CN108748260A - A kind of audiovisual interactive intelligence robot - Google Patents
A kind of audiovisual interactive intelligence robot Download PDFInfo
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- CN108748260A CN108748260A CN201810359178.3A CN201810359178A CN108748260A CN 108748260 A CN108748260 A CN 108748260A CN 201810359178 A CN201810359178 A CN 201810359178A CN 108748260 A CN108748260 A CN 108748260A
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- audiovisual
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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
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
Abstract
The present invention relates to a kind of audiovisual interactive intelligence robots, including intelligence, and terminal and intelligent robot is presented, it is characterised in that：It includes audiovisual interaction platform and communication module that terminal, which is presented, in the intelligence, and the intelligent robot includes image capture module, sound acquisition module, power module, action module, central processing module, servo drive motor and locating module；User can be allowed to realize by the intelligent robot to perceive the 3D solids of ambient enviroment, have a vast market foreground and application value.
Description
Technical field
A kind of audiovisual interactive intelligence robot, belongs to intelligent robot technology field.
Background technology
All it is while only to accomplish to pass through by remote control control direction of advance currently, existing common remote control class robot
Increase common camera and realizes that common two dimension is presented.First, 3D vision captures can not be carried out, real world is one three-dimensional
The world, object have the depth of field, including more information such as acoustic information.And existing robot, there are no it is a can be real
The 3D vision captures and 3D visions of existing ambient enviroment are presented, and three-dimensional effect can not be presented；Second is that the AR that can not increase especially is empty
Quasi- information, the 3D visions captured by robot are only presented a vision of real world, in the cloud of all things on earth interconnection
In generation, we also need to more assist AR information in fact.
Invention content
In view of this, the present invention provides a kind of audiovisual interactive intelligence robot, including terminal and intelligent machine is presented in intelligence
Device people, it is characterised in that：It includes audiovisual interaction platform and communication module that terminal, which is presented, in intelligence, and intelligent robot includes Image Acquisition
Module, sound acquisition module, power module, action module, central processing module, servo drive motor and locating module；
Image capture module includes camera lens, imaging sensor, picture signal conversion unit and 3D processing units；Camera lens has 4, point
It is not arranged in the front, rear, left and right side of intelligent robot；Camera lens selecting unit chooses a camera lens as currently processed camera lens；
The optical signal of the currently processed light path of position is converted to the data image signal of currently processed camera lens by imaging sensor,
Obtain the digital picture of currently processed camera lens；3D processing units carry out the digital picture of camera lens the processing operation of 3-D view,
Obtain three-dimensional digital image；
Sound acquisition module includes transmission of sound signals unit, sound signal processing circuit and voice signal storage element；Sound
The voice signal received is transmitted to sound signal processing circuit by signal transmission unit；Sound signal processing circuit believes sound
The enhanced processing for number carrying out different stage, and carries out it analog-to-digital conversion, voice signal storage element is received and stored by mould
The voice signal of number conversion；
Power module connects with image capture module, action module, central processing module, servo drive motor and locating module respectively
It connects, supply of electric power is carried out to it；
Central processing module is connect with image capture module, action module, locating module respectively, and central processing module passes through communication
Module is connect with audiovisual interaction platform；
Audiovisual interaction platform is presented terminal with intelligence by communication module and connect, and terminal storage auxiliary AR information, figure is presented in intelligence
As acquisition module is equipped with picture catching algorithm, audiovisual interaction platform is equipped with Representation algorithm；
Representation algorithm is regarded as the vector being made of b color lump by image vector, by i-th image, and each color lump corresponds to one
Characteristic item, j-th of color lump character pair item tj；dijIt is calculated by formula one：
Formula one：
Wherein, dijFor vectorial diIn the component of j-th of dimension, sijIt is characterized a tjThe number occurred in i-th image；siFor
Total color lump number in i-th image：Z indicates the sum of image in image collection, ZjIt indicates to include characteristic item tjImage number；i
It is positive integer, i≤Z, j≤b with j；
Each characteristic item tjA corresponding characterization value wij, indicate characteristic item tjSignificance level in the images, characterization value wijIt is logical
Cross the calculating of formula two：
Formula two：
Wherein, wijValue be i-th image characteristic item tjCharacterization value, sijIt is characterized a tjOccur in i-th image
Number；Z indicates the sum of image in image collection, ZjFor in image collection, including characteristic item tjImage number；I and j are equal
For positive integer, i≤Z, j≤b；
Communication module is any one of wifi module, bluetooth module, 4G networking modules；
Wifi module connects the router of networking simultaneously, and terminal offer network is presented to intelligence and is used as mobile hot spot；
Locating module includes any one in GPS positioning module or Beidou positioning module；
A kind of audiovisual interactive intelligence robot provided by the invention, operation principle are as follows：
Audiovisual interaction platform sends move by communication module to central processing module, to drive the servo of intelligent robot
Driving motor operating adjusts direction and speed；
Audiovisual interaction platform connects image capture module and sound acquisition module by communication module, utilizes image capture module
And 3D rendering captures algorithm and carries out dynamic video 3D capture, and intelligence is back to by communication module, terminal is presented, it is handed in audiovisual
3D Representation algorithms are fulfiled on mutual platform and finally realize that 3D audiovisual is presented, even if audiovisual interaction platform user is allowed to be invisible to the naked eye
Position can also realize the 3D solids perception to ambient enviroment；
Terminal is presented by intelligence, the auxiliary AR letters strengthened are presented to user for the world that can be seen by intelligent robot
Breath；
A kind of audiovisual interactive intelligence robot provided by the invention, specific works step are as follows：
（1）Power module is connected with action module, and supply of electric power is provided by electric power source pair of module action module；
（2）Audiovisual interaction platform connects wifi module, image capture module is being connected by wifi module, by audiovisual interaction platform
Camera is connected by the channels wifi, 3D audiovisual under sighting distance or nlos environment is carried out and presents；
（3）Terminal is presented by intelligence, on the 3D rendering of presentation, the auxiliary AR information strengthened is presented to user；
（4）Audiovisual interaction platform passes intelligent robot move to central processing module by communication module, and drives dynamic
Make module；
（5）Action module is by the instruction of reception, then by servo drive motor, come control intelligent robot the direction of motion and
Speed；
（6）By GPS/ Beidou positioning modules, intelligent robot can be carried out to carry out position calibration.
The present invention useful achievement be：The present invention provides a kind of audiovisual interactive intelligence robots, are interacted in the audiovisual
3D Representation algorithms are fulfiled on platform and finally realize that 3D audiovisual is presented, even if allowing the user of the audiovisual interaction platform in meat
Eye can't see position also and can realize the 3D solids perception to ambient enviroment, have a vast market foreground and application value.
Specific implementation mode
In order to make technical problems, technical solutions and advantages to be solved be more clearly understood, tie below
Embodiment is closed, the present invention will be described in detail.It should be noted that specific embodiment described herein is only explaining
The present invention is not intended to limit the present invention, and can be realized that the product of said function belongs to equivalent replacement and improvement, is all contained in this hair
Within bright protection domain.The specific method is as follows：
Embodiment 1：Terminal and intelligent robot is presented in a kind of audiovisual interactive intelligence robot, including intelligence, it is characterised in that：
It includes audiovisual interaction platform and communication module that terminal, which is presented, in intelligence, and intelligent robot includes that image capture module, sound are adopted
Collect module, power module, action module, central processing module, servo drive motor and locating module；
Image capture module includes camera lens, imaging sensor, picture signal conversion unit and 3D processing units；Camera lens has 4, point
It is not arranged in the front, rear, left and right side of intelligent robot；Camera lens selecting unit chooses a camera lens as currently processed camera lens；
The optical signal of the currently processed light path of position is converted to the data image signal of currently processed camera lens by imaging sensor,
Obtain the digital picture of currently processed camera lens；3D processing units carry out the digital picture of camera lens the processing operation of 3-D view,
Obtain three-dimensional digital image；
Sound acquisition module includes transmission of sound signals unit, sound signal processing circuit and voice signal storage element；Sound
The voice signal received is transmitted to sound signal processing circuit by signal transmission unit；Sound signal processing circuit believes sound
The enhanced processing for number carrying out different stage, and carries out it analog-to-digital conversion, voice signal storage element is received and stored by mould
The voice signal of number conversion；
Power module connects with image capture module, action module, central processing module, servo drive motor and locating module respectively
It connects, supply of electric power is carried out to it；
Central processing module is connect with image capture module, action module, locating module respectively, and central processing module passes through communication
Module is connect with audiovisual interaction platform；
Audiovisual interaction platform is presented terminal with intelligence by communication module and connect, and terminal storage auxiliary AR information, figure is presented in intelligence
As acquisition module is equipped with picture catching algorithm, audiovisual interaction platform is equipped with Representation algorithm；
Communication module is any one of wifi module, bluetooth module, 4G networking modules；Wifi module connects the road of networking simultaneously
By device, terminal offer network is presented to intelligence and is used as mobile hot spot；
Locating module includes any one in GPS positioning module or Beidou positioning module；
Audiovisual interaction platform connects image capture module and sound acquisition module by communication module, utilizes image capture module
And 3D rendering captures algorithm and carries out dynamic video 3D capture；
Communication module parameterizes the image of acquisition and acoustic information, passes to intelligence and terminal is presented, on audiovisual interaction platform
It fulfils 3D Representation algorithms and finally realizes that 3D audiovisual is presented, allow audiovisual interaction platform user even if being invisible to the naked eye position
It realizes and the 3D solids of ambient enviroment is perceived；
Audiovisual interaction platform is by communication module to central processing module, sending action instruction, central processing module control servo
Driving motor operates to adjust the direction of motion and speed；
Terminal is presented by intelligence, the auxiliary AR letters strengthened are presented to user for the world that can be seen by intelligent robot
Breath.
Claims (1)
1. terminal and intelligent robot is presented in a kind of audiovisual interactive intelligence robot, including intelligence, it is characterised in that：The intelligence
It includes audiovisual interaction platform and communication module that terminal, which is presented, and the intelligent robot includes image capture module, sound collection mould
Block, power module, action module, central processing module, servo drive motor and locating module；
Described image acquisition module includes camera lens, imaging sensor, picture signal conversion unit and 3D processing units；The camera lens
There are 4, is arranged in the front, rear, left and right side of the intelligent robot；The camera lens selecting unit chooses a mirror
Head is used as currently processed camera lens；Described image sensor is converted to the optical signal of the currently processed light path of position described
The data image signal of currently processed camera lens obtains the digital picture of the currently processed camera lens；The 3D processing units, to institute
The digital picture for stating camera lens carries out the processing operation of 3-D view, obtains three-dimensional digital image；
The sound acquisition module includes transmission of sound signals unit, sound signal processing circuit and voice signal storage element；
The voice signal received is transmitted to the sound signal processing circuit by the transmission of sound signals unit；The voice signal
Voice signal is carried out the enhanced processing of different stage by processing unit, and analog-to-digital conversion is carried out to it, the voice signal storage
Unit receives and stores the voice signal by the analog-to-digital conversion；
The power module respectively with described image acquisition module, the action module, the central processing module, the servo
Driving motor is connected with the locating module, and supply of electric power is carried out to it；
The central processing module is connect with described image acquisition module, the action module, the locating module respectively, described
Central processing module is connect by the communication module with the audiovisual interaction platform；
The audiovisual interaction platform is presented terminal with the intelligence by the communication module and connect, and the intelligence is presented eventually
End storage auxiliary AR information, described image acquisition module are equipped with picture catching algorithm, the audiovisual interaction platform installation
There is Representation algorithm；
The Representation algorithm is regarded as the vector being made of b color lump by described image vectorization, by i-th image, each described
Color lump corresponds to a characteristic item, j-th of color lump character pair item tj；dijIt is calculated by formula one：
Formula one：
Wherein, dijFor the vector diIn the component of j-th of dimension, sijFor the characteristic item tjIn i-th described image
The number of middle appearance；The siFor total color lump number in i-th described image：Z indicates the total of image described in described image set
Number, ZjFor in described image set, including characteristic item tjDescribed image number；I and j is positive integer, i≤Z, j≤b；
Each characteristic item tjA corresponding characterization value wij, indicate the characteristic item tjSignificance level in the described image,
The characterization value wijIt is calculated by formula two：
Formula two：
Wherein, the wijValue be i-th described image the characteristic item tjCharacterization value, sijFor the characteristic item tj
The number occurred in i-th described image；Z indicates the sum of image described in described image set, ZjFor the figure
During image set closes, including characteristic item tjDescribed image number；I and j is positive integer, i≤Z, j≤b；
The communication module is any one of wifi module, bluetooth module, 4G networking modules；
The wifi module connects the router of networking simultaneously, and terminal, which is presented, to the intelligence provides network and as mobile heat
Point uses；
The locating module includes any one in GPS positioning module or Beidou positioning module；
A kind of audiovisual interactive intelligence robot, operation principle are as follows：
The audiovisual interaction platform sends move by communication module to the central processing module, to drive the intelligence
The servo drive motor operating of robot adjusts direction and speed；
The audiovisual interaction platform connects described image acquisition module and the sound acquisition module by communication module, utilizes
Described image acquisition module and 3D rendering capture algorithm and carry out dynamic video 3D capture, and are back to intelligence by the communication module
Terminal can be presented, 3D Representation algorithms are fulfiled on the audiovisual interaction platform and finally realize that 3D audiovisual is presented, the audiovisual is allowed to hand over
The user of mutual platform can realize the 3D solids perception to ambient enviroment even if being invisible to the naked eye position；
Terminal is presented by the intelligence, the world that can be seen by the intelligent robot presents to the user and strengthens
Auxiliary AR information；
A kind of audiovisual interactive intelligence robot, specific works step are as follows：
（1）The power module is connected with the action module, and electric power is provided by action module described in the electric power source pair of module
Supply；
（2）The audiovisual interaction platform connects the wifi module, and mould is acquired connecting described image by the wifi module
Block connects the camera by the channels wifi by the audiovisual interaction platform, carries out 3D under sighting distance or nlos environment
Audiovisual is presented；
（3）Terminal is presented by the intelligence, on the 3D rendering of the presentation, the auxiliary strengthened is presented to the user
AR information；
（4）The audiovisual interaction platform is passed the intelligent robot move by the communication module and gives central processing mould
Block, and drive the action module；
（5）The action module is by the instruction of reception, then by the servo drive motor, to control the intelligent robot
The direction of motion and speed；
（6）By the GPS/ Beidou positioning modules, the intelligent robot can be carried out to carry out position calibration.
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| CN201810359178.3A CN108748260A (en) | 2018-04-20 | 2018-04-20 | A kind of audiovisual interactive intelligence robot |
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| CN201810359178.3A CN108748260A (en) | 2018-04-20 | 2018-04-20 | A kind of audiovisual interactive intelligence robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110695989A (en) * | 2019-09-20 | 2020-01-17 | 浙江树人学院（浙江树人大学） | Audio-visual interaction system for intelligent robot and interaction control method thereof |
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