CN108063912A - A kind of service-delivery machine person speech interaction and Visual servoing control design method - Google Patents
A kind of service-delivery machine person speech interaction and Visual servoing control design method Download PDFInfo
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- CN108063912A CN108063912A CN201610984281.8A CN201610984281A CN108063912A CN 108063912 A CN108063912 A CN 108063912A CN 201610984281 A CN201610984281 A CN 201610984281A CN 108063912 A CN108063912 A CN 108063912A
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- visual servoing
- servoing control
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- 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 discloses a kind of service-delivery machine person speech interaction and Visual servoing control design methods, the described method comprises the following steps：The first step has carried out overall introduction to service robot system, is divided including hardware composition, software development and running environment and software module；Second step, the design for each function module have carried out detailed analysis and research.The service-delivery machine person speech interaction of the present invention and Visual servoing control design method, functional requirement is captured for the interactive voice, video monitoring and visual servo of service robot, the acquisition of voice and video, coding, transmission, Target Recognition Algorithms and Visual servoing control based on image moment are had made intensive studies, and realize on 2 service robot analog platforms of SEU functional software design and the experiments such as the identification of video monitoring, interactive voice and operation object target.
Description
Technical field
The present invention relates to a kind of service-delivery machine person speech interaction and Visual servoing control design methods, belong to vision machine
Device people's technical field.
Background technology
With the development of science and technology the application of robot just quietly expands to service field from industrial circle, and progress into
The life of ordinary people；In the 21st century, nursing robot, Edutainment humanoid robot are come out one after another, these intelligent Service types
Robot brings more and more facilities for the life of the mankind, amusement, housework, health etc.；However, Internet's is fast
Speed development makes social-economic structures and huge variation has occurred in people’s lives mode, and working clan is badly in need of from cumbersome housework
It frees：Meanwhile aging of population is increasingly severe, more old men need to look after, the demand of social security and service
More urgent, aging family's structure also necessarily increases the pressure of more young families；The accelerating rhythm of life and the pressure of work
Power so that young man does not have more times to accompany old man, so as to which what is generated will be vast service robot market；Networking
Service robot has certain capacity, in the case where nobody accompanies and attends to, by remote control robot, can help to service
Object obtains certain viability, it is usually by sensor-based system, navigation system, servo-control system and man-machine interactive system group
Into each system coordination with one another helps service object to complete some service functions, alleviates the life stress of working clan significantly, is not
Carry out the new model of social life.With the development of computer technology and picture pick-up device, the technology of Visual Servoing System is asked
Topic has attracted the attention of numerous researchers；In the past few years, Robot Visual Servoing either still exists in theory
Application aspect all has made great progress；The research of visual servo is since the subject being related to is numerous, so its development depends on this
The development of a little subjects, still has many problems not well solve, main problem includes in the research of visual servo at present：
One）The method of image procossing is all the difficult point of visual servo maximum in theoretical and actual calculating processing speed；Two）At image
After the completion of reason, the foundation of model is another difficult point of visual servo between characteristics of image and joint of robot movement；Three）Current
Many control methods all cannot be guaranteed that system is global stability at work, so being also to the research in relation to control method
It is necessary.
The content of the invention
To solve the above problems, the present invention proposes a kind of service-delivery machine person speech interaction and Visual servoing control system is set
Meter method captures functional requirement, to voice and video for the interactive voice, video monitoring and visual servo of service robot
Acquisition, coding, transmission, Target Recognition Algorithms and the Visual servoing control based on image moment have made intensive studies, and
It is soft that the functions such as the identification of video monitoring, interactive voice and operation object target are realized on SEU-2 service robot analog platforms
Part designs and experiment.
The service-delivery machine person speech interaction of the present invention and Visual servoing control design method, the described method includes following
Step：
The first step has carried out overall introduction to service robot system, including hardware composition, software development and running environment and
Software module divides；
Second step, the design for each function module have carried out detailed analysis and research.
Further, the design of each function module of the second step specifically includes following steps：
A. video monitoring module designs, and monitors the state of service object's local environment in real time using indoor global camera,
And respective service is completed according to display picture control SEU-2 robots；Due to the limitation of bandwidth, the compression of multi-medium data is real
The key of existing network real-time video monitoring；Using VFW software development kits, VCM (video compression manager),
The technologies such as Winsock and multi-thread programming are designed, realize the acquisition of video, video flowing compression ＆ decompression, regard
Buffering of frequency stream etc.；
B. voice interaction module designs, and Terminal Server Client is carried out remote by the microphone with SEU-2 robots and service object
Journey exchanges；The master-plan of voice interactive function module is discussed, passes through related WaveX API, ACM (audio
Compression manager), the technologies such as Winsock and multi-thread programming, realize the acquisition of voice and playback, compression with
Decompression, the network of voice data are sent；
C. Visual servoing control module designs, and according to video monitoring picture, provides command adapted thereto, the completion of control robot is accordingly grabbed
Take task；Image processing techniques is most important content in Visual servoing control system design, and to target identification process, color is empty
Between conversion, the acquisition etc. of tag recognition, Threshold segmentation, edge detection, the image moment of the extraction of ROI and ROI and feature vector
It is studied in detail, develops corresponding software, and verified on SEU-2 emulation platforms.
Compared with prior art, service-delivery machine person speech interaction of the invention and Visual servoing control system are set the present invention
Meter method captures functional requirement, to voice and video for the interactive voice, video monitoring and visual servo of service robot
Acquisition, coding, transmission, Target Recognition Algorithms and the Visual servoing control based on image moment have made intensive studies, and
It is soft that the functions such as the identification of video monitoring, interactive voice and operation object target are realized on SEU-2 service robot analog platforms
Part designs and experiment.
Specific embodiment
The service-delivery machine person speech interaction of the present invention and Visual servoing control design method, the described method includes following
Step：
The first step has carried out overall introduction to service robot system, including hardware composition, software development and running environment and
Software module divides；
Second step, the design for each function module have carried out detailed analysis and research.
Wherein, the design of each function module of the second step specifically includes following steps：
A. video monitoring module designs, and monitors the state of service object's local environment in real time using indoor global camera,
And respective service is completed according to display picture control SEU-2 robots；Due to the limitation of bandwidth, the compression of multi-medium data is real
The key of existing network real-time video monitoring；Using VFW software development kits, VCM (video compression manager),
The technologies such as Winsock and multi-thread programming are designed, realize the acquisition of video, video flowing compression ＆ decompression, regard
Buffering of frequency stream etc.；
B. voice interaction module designs, and Terminal Server Client is carried out remote by the microphone with SEU-2 robots and service object
Journey exchanges；The master-plan of voice interactive function module is discussed, passes through related WaveX API, ACM (audio
Compression manager), the technologies such as Winsock and multi-thread programming, realize the acquisition of voice and playback, compression with
Decompression, the network of voice data are sent；
C. Visual servoing control module designs, and according to video monitoring picture, provides command adapted thereto, the completion of control robot is accordingly grabbed
Take task；Image processing techniques is most important content in Visual servoing control system design, and to target identification process, color is empty
Between conversion, the acquisition etc. of tag recognition, Threshold segmentation, edge detection, the image moment of the extraction of ROI and ROI and feature vector
It is studied in detail, develops corresponding software, and verified on SEU-2 emulation platforms.
The service-delivery machine person speech interaction of the present invention and Visual servoing control design method, for service robot
Interactive voice, video monitoring and visual servo crawl functional requirement, to the acquisition of voice and video, coding, transmission, target identification
Algorithm and Visual servoing control based on image moment have made intensive studies, and on SEU-2 service robot analog platforms
Realize the design of the functional software such as the identification of video monitoring, interactive voice and operation object target and experiment.
Above-described embodiment is only the better embodiment of the present invention, therefore all structures described according to present patent application scope
It makes, the equivalent change or modification that feature and principle are done, is included in the range of present patent application.
Claims (2)
1. a kind of service-delivery machine person speech interaction and Visual servoing control design method, which is characterized in that the method bag
Include following steps：
The first step has carried out overall introduction to service robot system, including hardware composition, software development and running environment and
Software module divides；
Second step, the design for each function module have carried out detailed analysis and research.
2. service-delivery machine person speech interaction according to claim 1 and Visual servoing control design method, feature
It is, the design of each function module of the second step specifically includes following steps：
A. video monitoring module designs, and monitors the state of service object's local environment in real time using indoor global camera,
And respective service is completed according to display picture control SEU-2 robots；Using VFW software development kits, VCM, Winsock and
The technologies such as multi-thread programming are designed, and realize the acquisition of video, the compression ＆ decompression of video flowing, the buffer of video flowing
System etc.；
B. voice interaction module designs, and Terminal Server Client is carried out remote by the microphone with SEU-2 robots and service object
Journey exchanges；The master-plan of voice interactive function module is discussed, passes through related WaveX API, ACM, Winsock and multi-thread
The technologies such as journey programming, the acquisition and the network of playback, compression ＆ decompression, voice data for realizing voice are sent；
C. Visual servoing control module designs, and according to video monitoring picture, provides command adapted thereto, the completion of control robot is accordingly grabbed
Take task；To target identification process, color space conversion, tag recognition, Threshold segmentation, edge detection, ROI extraction and
The image moment of ROI and the acquisition of feature vector etc. are studied in detail, and develop corresponding software, and are emulated in SEU-2
It is verified on platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610984281.8A CN108063912A (en) | 2016-11-09 | 2016-11-09 | A kind of service-delivery machine person speech interaction and Visual servoing control design method |
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| CN201610984281.8A CN108063912A (en) | 2016-11-09 | 2016-11-09 | A kind of service-delivery machine person speech interaction and Visual servoing control design method |
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| CN108063912A true CN108063912A (en) | 2018-05-22 |
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| CN201610984281.8A Pending CN108063912A (en) | 2016-11-09 | 2016-11-09 | A kind of service-delivery machine person speech interaction and Visual servoing control design method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110569121A (en) * | 2019-09-12 | 2019-12-13 | 华润万家有限公司 | Multithreading concurrent processing method and device based on application robot |
-
2016
- 2016-11-09 CN CN201610984281.8A patent/CN108063912A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110569121A (en) * | 2019-09-12 | 2019-12-13 | 华润万家有限公司 | Multithreading concurrent processing method and device based on application robot |
| CN110569121B (en) * | 2019-09-12 | 2024-03-22 | 华润万家有限公司 | Multithreading concurrent processing method and device based on application robot |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180522 |