's behavior subsystem；Described intelligent terminal is input into comprising action control, images first, microphone one, shows
Screen one, loudspeaker one, images first；Described augmentor interactive system includes robot motion, display screen two, loudspeaker
2nd, camera two, microphone two；Described scapegoat people's behavior subsystem includes interaction people's speech recognition, correlation grammar storehouse, language
Custom storehouse, expression storehouse, maneuver library, scapegoat people's speech recognition, speech habits training, language expression matching training, language motion
With training.
2. a kind of behavior pattern learning system of augmentor according to claim 1, it is characterised in that scapegoat people's row
For during pattern on-line study：Described intelligent terminal is input into, images first, microphone one, display screen one, raises comprising action control
Sound device one, images first, the expression and voice of the collection scapegoat people of microphone one, and display screen one and loudspeaker a pair of scapegoat people carried out
Image and phonetic representation；
Described augmentor interactive system includes robot motion, display screen two, loudspeaker two, camera two, microphone
Two, robot motion is connected with action control input, and long-range connection shows respectively by wireless signal to image first, microphone one
Screen two, loudspeaker two, camera two, microphone two cross wireless signal long-range connection display screen one, loudspeaker one respectively, display screen
2nd, the interactive people of loudspeaker two pairs carries out image, phonetic representation respectively, and camera two, microphone two gather the table of interaction people respectively
Feelings and voice；
Described scapegoat people's behavior subsystem includes interaction people speech recognition, correlation grammar storehouse, speech habits storehouse, expression storehouse, dynamic
Make storehouse, scapegoat people's speech recognition, speech habits training, language expression matching training, language motion matching training, microphone two connects
Interactive people's speech recognition is connect, the connection scapegoat people's speech recognition of microphone one images first connection language expression matching training, action
Control input connection language motion matching training, scapegoat people's speech recognition connect correlation grammar storehouse, speech habits training, language respectively
Speech expression matching training and language motion matching training, interaction people speech recognition connection correlation grammar storehouse, speech habits Training Company
Connect speech habits storehouse, language expression matching training connection expression storehouse, language motion matching training connection maneuver library；
When scapegoat people's behavior pattern is interacted offline：Maneuver library connects robot motion, expression storehouse connection display screen two, correlation grammar
Storehouse, speech habits storehouse are connected with phonetic synthesis, phonetic synthesis connection loudspeaker two, robot motion, display screen two, loudspeaker two
Action, expression and phonetic representation are carried out to interaction people；Camera two, microphone two carry out image to interaction people respectively and voice is adopted
Collection, the connection interaction people's speech recognition of microphone two, interaction people speech recognition connection correlation grammar storehouse.
3. the behavior pattern learning system of a kind of augmentor, it is characterised in that using method is：
(1), online scapegoat's interaction：
Scapegoat people by the intelligent terminal such as mobile phone or computer remote control robot with interacting people and being chatted when, the sound of scapegoat people
Message breath, expression information and action message are received by the equipment of the microphone one of intelligent terminal, the first, action control of shooting,
And long distance wireless is delivered in robot, and plays out and perform by the loudspeaker two of robot, display screen two, action；
The acoustic information and expression information of interaction people is received by the microphone two and camera two of robot, is delivered on intelligent terminal,
And played out by the loudspeaker one and display screen one of intelligent terminal；
(2), database update：
In scapegoat's interaction, the acoustic information of scapegoat people of the robot to receiving carries out speech recognition, and identical or
Similar keyword carries out pattern learning by intelligence learning algorithm, to learn by the speech habits of scapegoat people, and deposits in machine
In the database of device people, in scapegoat's interaction, robot is respectively to the scapegoat people for receiving and the acoustic information for interacting people
Speech recognition is carried out, and according to fixed regular expression, the sentence to identifying carries out keyword extraction, these are recognized
The keyword of scapegoat people out, the keyword of interaction people and now the expression information and action message of scapegoat people is associated in one
Rise, and deposit in the database of robot；
(3), offline scapegoat's interaction：
When scapegoat people is offline, robot is not controlled, and when robot is with interacting people and carrying out chatting interactive, robot passes through
Speech recognition is carried out to interaction people, and the semantic meaning representation of matching is searched for from database, in combination with the speech habits of scapegoat people,
Being combined into a sentence with scapegoat people's speech habits carries out phonetic synthesis, and is played back by loudspeaker, while from number
According to find in storehouse suitable scapegoat people speak expression information and action message is played out and is performed.
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| CN107888620A (en) * | 2017-12-11 | 2018-04-06 | 大连高马艺术设计工程有限公司 | A kind of long-range reception and registration expression, voice, the role playing toy system of image |
| CN108172226A (en) * | 2018-01-27 | 2018-06-15 | 上海萌王智能科技有限公司 | A kind of voice control robot for learning response voice and action |
| CN108198559A (en) * | 2018-01-26 | 2018-06-22 | 上海萌王智能科技有限公司 | A kind of voice control robot system for learning action |
| CN108235697A (en) * | 2017-09-12 | 2018-06-29 | 深圳前海达闼云端智能科技有限公司 | A kind of Robotic Dynamic learning method, system, robot and cloud server |
| CN108470567A (en) * | 2018-03-15 | 2018-08-31 | 青岛海尔科技有限公司 | A kind of voice interactive method, device, storage medium and computer equipment |
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| CN109760061A (en) * | 2019-03-05 | 2019-05-17 | 上海岚豹智能科技有限公司 | Robot control method and equipment based on offline voice |
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| CN110224919A (en) * | 2018-03-02 | 2019-09-10 | 汪俊霞 | A kind of quasi- true man's chat robots |
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| CN110633011A (en) * | 2019-08-21 | 2019-12-31 | 中国第一汽车股份有限公司 | Vehicle-mounted robot, control method, control device and storage medium |
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| CN111452060A (en) * | 2020-04-21 | 2020-07-28 | 徐航 | Method for participating in business activities by using robot in place |
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| CN113878595A (en) * | 2021-10-27 | 2022-01-04 | 上海清芸机器人有限公司 | Humanoid entity robot system based on raspberry group |
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| CN108198559A (en) * | 2018-01-26 | 2018-06-22 | 上海萌王智能科技有限公司 | A kind of voice control robot system for learning action |
| CN108172226A (en) * | 2018-01-27 | 2018-06-15 | 上海萌王智能科技有限公司 | A kind of voice control robot for learning response voice and action |
| CN110224919A (en) * | 2018-03-02 | 2019-09-10 | 汪俊霞 | A kind of quasi- true man's chat robots |
| CN108470567A (en) * | 2018-03-15 | 2018-08-31 | 青岛海尔科技有限公司 | A kind of voice interactive method, device, storage medium and computer equipment |
| CN108470567B (en) * | 2018-03-15 | 2021-08-24 | 青岛海尔科技有限公司 | Voice interaction method and device, storage medium and computer equipment |
| CN109129509A (en) * | 2018-09-17 | 2019-01-04 | 金碧地智能科技（珠海）有限公司 | A kind of endowment based on screen intelligent interaction is accompanied and attended to robot |
| CN109760061A (en) * | 2019-03-05 | 2019-05-17 | 上海岚豹智能科技有限公司 | Robot control method and equipment based on offline voice |
| CN109841122A (en) * | 2019-03-19 | 2019-06-04 | 深圳市播闪科技有限公司 | A kind of intelligent robot tutoring system and student's learning method |
| CN110570849A (en) * | 2019-07-24 | 2019-12-13 | 中国地质大学（武汉） | personal exclusive AI electronic pet based on deep learning and use method thereof |
| CN110633011A (en) * | 2019-08-21 | 2019-12-31 | 中国第一汽车股份有限公司 | Vehicle-mounted robot, control method, control device and storage medium |
| CN111399422A (en) * | 2020-04-01 | 2020-07-10 | 南京信息工程大学 | Intelligent learning robot system |
| CN111452060A (en) * | 2020-04-21 | 2020-07-28 | 徐航 | Method for participating in business activities by using robot in place |
| CN111478975A (en) * | 2020-05-06 | 2020-07-31 | 徐航 | Method for realizing remote competitive interaction by utilizing bionic robot |
| CN111723898A (en) * | 2020-05-25 | 2020-09-29 | 成都时空穿梭智能科技有限公司 | Intelligent robot for simulating human |
| CN111741225A (en) * | 2020-08-07 | 2020-10-02 | 成都极米科技股份有限公司 | Human-computer interaction device, method and computer-readable storage medium |
| CN113878595A (en) * | 2021-10-27 | 2022-01-04 | 上海清芸机器人有限公司 | Humanoid entity robot system based on raspberry group |
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