CN106843002A - A kind of control system based on intelligence machine head part - Google Patents
A kind of control system based on intelligence machine head part Download PDFInfo
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- CN106843002A CN106843002A CN201710080066.XA CN201710080066A CN106843002A CN 106843002 A CN106843002 A CN 106843002A CN 201710080066 A CN201710080066 A CN 201710080066A CN 106843002 A CN106843002 A CN 106843002A
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- control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention discloses a kind of control system based on intelligence machine head part, including：Control module, for output control instruction activation and the motor speed and sensor of control robot head, controls robot head motion, realizes vision and the voice interface of robot head；Vision processing module, the video information for being gathered to camera carries out human body attitude identification and recognition of face, and sends corresponding identification data to control module；Speech processing module, the audio-frequency information for being gathered to microphone carries out phonetic synthesis and identification and rhythm identification, and sends corresponding identification data to control module；Microphone control module, for initializing microphone collection audio-frequency information；Camera control module, for initializing camera information video acquisition.The present invention is synthesized and identification technology by integrated voice, realizes speech imitation, auditory localization and rhythm identification function；With reference to human body attitude algorithm and face recognition algorithms, attitude imitation, recognition and tracking and Expression Recognition are realized.
Description
Technical field
The present invention relates to a kind of control system of head, more particularly to a kind of control system of intelligence machine head part,
It is mainly used in servicing, entertains and artificial intelligence interaction field.
Background technology
At present, with the control method of robot head miscellaneous, but it is basic and common typically all to possess some
Function, such as speech recognition, the basic application function such as recognition of face and speech play.Multitasking form is single, so simultaneously
The interaction of person to person's work intelligence cannot be veritably embodied, existing interaction is most of to be rested in elemental motion, interactive
Mode is limited.
The content of the invention
It is an object of the invention to solve the problems, such as how to allow person to person's work intelligently more preferably to carry out interaction, artificial intelligence is allowed more
Press close to our life, improve the quality of cultural life, improve the operational efficiency of control system.Now provide a kind of based on intelligent machine
The control method of device head part, solves the problems, such as the control mode of person to person's work intelligent interaction limitation and efficiency.
The purpose of the present invention is achieved through the following technical solutions：
A kind of control system based on intelligence machine head part, including：
Control module, for output control instruction activation and the motor speed and sensor of control intelligence machine head part, controls
Robot head is moved, and realizes vision and the voice interface of robot head；
Vision processing module, the video information for being gathered to camera carries out human body attitude identification and recognition of face, and to control
Molding block sends corresponding identification data；
Speech processing module, the audio-frequency information for being gathered to microphone carries out phonetic synthesis and is recognized with identification and rhythm, and to
Control module sends corresponding identification data；
Microphone control module, for initializing microphone collection audio-frequency information；
Camera control module, for initializing camera collection video information.
Further, the control module is in activation and when controlled motor and sensor, motor and biography first to sleeping
Sensor enters line activating wake-up, initializes the configuration of motor and opens every sensor, and the number for obtaining is resolved then in conjunction with sensor
According to, finally it is converted into PWM input quantities and motor is controlled, it is controlled optimization in conjunction with pid control algorithm.
Further, described sensor includes gyroscope, accelerometer, pressure sensor and temperature sensor, wherein,
The gyroscope and accelerometer are used to combine the angle and speed for calculating head operating, while passing through pressure sensor and temperature
Degree sensor, realizes touch sensing, action is reached the simulated effect with people.
Further, described vision processing module is combined using Kinect depth image collection and Opencv frame difference methods
Mode, improve human body attitude and face identification rate, identification range, realize attitude imitate, the effect of recognition and tracking and Expression Recognition
Really.
Further, described speech processing module uses multi-microphone array, real with reference to phonetic synthesis and identification technology
Existing comprehensive speech signal collection, and the direction of sound source can be determined by auditory localization.
Further, described speech processing module is converted to electric signal output and carries out rhythm knowledge by musical ability waveform
Not, realize that motor PWM input quantity changes with music rhythm.
Further, the microphone module is additionally operable to detect the health status of microphone apparatus；
Further, the camera module is additionally operable to detect the health status of camera device.
Relative to prior art, the invention has the advantages that and technique effect：
1）The present invention combines artificial intelligence identification technology and control algolithm, realizes that attitude imitation, recognition and tracking and Expression Recognition are mutual
Dynamic effect.
2）The present invention combines Microphone Array Speech identification technology and sound source location technology, realizes voice interface effect.
3）The present invention innovatively uses rhythm identification technology, and realize the velocity of rotation of motor is carried out with the speed of music rhythm
Change.
4）The mode that each module of the invention can be flexibly utilized by multithreading is processed, and be may be implemented in same in single program
Shi Yunhang multiple threads complete different work.
Brief description of the drawings
Fig. 1 is embodiment of the present invention control flow chart.
Fig. 2 is the system principle schematic diagram of the embodiment of the present invention.
Specific embodiment
To more fully understand the present invention, specific implementation of the invention is described further below in conjunction with the accompanying drawings.
As shown in Fig. 2 a kind of control system based on intelligence machine head part, including：
Control module, for output control instruction activation and the motor speed and sensor of control intelligence machine head part, controls
Robot head is moved, and realizes vision and the voice interface of robot head；
Vision processing module, the video information for being gathered to camera carries out human body attitude identification and recognition of face, and to control
Molding block sends corresponding identification data；
Speech processing module, the audio-frequency information for being gathered to microphone carries out phonetic synthesis and is recognized with identification and rhythm, and to
Control module sends corresponding identification data；
Microphone control module, for initializing microphone collection audio-frequency information；
Camera control module, for initializing camera collection video information.
Specifically, the control module of the present embodiment is right first in activation and controlled motor rotating speed and sensor
The motor and sensor of sleep enter line activating wake-up, initialize the configuration of motor and open every sensor, then in conjunction with sensing
Device resolves the data for obtaining, and is finally converted into PWM input quantities and motor is controlled, and is controlled in conjunction with pid control algorithm
Optimization.In other words, the equipment such as motor and sensor waits control command after first passing through initial configuration, receives control command,
Perform corresponding action, if being not connected to control command, keep sleep state (see Fig. 1).
Specifically, the sensor of the present embodiment includes gyroscope, accelerometer, pressure sensor and TEMP
Device, wherein, the gyroscope and accelerometer are used to combine the angle and speed for calculating head operating, while being passed by pressure
Sensor and temperature sensor, realize touch sensing, action is reached the simulated effect with people.
Specifically, the vision processing module of the present embodiment is poor using Kinect depth image collection and Opencv frames
The mode that method is combined, improves human body attitude and face identification rate, identification range, realizes attitude imitation, recognition and tracking and expression
The effect of identification.The vision processing module combination artificial intelligence identification technology and control algolithm, based on face recognition technology,
Realize the effect that camera follows identification object to be moved.
Specifically, the described speech processing module of the present embodiment uses multi-microphone array, with reference to phonetic synthesis with
Identification technology, realizes comprehensive speech signal collection, and the direction of sound source can be determined by auditory localization.
Specifically, the described speech processing module of the present embodiment is converted to electric signal output by musical ability waveform
Rhythm identification is carried out, realizes that motor PWM input quantity changes with music rhythm.
Specifically, the microphone module of the present embodiment is additionally operable to detect the health status of microphone apparatus, realizes
Timely monitoring to microphone health status, it is ensured that normal acquisition of the intelligence machine head part to audio-frequency information.
Specifically, the camera module of the present embodiment is additionally operable to detect the health status of camera device, realizes
Timely monitoring to camera health status, it is ensured that normal acquisition of the intelligence machine head part to video information.
As shown in Fig. 2 the realization of function above, based on being implemented in combination with and people for motor, various sensors and various algorithms
Simulated effect.Wherein, using gyroscope, accelerometer, pressure sensor and temperature sensor etc., by the resolving of data,
Realize effect of the action emulation as the action of people.Video and audio algorithm include pid control algorithm, Kinect depth image
Gathering algorithm, Opencv frames difference algorithm, rhythm recognizer etc., are resolved in combination with Fourier transformation and AR models etc..
Each thread of operation of each module runs and completes different tasks simultaneously, fault-tolerant each other to carry out by the way of multithreading,
It is fault-tolerant each other to carry out.
Embodiments of the present invention are simultaneously not restricted to the described embodiments, other any real without departing from spirit of the invention
Matter and the change, modification, replacement made under principle, combine, simplify, should be equivalent substitute mode, being included in the present invention
Protection domain within.
Claims (8)
1. a kind of control system based on intelligence machine head part, it is characterised in that including：
Control module, for output control instruction activation and the motor speed and sensor of control intelligence machine head part, controls
Robot head is moved, and realizes vision and the voice interface of robot head；
Vision processing module, the video information for being gathered to camera carries out human body attitude identification and recognition of face, and to control
Molding block sends corresponding identification data；
Speech processing module, the audio-frequency information for being gathered to microphone carries out phonetic synthesis and is recognized with identification and rhythm, and to
Control module sends corresponding identification data；
Microphone control module, for initializing microphone collection audio-frequency information；
Camera control module, for initializing camera collection video information.
2. the control system based on intelligence machine head part according to claim 1, it is characterised in that：The control module
In activation and controlled motor and sensor, line activating is entered to the motor and sensor slept first and is waken up, initialization motor
Configuration and the every sensor of unlatching, the data for obtaining are resolved then in conjunction with sensor, be finally converted into PWM input quantities and motor is entered
Row control, optimization is controlled in conjunction with pid control algorithm.
3. the control system based on intelligence machine head part according to claim 1, it is characterised in that：Described sensor
Comprising gyroscope, accelerometer, pressure sensor and temperature sensor, wherein, the gyroscope and accelerometer are used to combine
The angle and speed of head operating are calculated, while by pressure sensor and temperature sensor, realizing touch sensing, makes action
Reach the simulated effect with people.
4. the control system based on intelligence machine head part according to claim 1, it is characterised in that：At described vision
Reason module improves human body attitude and recognition of face by the way of Kinect depth image is gathered and Opencv frame difference methods are combined
Rate, identification range, realize the effect of attitude imitation, recognition and tracking and Expression Recognition.
5. the control system based on intelligence machine head part according to claim 1, it is characterised in that：At described voice
Reason module uses multi-microphone array, with reference to phonetic synthesis and identification technology, realizes comprehensive speech signal collection, and can pass through
Auditory localization determines the direction of sound source.
6. the control system based on intelligence machine head part according to claim 1, it is characterised in that：At described voice
Reason module is converted to electric signal output by musical ability waveform carries out rhythm identification, realizes motor PWM input quantity with the Music Day
Play and change.
7. the control system based on intelligence machine head part according to claim 1, it is characterised in that：The microphone mould
Block is additionally operable to detect the health status of microphone apparatus.
8. the control system based on intelligence machine head part according to claim 1, it is characterised in that：The shooting head mould
Block is additionally operable to detect the health status of camera device.
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| CN201710080066.XA CN106843002A (en) | 2017-02-15 | 2017-02-15 | A kind of control system based on intelligence machine head part |
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| CN201710080066.XA CN106843002A (en) | 2017-02-15 | 2017-02-15 | A kind of control system based on intelligence machine head part |
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| CN107990887A (en) * | 2017-11-07 | 2018-05-04 | 南宁学院 | A kind of holography positioner |
| CN108015769A (en) * | 2017-12-06 | 2018-05-11 | 子歌教育机器人（深圳）有限公司 | The kinetic control system and intelligent robot of intelligent robot |
| CN108500988A (en) * | 2018-04-04 | 2018-09-07 | 贺江涛 | A kind of intelligent robot |
| CN109831717A (en) * | 2017-11-23 | 2019-05-31 | 深圳市优必选科技有限公司 | Noise reduction processing method and system and terminal equipment |
| CN110722565A (en) * | 2019-10-31 | 2020-01-24 | 北京鲲鹏神通科技有限公司 | Humanoid robot |
| CN110861092A (en) * | 2019-12-06 | 2020-03-06 | 壹佰米机器人技术(北京)有限公司 | PID parameter intelligent optimization method based on scene change |
| CN112936245A (en) * | 2021-02-05 | 2021-06-11 | 华南理工大学 | Head and eye gaze control device and method for humanoid robot |
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| CN101693371A (en) * | 2009-09-30 | 2010-04-14 | 深圳先进技术研究院 | Robot capable of dancing by following music beats |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107990887A (en) * | 2017-11-07 | 2018-05-04 | 南宁学院 | A kind of holography positioner |
| CN109831717A (en) * | 2017-11-23 | 2019-05-31 | 深圳市优必选科技有限公司 | Noise reduction processing method and system and terminal equipment |
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| CN108500988A (en) * | 2018-04-04 | 2018-09-07 | 贺江涛 | A kind of intelligent robot |
| CN110722565A (en) * | 2019-10-31 | 2020-01-24 | 北京鲲鹏神通科技有限公司 | Humanoid robot |
| CN110861092A (en) * | 2019-12-06 | 2020-03-06 | 壹佰米机器人技术(北京)有限公司 | PID parameter intelligent optimization method based on scene change |
| CN112936245A (en) * | 2021-02-05 | 2021-06-11 | 华南理工大学 | Head and eye gaze control device and method for humanoid robot |
| CN112936245B (en) * | 2021-02-05 | 2023-07-18 | 华南理工大学 | Head and eye gaze control device and method of humanoid robot |
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