CN109324691A - A kind of robot holder and its control method - Google Patents
A kind of robot holder and its control method Download PDFInfo
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- CN109324691A CN109324691A CN201811320802.5A CN201811320802A CN109324691A CN 109324691 A CN109324691 A CN 109324691A CN 201811320802 A CN201811320802 A CN 201811320802A CN 109324691 A CN109324691 A CN 109324691A
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- controller
- face
- hander
- recognition
- audio
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- 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
-
- 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
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
- G06V40/166—Detection; Localisation; Normalisation using acquisition arrangements
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Multimedia (AREA)
- General Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Computational Linguistics (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot holder and its control method, the hander includes: controller, audio collection device, audio recognizer, image acquisition device and recognition of face device；The audio recognizer is connect with the audio collection device and controller respectively；The recognition of face device is connect with described image collector and controller respectively；The controller generates control instruction according to sound and facial image.Technical solution provided by the invention is combined by speech recognition with face recognition, so that the safety of hander and task dexterity have big promotion.
Description
Technical field
The invention belongs to operating technology field more particularly to a kind of robot holders and its control method.
Background technique
With the development of automatic industrial, robot becomes the important link of automatic industrial, and people are to robot
Motion controller and its teaching technology are also being continuously improved.Important medium and interface of the hander as people and robot interactive,
It occupies extremely important effect in terms of operating experience and robot architecture.
Industrial robot hander is generally used for carrying out robot position teaching, the behaviour such as Stateful Inspection and parameter configuration
Make.However current teaching machine when operation, can only all go to carry out operation control manually by people more than executing, these operation controls
It is more demanding to the professional standards of operator, and it be easy to cause maloperation.
Accordingly, it is desirable to provide a kind of robot holder and its control method solve the deficiencies in the prior art.
Summary of the invention
In order to solve the problems in the prior art, the present invention provides a kind of robot holder and its control methods.
A kind of robot holder, comprising: controller, audio collection device, audio recognizer, image acquisition device and face are known
Other device；
The audio recognizer is connect with the audio collection device and controller respectively, for identification the audio collection device
The sound of acquisition is simultaneously sent to controller, and the controller generates control instruction according to the sound；
The recognition of face device is connect with described image collector and controller respectively, and image acquisition device acquires for identification
Facial image and be sent to controller, the controller according to the facial image generate control instruction.
Further, the controller includes: control instruction generator, is referred to for generating corresponding control according to input
It enables.
Further, the hander further include: the antenna and communication interface being connect respectively with the controller.
Further, the hander further include: the wireless communication module and cable modem being connect respectively with the controller
Believe module, the wireless communication module is connect with the antenna, and the wire communication module is connect with the communication interface, is used for
The control instruction that controller generates is sent to hander.
Further, the hander further include: the human-computer interaction interface being connect with the controller, the human-computer interaction
Interface uses intelligent liquid-crystal screen, has touch function, touch control operation and data for hander are shown.
Further, the hander further include: power supply, the power supply respectively with the controller, audio collection device, sound
Frequency identifier, image acquisition device, recognition of face device, wireless communication module, wire communication module are connected with human-computer interaction interface, are used
In for the controller, audio collection device, audio recognizer, image acquisition device, recognition of face device, wireless communication module, wired
Communication module and human-computer interaction interface power supply.
Further, the hander further include: the power switch that is connect respectively with the power supply, emergency stop switch and
Enabled key switch.
A kind of control method of robot holder, applied to any of the above-described robot holder, comprising:
Obtain the voice messaging of user；
The voice messaging is input in audio recognizer and compares verification；
If it is determined that when the data prestored in the voice messaging and the audio recognizer match, activation and/or control
Hander；And/or
Acquire the face-image of user；
The face-image is input to recognition of face device, verification is compared；
If it is determined that prestored in the face-image and the recognition of face device Data Matching when, log in the hander.
Technical solution provided by the invention has the advantages that compared with the immediate prior art
Technical solution provided by the invention realizes the control of voice, alleviates cumbersome button operation, saves behaviour
Make the study of personnel and adapt to the operating guidance of different robots producer hander, is convenient for upper hand and control, operator only needs
Various parameters setting and operation can be carried out to hander by voice, greatly reduce operation difficulty and trivial operations degree；
Safety is further added by face recognition.It is combined by speech recognition with face recognition, so that the safety of hander
There is big promotion with task dexterity.
Detailed description of the invention
Fig. 1 is the schematic diagram of robot holder in the embodiment of the present invention；
Fig. 2 is method flow schematic diagram in the embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, the present invention provides a kind of robot holders, comprising: controller, audio collection device, audio are known
Other device, image acquisition device and recognition of face device；
The audio recognizer is connect with the audio collection device and controller respectively, for identification the audio collection device
The sound of acquisition is simultaneously sent to controller, and the controller generates control instruction according to the sound；
The recognition of face device is connect with described image collector and controller respectively, and image acquisition device acquires for identification
Facial image and be sent to controller, the controller according to the facial image generate control instruction.
In the embodiment of the present application, it is connect, is realized with the audio collection device and controller respectively using audio recognizer
The control of voice alleviates cumbersome button operation, saves the study of operator and adapts to different robots producers
The operating guidance of hander, is convenient for upper hand and control, and operator only needs that each seed ginseng can be carried out to hander by voice
Number setting and operation, greatly reduce operation difficulty and trivial operations degree；It is acquired respectively with described image by recognition of face device
Device is connected with controller, has further added the safety of hander.
The present invention is combined by speech recognition with face recognition, so that the safety of hander and task dexterity have
Very big promotion.
In some embodiments of the present application, the controller includes: control instruction generator, for being generated according to input
Corresponding control instruction.
Controller generates corresponding control instruction according to the result that audio recognizer identifies, to control hander or machine
People carries out corresponding operation；Controller generates corresponding control instruction according to the result that recognition of face device identifies, hand-held to control
Device or robot carry out corresponding operation.
In some embodiments of the present application, the hander further include: the antenna that is connect respectively with the controller and
Communication interface；The wireless communication module and wire communication module being connect respectively with the controller, the wireless communication module with
The antenna connection, the wire communication module are connect with the communication interface, the control instruction hair for generating controller
It send to hander.
Communication interface can be serial communication interface, 485 communication interfaces, CAN communication interface, network communication interface or
The data transmission of various criterion may be implemented in USB interface etc..
In some embodiments of the present application, the hander further include: human-computer interaction circle being connect with the controller
Face, the human-computer interaction interface use intelligent liquid-crystal screen, have touch function, and the touch control operation and data for hander are aobvious
Show.
When speech recognition or face recognition when something goes wrong, can be using being manually entered carry out sequence of operations.
In some embodiments of the present application, the hander further include: power supply, the power supply respectively with the control
Device, audio collection device, audio recognizer, image acquisition device, recognition of face device, wireless communication module, wire communication module and people
Machine interactive interface connection, for for the controller, audio collection device, audio recognizer, image acquisition device, recognition of face device,
Wireless communication module, wire communication module and human-computer interaction interface power supply.
Power supply can be battery, battery or external power supply etc., provide electric energy for all devices.
In some embodiments of the present application, the hander further include: the power switch that is connect respectively with the power supply,
Emergency stop switch and enabled key switch.
When a problem occurs, emergency stop switch can be cut off the power or be closed, to avoid danger.
The present invention, instead of traditional button operation, has simplified the work difficulty of operator using speech recognition technology,
Reduce robot holder uses threshold；Using facial recognition techniques, user's login mode is simplified, and identification logs in
The permission of user, more securely and reliably.
Based on identical inventive concept, the present invention also provides a kind of control methods of robot holder, are applied to above-mentioned
Any robot holder, as shown in Figure 2, comprising:
Obtain the voice messaging of user；
The voice messaging is input in audio recognizer and compares verification；
If it is determined that when the data prestored in the voice messaging and the audio recognizer match, activation and/or control
Hander；And/or
Acquire the face-image of user；
The face-image is input to recognition of face device, verification is compared；
If it is determined that prestored in the face-image and the recognition of face device Data Matching when, log in the hander.
When user, which looks on the bright side of things, opens hander, hander is waken up by voice first, then the user is by face recognition
The user of the no hander and deciding whether allows the user to log in, and can use voluntarily to the user grouping of face recognition
The operating right of the corresponding file of automatic identification, avoids user and forgets to cannot be started up with input error startup password after family logs in
The case where, also safety is being increased to a certain degree.Voice and facial recognition techniques is effectively utilized in the invention, has simplified behaviour
Make the upper hand difficulty of personnel, provides advantageous guarantee for the intelligence and simplification of automatic industrial.
The present invention is broadly divided into two parts of speech recognition and face recognition.This two parts can both separate work can also be with
It combines and carries out special task.
Speech recognition groundwork is exactly to collect and analyze two parts to audio, is connect by the audio collection on hander
Mouth acquisition audio-frequency information, then by audio decoder of the communications to robot holder, the audio-frequency information that will be collected into
The identifiable electronic signal of master control borad is converted to, completes the collection to sound, then by master control borad further to the electronics being collected into
Signal message is analyzed, and is analyzed to obtain corresponding control instruction according to electronic signal information, so as to control hander
It is acted accordingly.
Face recognition part carries out permission firstly the need of uploading corresponding user's facial photo on hander master control borad
Setting, the then identification by the front camera of hander to user face, by acquired image data information and master control
The photo pre-saved on plate is compared matching.When user logs in, hander is according to the photo being matched to come with right
The user answered logs in, so as to carry out the operation of corresponding permission.Other need password operation can also with face know
Not instead of therefore ensure that security and reliability.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.
It is understood that embodiments described herein can with hardware, software, firmware, middleware, microcode or its
Combination is to realize.For hardware realization, processing unit be may be implemented in one or more specific integrated circuit (Application
Specific Integrated Circuits, ASIC), digital signal processor (Digital Signal Processing,
DSP), digital signal processing appts (DSP Device, DSPD), programmable logic device (Programmable Logic
Device, PLD), field programmable gate array (Field-Programmable Gate Array, FPGA), general processor,
In controller, microcontroller, microprocessor, other electronic units for executing herein described function or combinations thereof.
For software implementations, the techniques described herein can be realized by executing the unit of function described herein.Software generation
Code is storable in memory and is executed by processor.Memory can in the processor or portion realizes outside the processor.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided herein, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of device or unit
It connects, can be electrical property, mechanical or other forms.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the embodiment of the present invention is substantially
The part of the part that contributes to existing technology or the technical solution can embody in the form of software products in other words
Come, which is stored in a storage medium, including some instructions are used so that a computer equipment (can
To be personal computer, server or the network equipment etc.) execute all or part of each embodiment the method for the present invention
Step.And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, ROM, RAM, magnetic or disk etc. are various can store program
The medium of code.
It should be noted that the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (8)
1. a kind of robot holder characterized by comprising controller, audio collection device, audio recognizer, Image Acquisition
Device and recognition of face device；
The audio recognizer is connect with the audio collection device and controller respectively, for identification the audio collection device acquisition
Sound and be sent to controller, the controller according to the sound generate control instruction；
The recognition of face device is connect with described image collector and controller respectively, for identification the people of image acquisition device acquisition
Face image is simultaneously sent to controller, and the controller generates control instruction according to the facial image.
2. a kind of robot holder according to claim 1, which is characterized in that the controller includes: control instruction
Generator, for generating corresponding control instruction according to input.
3. a kind of robot holder according to claim 1, which is characterized in that the hander further include: respectively with
The antenna and communication interface of the controller connection.
4. a kind of robot holder according to claim 3, which is characterized in that the hander further include: respectively with
The wireless communication module and wire communication module, the wireless communication module of the controller connection are connect with the antenna, institute
It states wire communication module to connect with the communication interface, the control instruction for generating controller is sent to hander.
5. a kind of robot holder according to claim 1, which is characterized in that the hander further include: with it is described
The human-computer interaction interface of controller connection, the human-computer interaction interface use intelligent liquid-crystal screen, touch function are had, for holding
The touch control operation and data of device are shown.
6. -5 any a kind of robot holder according to claim 1, which is characterized in that the hander further include:
Power supply, the power supply respectively with the controller, audio collection device, audio recognizer, image acquisition device, recognition of face device, nothing
Line communication module, wire communication module are connected with human-computer interaction interface, for knowing for the controller, audio collection device, audio
Other device, image acquisition device, recognition of face device, wireless communication module, wire communication module and human-computer interaction interface power supply.
7. a kind of robot holder according to claim 6, which is characterized in that the hander further include: respectively with
Power switch, emergency stop switch and the enabled key switch of the power supply connection.
8. a kind of control method of robot holder is applied to robot holder as claimed in claim 1,
It is characterized in that, comprising:
Obtain the voice messaging of user；
The voice messaging is input in audio recognizer and compares verification；
If it is determined that activation and/or control are hand-held when the data prestored in the voice messaging and the audio recognizer match
Device；And/or
Acquire the face-image of user；
The face-image is input to recognition of face device, verification is compared；
If it is determined that prestored in the face-image and the recognition of face device Data Matching when, log in the hander.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811320802.5A CN109324691A (en) | 2018-11-07 | 2018-11-07 | A kind of robot holder and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811320802.5A CN109324691A (en) | 2018-11-07 | 2018-11-07 | A kind of robot holder and its control method |
Publications (1)
| Publication Number | Publication Date |
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| CN109324691A true CN109324691A (en) | 2019-02-12 |
Family
ID=65260511
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811320802.5A Pending CN109324691A (en) | 2018-11-07 | 2018-11-07 | A kind of robot holder and its control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152193A (en) * | 2020-01-13 | 2020-05-15 | 重庆智能机器人研究院 | Control system and method for intelligent robot demonstrator |
| CN111930077A (en) * | 2020-08-20 | 2020-11-13 | 马鞍山迈若斯机器人科技有限公司 | Robot control device based on intelligent recognition technology |
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| US10058997B1 (en) * | 2016-06-16 | 2018-08-28 | X Development Llc | Space extrapolation for robot task performance |
| CN208903219U (en) * | 2018-11-07 | 2019-05-24 | 珠海格力电器股份有限公司 | A kind of robot holder |
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| KR20100110143A (en) * | 2009-04-02 | 2010-10-12 | 주식회사 유진로봇 | Robot system for restaurant serving |
| US10058997B1 (en) * | 2016-06-16 | 2018-08-28 | X Development Llc | Space extrapolation for robot task performance |
| CN107756420A (en) * | 2017-10-18 | 2018-03-06 | 佛山市南方数据科学研究院 | A kind of teach-by-doing emulated robot control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111152193A (en) * | 2020-01-13 | 2020-05-15 | 重庆智能机器人研究院 | Control system and method for intelligent robot demonstrator |
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