CN107331390A - Robot voice recognizes the active system for tracking of summoner - Google Patents
Robot voice recognizes the active system for tracking of summoner Download PDFInfo
- Publication number
- CN107331390A CN107331390A CN201710389788.3A CN201710389788A CN107331390A CN 107331390 A CN107331390 A CN 107331390A CN 201710389788 A CN201710389788 A CN 201710389788A CN 107331390 A CN107331390 A CN 107331390A
- Authority
- CN
- China
- Prior art keywords
- summoner
- module
- motor
- tracking
- 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.)
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Classifications
-
- 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
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
-
- 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
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L17/00—Speaker identification or verification
- G10L17/22—Interactive procedures; Man-machine interfaces
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- 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
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
Abstract
The invention discloses the active system for tracking that robot voice recognizes summoner, including：Controller, voice acquisition module, image capture module, sound identification module, the first motor, the second motor and movable pulley, sound identification module, image capture module, the first motor and the second motor are coupled with controller respectively, voice acquisition module is connected with sound identification module, and the second motor is connected with movable pulley；The voice messaging for the summoner that sound identification module is used to analyze and certification is collected, in the case of by certification, speech recognition mould wakes up controller；Controller controls image capture module to carry out IMAQ to summoner, and works with controlling the first motor and the second motor；The head connection of first motor and robot, the rotation for the head of control machine people.The active system for tracking overcome in the prior art service humanoid robot exist that hommization effect is poor, the problem of the function of not following actively.
Description
Technical field
The present invention relates to robot following control system field, in particular it relates to which a kind of robot voice recognizes summoner
Active system for tracking.
Background technology
Robot (Robot) is the automatic installations for performing work.It can both receive mankind commander, can run again
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology, with the development of society, machine
The technology of people has also obtained development by leaps and bounds, therefore, and the application of robot is also more and more universal, also each for Robot Design
Plant various kinds.
There is a class to be referred to as servicing humanoid robot in robot, be generally used for service industry to carry out full-time service to client
's.Full-time service is carried out for VIP client such as in bank, so this kind of robot requires higher to hommization.But it is existing
Humanoid robot is serviced in technology and there is the function that hommization effect is poor, does not follow actively, or follows the problem of experience is poor.
Therefore it provides a kind of can efficiently identify the voice of VIP client in use, so as to be called out by VIP client
Wake up and actively follow the robot voice of VIP client to recognize that the active system for tracking of summoner is asking for urgent need to resolve of the present invention
Topic.
The content of the invention
For above-mentioned technical problem, the purpose of the present invention be overcome in the prior art service humanoid robot there is hommization
Effect is poor, the function of not following actively, or the problem of follow experience difference, so that provide a kind of can have in use
The voice of effect ground identification VIP client, is called together so as to be waken up by VIP client and actively follow the robot voice of VIP client to recognize
The active system for tracking for the person of calling out.
To achieve these goals, the invention provides the active system for tracking that a kind of robot voice recognizes summoner,
The active system for tracking includes：Controller, voice acquisition module, image capture module, sound identification module, the first driving electricity
Machine, the second motor and movable pulley, the sound identification module, described image acquisition module, first motor and
Second motor is coupled with the controller respectively, and the voice acquisition module is connected with the sound identification module,
Second motor is connected with the movable pulley；Wherein, the voice acquisition module is used for the voice letter for gathering summoner
Breath；The voice messaging for the summoner that the sound identification module is used to analyze and certification is collected, in the case of by certification,
The speech recognition mould wakes up the controller；The controller control described image acquisition module carries out image to summoner and adopted
Collection, and work with controlling first motor and the second motor；Second motor is described for driving
The work of movable pulley, the head connection of first motor and robot, the rotation for the head of control machine people.
Preferably, the sound identification module includes：Microphone Array Speech identification module and voiceprint identification module, it is described
Microphone Array Speech identification module is configured to recognize the sounding position of summoner；The voiceprint identification module is configured to pair
The voice of summoner carries out authentication.
Preferably, summoner is carried out using the two-step positioning mode based on TDOA in the Microphone Array Speech identification module
Sounding position identification.
Preferably, the active system for tracking also include range finder module, the range finder module also with the controller phase coupling
Connect, and the range finder module is configured to the distance between detection robot and follower.
Preferably, the range finder module enters row distance detection using depth of field camera.
Preferably, the controller at least includes：Data processing module, memory and judge module, the memory and
The judge module is connected with the data processing module respectively, and the memory is also connected with the range finder module.
Preferably, described image acquisition module includes：3D cameras and AD converter, the 3D cameras are used for calling
The image of person is acquired, and the AD converter is used to the analog signal that the 3D cameras are gathered being converted into data signal,
And export into the controller.
According to above-mentioned technical proposal, the active system for tracking for the robot voice identification summoner that the present invention is provided passes through institute
The voice messaging that voice acquisition module gathers summoner is stated, the sound identification module is used for the calling analyzed and certification is collected
The voice messaging of person, in the case of by certification, the speech recognition mould wakes up the controller, and the speech recognition mould
Block can also be positioned to the source of students that summoner sends, and such first motor drives the head rotation to facing calling
Person, gives summoner's very Consumer's Experience of hommization always, described image acquisition module carries out IMAQ to summoner, so that side
Just summoner is carried out actively following, second motor is used to drive the movable pulley work to realize the work(followed
Energy.The present invention robot voice identification summoner active system for tracking overcome in the prior art service humanoid robot exist
Hommization effect is poor, the function of not following actively, or follows the problem of experience is poor.
Other features and advantages of the present invention will be described in detail in subsequent embodiment part.
Brief description of the drawings
Accompanying drawing is, for providing a further understanding of the present invention, and to constitute a part for specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
The active that Fig. 1 is a kind of preferred embodiment lower robot voice identification summoner provided of the present invention is followed
The structured flowchart of system.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
As shown in figure 1, the invention provides the active system for tracking that a kind of robot voice recognizes summoner, the active
System for tracking includes：Controller, voice acquisition module, image capture module, sound identification module, the first motor, second
Motor and movable pulley, the sound identification module, described image acquisition module, first motor and described second
Motor is coupled with the controller respectively, and the voice acquisition module is connected with the sound identification module, and described second
Motor is connected with the movable pulley；Wherein, the voice acquisition module is used for the voice messaging for gathering summoner；Institute's predicate
The voice messaging for the summoner that sound identification module is used to analyze and certification is collected, in the case of by certification, the voice
Recognize that mould wakes up the controller；The controller control described image acquisition module carries out IMAQ to summoner, and
Work with controlling first motor and the second motor；Second motor is used to drive the movable pulley
Work, the head connection of first motor and robot, the rotation for the head of control machine people.
According to above-mentioned technical proposal, the active system for tracking for the robot voice identification summoner that the present invention is provided passes through institute
The voice messaging that voice acquisition module gathers summoner is stated, the sound identification module is used for the calling analyzed and certification is collected
The voice messaging of person, in the case of by certification, the speech recognition mould wakes up the controller, and the speech recognition mould
Block can also be positioned to the source of students that summoner sends, and such first motor drives the head rotation to facing calling
Person, gives summoner's very Consumer's Experience of hommization always, described image acquisition module carries out IMAQ to summoner, so that side
Just summoner is carried out actively following, second motor is used to drive the movable pulley work to realize the work(followed
Energy.The present invention robot voice identification summoner active system for tracking overcome in the prior art service humanoid robot exist
Hommization effect is poor, the function of not following actively, or follows the problem of experience is poor.
The present invention it is a kind of preferred embodiment in, the sound identification module includes：Microphone Array Speech is known
Other module and voiceprint identification module, the Microphone Array Speech identification module are configured to recognize the sounding position of summoner；
The voiceprint identification module is configured to carry out authentication to the voice of summoner.By confirming the sounding position of summoner,
Control the head rotation of the first motor driving robot to summoner is faced, so give the Consumer's Experience of summoner more
It is good.And the voiceprint identification module can recognize the identity of summoner, just start the controller in the case of by certification,
Progress actively follows work, and in the case where not passing through certification, the robot does not make any reaction.
The present invention it is a kind of preferred embodiment in, using being based in the Microphone Array Speech identification module
TDOA two-step positioning mode carries out the sounding position identification of summoner, and the hair of summoner can be accurately detected using this method
Behind sound position, the sounding position for detecting summoner, first motor can drive the head of robot to turn to summoner's
Sounding position, gives summoner a kind of more preferable Consumer's Experience.
In order that obtaining summoner possesses more preferable Consumer's Experience in the present invention, in one kind of the invention preferred embodiment
In, the active system for tracking also includes range finder module, and the range finder module is also mutually coupled with the controller, and the ranging
Module is configured to the distance between detection robot and follower, can so cause robot in active summoner, with
Maintained a certain distance between summoner, prevent from having influence on summoner's work, also give summoner more preferable Consumer's Experience.
The present invention it is a kind of preferred embodiment in, the range finder module using depth of field camera enter row distance inspection
Survey, the depth of field camera can effectively detect the distance between summoner and robot, and depth of field camera is very universal,
Easily obtain.
The present invention it is a kind of preferred embodiment in, described image acquisition module includes：3D cameras and AD conversion
Device, the 3D cameras are used to be acquired the image of summoner, and the AD converter is used to gather the 3D cameras
Analog signal be converted into data signal, and export into the controller, the 3D cameras are used for the figure for gathering summoner
As information, but the information of collection is analog signal, information is analyzed for convenience, it is necessary to which AD converter is by analog signal
Data signal is converted into, consequently facilitating controller carries out graphical analysis and processing.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, still, the present invention is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the present invention, a variety of letters can be carried out to technical scheme
Monotropic type, these simple variants belong to protection scope of the present invention.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should equally be considered as content disclosed in this invention.
Claims (7)
1. a kind of robot voice recognizes the active system for tracking of summoner, it is characterised in that the active system for tracking includes：
Controller, voice acquisition module, image capture module, sound identification module, the first motor, the second motor and movement
Wheel, the sound identification module, described image acquisition module, first motor and second motor respectively with
Controller coupling, the voice acquisition module is connected with the sound identification module, second motor with it is described
Movable pulley is connected；Wherein,
The voice acquisition module is used for the voice messaging for gathering summoner；The sound identification module is used to analyze and certification is adopted
The voice messaging of the summoner collected, in the case of by certification, the speech recognition mould wakes up the controller；The control
Device control described image acquisition module processed carries out IMAQ to summoner, and controls first motor and second to drive
Work dynamic motor；Second motor is used for the work for driving the movable pulley, first motor and machine
The head connection of people, the rotation for the head of control machine people.
2. robot voice according to claim 1 recognizes the active system for tracking of summoner, it is characterised in that institute's predicate
Sound identification module includes：Microphone Array Speech identification module and voiceprint identification module, the Microphone Array Speech recognize mould
Block is configured to recognize the sounding position of summoner；The voiceprint identification module is configured to carry out identity to the voice of summoner
Certification.
3. robot voice according to claim 1 recognizes the active system for tracking of summoner, it is characterised in that the wheat
The sounding position for carrying out summoner using the two-step positioning mode based on TDOA in gram wind array sound identification module is recognized.
4. robot voice according to claim 1 recognizes the active system for tracking of summoner, it is characterised in that the master
Dynamic system for tracking also includes range finder module, and the range finder module also mutually couples with the controller, and the range finder module by with
It is set to the distance between detection robot and follower.
5. robot voice according to claim 4 recognizes the active system for tracking of summoner, it is characterised in that the survey
Row distance detection is entered using depth of field camera away from module.
6. robot voice according to claim 5 recognizes the active system for tracking of summoner, it is characterised in that the control
Device processed at least includes：Data processing module, memory and judge module, the memory and the judge module respectively with it is described
Data processing module is connected, and the memory is also connected with the range finder module.
7. robot voice according to claim 1 recognizes the active system for tracking of summoner, it is characterised in that the figure
As acquisition module includes：3D cameras and AD converter, the 3D cameras are used to be acquired the image of summoner, described
AD converter is used to the analog signal that the 3D cameras are gathered being converted into data signal, and exports into the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710389788.3A CN107331390A (en) | 2017-05-27 | 2017-05-27 | Robot voice recognizes the active system for tracking of summoner |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710389788.3A CN107331390A (en) | 2017-05-27 | 2017-05-27 | Robot voice recognizes the active system for tracking of summoner |
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| Publication Number | Publication Date |
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| CN107331390A true CN107331390A (en) | 2017-11-07 |
Family
ID=60192873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201710389788.3A Pending CN107331390A (en) | 2017-05-27 | 2017-05-27 | Robot voice recognizes the active system for tracking of summoner |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109087636A (en) * | 2017-12-15 | 2018-12-25 | 蔚来汽车有限公司 | Interactive device |
| CN109190478A (en) * | 2018-08-03 | 2019-01-11 | 北京猎户星空科技有限公司 | The switching method of target object, device and electronic equipment during focus follows |
| CN109366504A (en) * | 2018-12-17 | 2019-02-22 | 广州天高软件科技有限公司 | A kind of intelligence exhibition and fair service robot system |
| CN109877842A (en) * | 2017-12-06 | 2019-06-14 | 湘潭宏远电子科技有限公司 | A kind of robot interactive system |
| CN109885042A (en) * | 2017-12-06 | 2019-06-14 | 湘潭宏远电子科技有限公司 | A kind of apparatus control system based on robot |
| 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 |
| CN109877825A (en) * | 2017-12-06 | 2019-06-14 | 湘潭宏远电子科技有限公司 | A kind of robot mode switching system based on voice keyword |
| WO2019140697A1 (en) * | 2018-01-22 | 2019-07-25 | 深圳慧安康科技有限公司 | Interphone extension intelligent robot device |
| CN110457884A (en) * | 2019-08-06 | 2019-11-15 | 北京云迹科技有限公司 | Target follower method, device, robot and read/write memory medium |
| CN113160518A (en) * | 2021-04-02 | 2021-07-23 | Tcl通讯（宁波）有限公司 | Early warning system and early warning method based on edge calculation |
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| CN113160518A (en) * | 2021-04-02 | 2021-07-23 | Tcl通讯（宁波）有限公司 | Early warning system and early warning method based on edge calculation |
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Application publication date: 20171107 |
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