CN106737724A - A kind of family's social interaction server humanoid robot system - Google Patents
A kind of family's social interaction server humanoid robot system Download PDFInfo
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- CN106737724A CN106737724A CN201611075066.2A CN201611075066A CN106737724A CN 106737724 A CN106737724 A CN 106737724A CN 201611075066 A CN201611075066 A CN 201611075066A CN 106737724 A CN106737724 A CN 106737724A
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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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The invention discloses a kind of family's social interaction server humanoid robot system, including sound and image capture module：Sound collection is completed by MIC arrays, and IMAQ is completed by high-definition camera；From motion tracking and servo module：Formed with image face and human bioequivalence block combiner by sound positioning；The cardinal points information of user is navigated to according to sound first, user is accurately positioned by face and human body recognition method then, then accurate tracking is realized by controlling tracking servo system；Display module：Using low-power consumption projection module, automatic focusing, automatic regulating lightness simultaneously carry out frame compensation；Interactive controlling module：Including intelligent sound, infrared remote control, tri- kinds of modes of long-range APP；Multi-user's Differentiated Services module：Different user is made a distinction by the vocal print and face characteristic that record different user.The scenes such as family's projection, projection robot, video display box are present invention can be widely used to, it is more convenient to provide the user, more intelligent service.
Description
Technical field
The present invention relates to a kind of robot system, more particularly to a kind of family's social interaction server humanoid robot system.
Background technology
In the scheme of current wired home social activity robot, data are mainly gathered by camera, and image is shown by embedding
The fixed display screen entered in machine body is presented.Robot can by camera catch picture carry out Face datection with
Track.It is right due to the limitation of the factor such as the automatic tracking effect of size and camera of display sizes in the scheme of current main flow
Still there is the inconvenience more than comparing in the application scenarios such as Video chat, home entertaining in family, it is specific as follows：
1st, the limitation of fixed mask display size, limits the distance of people and robot interactive, and too big distance can influence user
The Consumer's Experience of display screen is watched, the scope of activities of the so usage scenario to robot and user has the limit more than comparing
System；
2nd, automatic tracking effect, single pass camera carries out the detect and track of face and the aspect such as humanoid, with
Family does not appear in the medium scene of camera view, it is difficult to effectively trace into the activity of people；
3rd, to the Differentiated Services of different user object, existing robot does not make a distinction to kinsfolk substantially, machine
Reaction of the people to all user objects is substantially consistent, it is impossible to which satisfaction carries out intelligent differentiation to kinsfolk and then provides special
The demand of color service.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of family's social interaction server humanoid robot system, can automatically
The functional modules such as locating and tracking, Projection Display, voice interface, user's Differentiated Services are integrated in one, and provide the user more just
Prompt, more intelligent Consumer's Experience.
The technical scheme that the present invention is used to solve above-mentioned technical problem is to provide a kind of family's social interaction server type machine
People's system, including sound and image capture module：Sound collection is completed by MIC arrays, and IMAQ is completed by high-definition camera,
The image of collection from motion tracking and servo module to provide input；From motion tracking and servo module：By sound positioning and image people
Face and human bioequivalence block combiner are formed；The cardinal points information of user is navigated to according to sound first, then by face and
Human body recognition method is accurately positioned to user, then realizes accurate tracking by controlling tracking servo system；Display module：Adopt
Using low-power consumption projection module, automatic focusing, automatic regulating lightness simultaneously carries out frame compensation；Interactive controlling module：Including intelligent language
Sound, infrared remote control, long-range APP three-type-persons machine interactive controlling mode；Multi-user's Differentiated Services module：By recording different user
Vocal print and face characteristic make a distinction to different user.
Above-mentioned family's social interaction server humanoid robot system, wherein, it is described to be moved using whole machine from motion tracking and servo module
Dynamic device enters Mobile state tracking to target, or is realized from motion tracking using rotary machine people head.
Above-mentioned family's social interaction server humanoid robot system, wherein, the display module is LCD/DLP Projection Display moulds
Block, 3D display module or line holographic projections/display module.
Above-mentioned family's social interaction server humanoid robot system, wherein, multi-user's Differentiated Services module also records difference
The personal habits and user preference of user, and targetedly serviced according to user personality offer.
Present invention contrast prior art has following beneficial effect：The social interaction server humanoid robot system of family that the present invention is provided
System, can be widely applied for the scenes such as family's projection, projection robot, video display box, and it is more convenient to provide the user, more intelligently
Service.
Brief description of the drawings
Fig. 1 is family's social interaction server humanoid robot system architecture schematic diagram of the present invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is family's social interaction server humanoid robot system architecture schematic diagram of the present invention.
Refer to Fig. 1, family's social interaction server humanoid robot system that the present invention is provided, mainly including sound/IMAQ
System, from the module such as motion tracking and servo-drive system, low-power consumption Projection Display.Essential characteristic is：(1) robot can be by collection
The information such as sound/image control tracking servo system is positioned and tracked to user automatically；(2) display picture passes through low-power consumption
Projection module freely delivers completion；(3) by network connection, can be real between robot and mobile phone, robot and robot
Existing voice and video session；(4) user can control robot row by modes such as interactive voice, infrared remote control and long-range APP
For.The system and device can be widely applied to home theater, remote nursing monitoring, video conference/chat, home entertaining activity
Deng.
Family's social interaction server humanoid robot system that the present invention is provided, the functional realiey of several big basic modules is as follows：
1. sound and image capture module
IMAQ is completed by MIC arrays, and MIC arrays can be with relatively good positioning in the multichannel MIC inputs of spatial distribution
To the relative position of sound source；IMAQ is completed by high-definition camera, and the image of collection from motion tracking and servo module to provide
Input.
2. from motion tracking and servo module
Automatic tracking module is formed by sound positioning with image face and human bioequivalence block combiner；Working method is machine
People navigates to the cardinal points information of user according to sound first, and user is carried out by methods such as face and human bioequivalences then
It is accurately positioned, accurate tracking is realized by controlling tracking servo system.
3. display module
Robot display module use low-power consumption projection module, with low-power consumption, automatic focusing, ABC,
The features such as automatic picture compensation, it is possible to achieve multi-angle arbitrarily delivers display in a room, easily realizes that home theater, video are chatted
The function such as it.
4. interactive controlling module
The human-computer interactive control of robot can be completed by three kinds of modes：
(1) intelligent sound interaction, user can be exchanged by direct voice dialogue mode with robot；
(2) infrared remote control, user can control robot by IR remote controller；
(3) long-range APP controls, user can carry out remote interaction with mobile phone A PP by network connection；
Robot and the terminal device such as robot and robot and mobile phone/PC can realize that point is right by network interconnection
Point and multi-channel video session.
5. multi-user's Differentiated Services module
For different users, with different sound and face feature；Sound by recording different user of the invention
Line and face characteristic make a distinction to different user.On the basis of user distinguishes, the personal habit of different user can be recorded
Used, user preference etc., robot is provided according to user personality and targetedly serviced, and takes the more intelligent differentiationization of robot
Business.
Robot of the invention employs numerous complicated functional module, solves compatible adaptation, coordination between various modules
The many difficult and challenge run into work, just reaches the effect of " listen must understand, visible, elegant draw ".Particular problem and solution
Scheme is as follows：
(1) contradiction of camera and Projection Display to environmental light intensity demand：Camera is needed bright under normal circumstances
More preferably face and human body are tracked under light intensity, and Projection Display needs that relatively good display is presented in than dark environment
Effect.In order to more preferable equilibrium camera shoots tracking effect and Projection Display effect, the present invention camera shooting effect with
The aspect of projection brightness two is combined and carries out adjustment：A) by controlling the parameters such as camera exposure, white balance, Gamma corrections
Improve the effect taken pictures under low light environment；B) by optical sensor perception external light intensity, self-adaptative adjustment projection brightness,
Moderately increase projection light intensity in bright light environments, projection light intensity is moderately reduced in low light environment.
(2) arbitration and decision-making of multichannel data and controlling stream
Data flow in robot of the invention includes：MIC voice datas, Camera video datas, Projection Display data
Stream, network remote audio, video data, user profile data etc.；Controlling stream includes：Stepper motor/servos control, Projection Display control
System, the control of camera tracing control, radiator, the control of MIC/ audio amplifiers etc..The present invention needs to close the data of numerous complicated
The classification of reason, merger treatment, unified Decision Control.For example, the control of robotic tracking's motor, controllable input includes：
, objectively there is multichannel control in voice command, mobile phone A PP remote controls, IR remote controller, robot automatic tracking module etc. in itself
The conflict of system；Robot of the invention can assign different control signals different priority, to each road according to specifically used scene
Input is weighted treatment, robot is reached more preferable tracking effect.
(3) the whole machine heat dissipation problem of robot
Projector equipment is the main heating source in whole robot components, it is necessary to ventilation and heat condition is to ensure projection well
Normal work.In robot fuselage interior, device is numerous, and space is relatively narrow and small；And projection angle needs to automatically adjust,
So radiating element will also follow projection part to link, and requirement higher is proposed to radiating.The present invention is according to robot fuselage
Characteristic, using the design of ventilating duct from bottom to top, the physical principle that hot-air can be made full use of to float naturally, while
Powerful radiator fan, collocation adaptable heat conducting pipe and fin, it is ensured that good radiating effect are configured in vertical direction.
The present invention provide family's social interaction server humanoid robot system, can be widely applied for family projection, projection robot,
The scenes such as video display box, it is more convenient to provide the user, more intelligent service.Specific feature is as follows：
1. the combination of automatic tracking location and Projection Display
Robot is positioned by voice MIC arrays and is combined with camera face/Human detection, to the behavior energy of user
It is enough more accurately to position and track.This accurately locating and tracking can provide the user the possibility of leisurely and carefree exchange,
So as to liberate the behavior of user in interactive process.
The projection of low-power consumption, can need that very convenient that picture is projected into wall, roof etc. is indoor any according to user
The position of convenient viewing, and picture size is adjustable, so that the eyes of thorough liberation user, can meet user in different occasions
The possibility of Video chat.
2. multi-user's Differentiated Services
Robot can make a distinction according to information such as the vocal print feature of user and face features to user, and according to
The information such as different use habit, personal preference, targetedly service for different users provides, as towards home intelligent
The bright spot of domestic robot.
Although the present invention is disclosed as above with preferred embodiment, so it is not limited to the present invention, any this area skill
Art personnel, without departing from the spirit and scope of the present invention, when a little modification and perfect, therefore protection model of the invention can be made
Enclose when by being defined that claims are defined.
Claims (4)
1. a kind of family's social interaction server humanoid robot system, it is characterised in that including：
Sound and image capture module：Sound collection is completed by MIC arrays, and IMAQ is completed by high-definition camera, collection
Image from motion tracking and servo module to provide input；
From motion tracking and servo module：Formed with image face and human bioequivalence block combiner by sound positioning；First according to sound
Sound navigates to the cardinal points information of user, user is accurately positioned by face and human body recognition method then, then lead to
Cross control tracking servo system and realize accurate tracking；
Display module：Using low-power consumption projection module, automatic focusing, automatic regulating lightness simultaneously carry out frame compensation；
Interactive controlling module：Including intelligent sound, infrared remote control, long-range APP three-type-persons machine interactive controlling mode；
Multi-user's Differentiated Services module：Different user is made a distinction by the vocal print and face characteristic that record different user.
2. family's social interaction server humanoid robot system as claimed in claim 1, it is characterised in that described from motion tracking and servo
Module is entered Mobile state to target and is tracked using whole machine mobile device, or is realized from motion tracking using rotary machine people head.
3. family's social interaction server humanoid robot system as claimed in claim 1, it is characterised in that the display module is LCD/
DLP Projection Displays module, 3D display module or line holographic projections/display module.
4. family's social interaction server humanoid robot system as claimed in claim 1, it is characterised in that multi-user's Differentiated Services
Module also records the personal habits and user preference of different user, and is targetedly serviced according to user personality offer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611075066.2A CN106737724A (en) | 2016-11-29 | 2016-11-29 | A kind of family's social interaction server humanoid robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611075066.2A CN106737724A (en) | 2016-11-29 | 2016-11-29 | A kind of family's social interaction server humanoid robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737724A true CN106737724A (en) | 2017-05-31 |
Family
ID=58898443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611075066.2A Pending CN106737724A (en) | 2016-11-29 | 2016-11-29 | A kind of family's social interaction server humanoid robot system |
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Cited By (6)
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| CN109036392A (en) * | 2018-05-31 | 2018-12-18 | 芜湖星途机器人科技有限公司 | Robot interactive system |
| CN109885104A (en) * | 2017-12-06 | 2019-06-14 | 湘潭宏远电子科技有限公司 | A kind of tracking terminal system |
| CN110062200A (en) * | 2018-01-19 | 2019-07-26 | 浙江宇视科技有限公司 | Video monitoring method, device, web camera and storage medium |
| CN110716180A (en) * | 2019-10-17 | 2020-01-21 | 北京华捷艾米科技有限公司 | Audio positioning method and device based on face detection |
| CN111358640A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Sick bed detects nurse auxiliary system |
| CN111775183A (en) * | 2020-07-29 | 2020-10-16 | 浙江树人学院（浙江树人大学） | Intelligent interactive robot and interactive method thereof |
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| CN111775183A (en) * | 2020-07-29 | 2020-10-16 | 浙江树人学院（浙江树人大学） | Intelligent interactive robot and interactive method thereof |
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