CN112918381B - Vehicle-mounted robot welcome method, device and system - Google Patents
Vehicle-mounted robot welcome method, device and system Download PDFInfo
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- CN112918381B CN112918381B CN201911239084.3A CN201911239084A CN112918381B CN 112918381 B CN112918381 B CN 112918381B CN 201911239084 A CN201911239084 A CN 201911239084A CN 112918381 B CN112918381 B CN 112918381B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/037—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for occupant comfort, e.g. for automatic adjustment of appliances according to personal settings, e.g. seats, mirrors, steering wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8006—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying scenes of vehicle interior, e.g. for monitoring passengers or cargo
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention discloses a vehicle-mounted robot welcome method, a device and a system, wherein the vehicle-mounted robot welcome system comprises an in-vehicle loudspeaker, a microphone, an in-vehicle camera, a vehicle-mounted entertainment terminal, a vehicle-mounted robot controller and a controller, wherein the system acquires a vehicle state through a CAN bus, judges a riding state of a user through the in-vehicle camera, realizes user identification through a front-view camera of a robot, then completes scene analysis, behavior decision, robot action control and expression display through the vehicle-mounted robot controller, completes welcome object voice broadcasting comprising user name through the in-vehicle loudspeaker, and finally realizes the in-vehicle welcome function. By implementing the embodiment of the invention, the intelligent interaction experience in the vehicle can be improved, and the personalized and emotional interaction requirements of the user can be met.
Description
Technical Field
The invention belongs to the field of electrical systems for automobiles, and particularly relates to a vehicle-mounted robot welcome method, device and system.
Background
In the prior art, a greeting function is realized by calling a driver with an on-board robot. In the prior art, the following modes are generally adopted: firstly, the virtual image is displayed on the vehicle-mounted entertainment terminal or the independent display screen, emotional interaction is reflected through the animation effect and the sound, and the implementation mode is single. Secondly, a three-dimensional virtual image is displayed on an independent display by utilizing a holographic projection technology, and emotional communication with drivers and passengers is realized through an animation effect and sound; compared with the first mode, the virtual images in the second mode are more rich and changeable, and emotional interaction experience is improved. Thirdly, calling greetings are played and corresponding expressions are displayed on a display screen through the vehicle-mounted physical robot when drivers get on and get off. Compared with other modes, the welcome function is realized through the imaged robot image, and the communication mode between people is closest, so that emotional interaction experience can be brought to drivers and passengers.
In the existing vehicle-mounted robot system, whether a driver or a passenger exists in a main or auxiliary driving mode is judged by acquiring a vehicle door opening and closing state and a seat pressure signal only through a CAN bus, but the method for distinguishing the identity of a user is not available, and a calling mode is limited to a fixed greeting. The existing implementation mode does not have a personalized interaction function, and the degree of intellectualization is required to be further improved.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide a vehicle-mounted robot welcome method, device and system, which can identify the identity of a driver and a passenger, and use personalized greetings to carry out welcome greetings on the driver and the passenger, so that the personalized and intelligent interaction capability of a welcome mode in a vehicle is improved.
As an aspect of the present invention, there is provided a method for welcome by a vehicle-mounted robot, which at least includes a welcome process, including the steps of:
s10, detecting vehicle unlocking information through a CAN bus, and waking up a vehicle-mounted entertainment terminal and a vehicle-mounted robot controller;
step S11, a vehicle-mounted robot controller receives the seating position information of personnel in a vehicle, which is acquired by a vehicle-mounted entertainment terminal through a vehicle-mounted camera connected with the vehicle-mounted robot controller;
step S12, a vehicle-mounted robot controller controls a steering motor group on the vehicle-mounted robot according to the personnel sitting position information to enable the vehicle-mounted robot to sequentially steer the user, a greeting expression is displayed on a display screen of the vehicle-mounted robot, and meanwhile, face recognition is carried out on the user through a robot forward-looking camera so as to confirm the user type of the user;
step S13, when the identification result is the recognized user, the vehicle-mounted robot controller sends greeting words comprising the name of the user to the vehicle-mounted entertainment terminal; when the recognition result is that the user is not recognized, the vehicle-mounted robot controller sends a common greeting to the vehicle-mounted entertainment terminal; the greeting or the common greeting called by the user is broadcasted through the voice of the in-car loudspeaker connected with the vehicle-mounted entertainment terminal.
The step S12 specifically includes:
controlling a front-view camera of the robot to shoot a user, comparing and identifying the front-view camera with stored face images, if the face images exist close to each other, confirming that the user type of the user is a recognized user, and obtaining the name of the user; otherwise, the user type of the user is confirmed to be the unaware user.
The method further comprises a guest sending process, which comprises the following steps:
s20, when the flameout of the vehicle is detected through the CAN bus, waking up the vehicle-mounted entertainment terminal and the vehicle-mounted robot controller;
step S21, a vehicle-mounted robot controller receives a door opening signal from a CAN bus and judges the vehicle-leaving direction and sequence of a user;
step S22, the vehicle-mounted robot controls a steering motor group on the vehicle-mounted robot to sequentially steer the vehicle-mounted robot to the user according to the vehicle-leaving direction and the sequence of the user, a guest-sending expression is displayed on a display screen of the vehicle-mounted robot, and the user type of the current user is obtained;
step S23, when the user type is the perceived user, the vehicle-mounted robot controller sends a greeting comprising the name of the user to the vehicle-mounted entertainment terminal; when the user type is an unaware user, the vehicle-mounted robot controller sends a common greeting to the vehicle-mounted entertainment terminal; the greeting or the common greeting called by the user is broadcasted through the voice of the in-car loudspeaker connected with the vehicle-mounted entertainment terminal.
Wherein, further include:
the vehicle-mounted robot controller sends voices of the current day journey or/and weather reminding matters to the vehicle-mounted entertainment terminal.
The user type of the current user is obtained by the following method:
according to the user type identified in the welcome process in the current journey, determining the user type of the current user; or alternatively
The method comprises the steps of carrying out face recognition on a user by controlling a front-view camera of a robot, and confirming the user type of the user;
the method further comprises the step of carrying out user information management in advance, and comprises the following steps:
step S30, the vehicle-mounted robot is awakened in response to the operation of a microphone or a steering wheel key by a user;
step S31, a vehicle-mounted robot controller receives a sound source positioning result obtained by a vehicle-mounted entertainment terminal;
step S32, the vehicle-mounted robot controller controls a turning motor group on the robot according to the sound source positioning result to enable the vehicle-mounted robot to turn to a user;
step S33, the vehicle-mounted robot responds to the voice command of the user to enter a user identification mode, inquires the name of the user through voice, photographs the user through a front-view camera of the robot, stores the photographed image, and sends newly-added user information to the vehicle-mounted entertainment terminal for management of the vehicle-mounted entertainment terminal;
and step S34, the vehicle-mounted robot controller receives management information to be synchronized to the user by the vehicle-mounted entertainment terminal.
The management information of the user by the vehicle-mounted entertainment terminal in step S34 specifically includes:
the vehicle-mounted entertainment terminal responds to management information formed by binding, modifying, storing and deleting operations of user information comprising names, identities and authorities of users, wherein the user identity information is divided into a vehicle owner, a common passenger and a common passenger, and different user identity information corresponds to different vehicle authorities.
Correspondingly, in another aspect of the embodiment of the present invention, there is also provided a welcome device of a vehicle-mounted robot, which is disposed in a vehicle-mounted robot controller, and includes:
the wake-up unit is used for detecting vehicle unlocking information or vehicle flameout information through the CAN bus and waking up the vehicle-mounted robot controller;
the information receiving unit is used for receiving the seating position information of personnel in the vehicle obtained by the vehicle-mounted entertainment terminal through the vehicle-mounted camera connected with the vehicle-mounted entertainment terminal or receiving a door opening signal from the CAN bus;
the steering control unit is used for controlling the passenger sitting position information or the door opening information to control a steering motor group on the vehicle-mounted robot to sequentially steer the vehicle-mounted robot to a user, and displaying a welcome expression or a welcome expression on a display screen of the vehicle-mounted robot;
the recognition control unit is used for recognizing the face of the user through the front-view camera of the robot so as to confirm the user type of the user;
the greeting generating unit is used for sending greeting including the name of the user to the vehicle-mounted entertainment terminal by the vehicle-mounted robot controller when the identification result of the identification control unit is the recognized user; when the recognition result of the recognition control unit is that the user is not recognized, the vehicle-mounted robot controller sends a common greeting to the vehicle-mounted entertainment terminal; the greeting or the common greeting called by the user is broadcasted through the voice of the in-car loudspeaker connected with the vehicle-mounted entertainment terminal.
Correspondingly, still another aspect of the embodiment of the present invention further includes an on-vehicle robot welcome system, which includes: the vehicle-mounted entertainment terminal and the vehicle-mounted robot controller are connected with each other, and the vehicle-mounted robot controller is connected with a vehicle-mounted robot; the vehicle-mounted entertainment terminal is connected with a vehicle-mounted loudspeaker, a microphone and a vehicle-mounted camera, and the vehicle-mounted entertainment terminal and the vehicle-mounted robot controller are both connected to the CAN bus; wherein:
the vehicle-mounted robot at least comprises a front-view camera of the robot, a display screen and a steering motor unit, wherein the front-view camera of the robot is used for transmitting a shot user image to a vehicle-mounted robot controller; the display screen is used for displaying a welcome expression and a welcome sending expression; the steering motor group is used for completing steering of the vehicle-mounted robot under the control of the vehicle-mounted robot controller;
the vehicle-mounted entertainment terminal is used for realizing user information management, determining personnel sitting information in a vehicle, and receiving greeting or common greeting containing user names from the vehicle-mounted robot controller, wherein the greeting or common greeting contains a send-to-guest greeting or common send-to-guest greeting containing the user names;
the in-car camera is used for shooting and obtaining in-car personnel seating information;
the in-car loudspeaker is used for playing the greeting or the common greeting comprising the user name, and the greeting or the common greeting comprising the user name;
the microphone is used for receiving voice instructions of a user;
the vehicle-mounted robot controller is used for receiving user information, voice instructions, in-vehicle personnel seating information, vehicle flameout and vehicle door opening information from the CAN bus and controlling the vehicle-mounted robot to turn and conduct face recognition, so that a greeting or a common greeting containing user names and a sending greeting or a common sending greeting containing user names are formed.
Wherein, the in-car loudspeaker and the microphone are connected with the in-car entertainment terminal in an audio frequency differential twisted pair mode, and the in-car camera is connected with the in-car entertainment terminal in an LVDS or Ethernet mode;
the vehicle-mounted entertainment terminal is connected with the vehicle-mounted robot controller in a USB or Ethernet mode;
the front-view camera, the display screen and the vehicle-mounted robot controller of the robot are all connected in an LVDS mode;
the steering motor group is connected with a motor driving module in the vehicle-mounted robot controller.
Wherein, on-vehicle robot control ware includes:
the wake-up unit is used for detecting vehicle unlocking information or vehicle flameout information through the CAN bus and waking up the vehicle-mounted robot controller;
the information receiving unit is used for receiving the seating position information of personnel in the vehicle obtained by the vehicle-mounted entertainment terminal through the vehicle-mounted camera connected with the vehicle-mounted entertainment terminal or receiving a door opening signal from the CAN bus;
the steering control unit is used for controlling the passenger sitting position information or the door opening information to control a steering motor group on the vehicle-mounted robot to sequentially steer the vehicle-mounted robot to a user, and displaying a welcome expression or a welcome expression on a display screen of the vehicle-mounted robot;
the recognition control unit is used for recognizing the face of the user through the front-view camera of the robot so as to confirm the user type of the user;
the greeting generating unit is used for sending greeting including the name of the user to the vehicle-mounted entertainment terminal by the vehicle-mounted robot controller when the identification result of the identification control unit is the recognized user; when the recognition result of the recognition control unit is that the user is not recognized, the vehicle-mounted robot controller sends a common greeting to the vehicle-mounted entertainment terminal; the greeting or the common greeting called by the user is broadcasted through the voice of the in-car loudspeaker connected with the vehicle-mounted entertainment terminal.
The embodiment of the invention has the following beneficial effects:
according to the method, the device and the system for welcome of the vehicle-mounted robot, the recognition of the user identity is realized by the face recognition of the user through the front-view camera of the robot, so that the welcome greeting comprising the name of the user is realized in the welcome mode of the vehicle-mounted robot, and the individuation and intelligent interaction capability of the welcome mode in the vehicle is improved.
In the embodiment of the invention, the in-vehicle camera is adopted to replace a seat pressure sensor in the prior art, so that whether people sit or leave seats on a front row seat and a rear row seat or not can be well identified, the reliability of the system is improved, and the cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are required in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that it is within the scope of the invention to one skilled in the art to obtain other drawings from these drawings without inventive faculty.
Fig. 1 is a schematic diagram of a main flow of a welcome process in a welcome method of a vehicle-mounted robot according to the present invention;
fig. 2 is a schematic diagram of a main flow of a guest sending process in a guest sending method of a vehicle-mounted robot according to the present invention;
FIG. 3 is a schematic diagram of a main flow of user information management performed in advance in a welcome method of a vehicle-mounted robot;
FIG. 4 is a schematic diagram illustrating a configuration of an embodiment of a welcome system of an in-vehicle robot according to the present invention;
fig. 5 is a schematic structural diagram of a welcome device of a vehicle-mounted robot.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, for the purpose of making the objects, technical solutions and advantages of the present invention more apparent.
Fig. 1 is a schematic diagram of a main flow of a welcome process in a welcome method of a vehicle-mounted robot according to the present invention; as shown in combination with fig. 2 and 3.
In this embodiment, the method for welcome by the vehicle-mounted robot at least includes a welcome process, including the following steps:
s10, detecting vehicle unlocking information through a CAN bus, and waking up a vehicle-mounted entertainment terminal and a vehicle-mounted robot controller;
step S11, a vehicle-mounted robot controller receives the seating position information of personnel in a vehicle, which is acquired by a vehicle-mounted entertainment terminal through a vehicle-mounted camera connected with the vehicle-mounted robot controller;
step S12, a vehicle-mounted robot controller controls a steering motor group on the vehicle-mounted robot according to the personnel sitting position information to enable the vehicle-mounted robot to sequentially steer the user, a greeting expression is displayed on a display screen of the vehicle-mounted robot, and meanwhile, face recognition is carried out on the user through a robot forward-looking camera so as to confirm the user type of the user;
specifically, in one example, face recognition is performed in the following manner:
controlling a front-view camera of the robot to shoot a user, comparing and identifying the front-view camera with stored face images, if the face images exist close to each other, confirming that the user type of the user is a recognized user, and obtaining the name of the user; otherwise, confirming that the user type of the user is an unrecognized user;
step S13, when the identification result is the recognized user, the vehicle-mounted robot controller sends greeting words comprising the name of the user to the vehicle-mounted entertainment terminal; when the recognition result is that the user is not recognized, the vehicle-mounted robot controller sends a common greeting to the vehicle-mounted entertainment terminal; the greeting or the common greeting called by the user is broadcasted through the voice of the in-car loudspeaker connected with the vehicle-mounted entertainment terminal.
As shown in fig. 2, in the method for welcome by the vehicle-mounted robot provided by the invention, a welcome process is further included, which includes the following steps:
s20, when the flameout of the vehicle is detected through the CAN bus, waking up the vehicle-mounted entertainment terminal and the vehicle-mounted robot controller;
step S21, a vehicle-mounted robot controller receives a door opening signal from a CAN bus and judges the vehicle-leaving direction and sequence of a user;
step S22, the vehicle-mounted robot controls a steering motor group on the vehicle-mounted robot to sequentially steer the vehicle-mounted robot to the user according to the vehicle-leaving direction and the sequence of the user, a guest-sending expression is displayed on a display screen of the vehicle-mounted robot, and the user type of the current user is obtained;
in the embodiment of the invention, the user type of the current user can be obtained by the following modes:
according to the user type identified in the welcome process in the current journey, determining the user type of the current user; or alternatively
The method comprises the steps of carrying out face recognition on a user by controlling a front-view camera of a robot, and confirming the user type of the user;
step S23, when the user type is the perceived user, the vehicle-mounted robot controller sends a greeting comprising the name of the user to the vehicle-mounted entertainment terminal; when the user type is an unaware user, the vehicle-mounted robot controller sends a common greeting to the vehicle-mounted entertainment terminal; the greeting or the common greeting called by the user is broadcasted through the voice of the in-car loudspeaker connected with the vehicle-mounted entertainment terminal.
It will be appreciated that in some other examples, it may further include:
the vehicle-mounted robot controller sends voices of the current day journey or/and weather reminding matters to the vehicle-mounted entertainment terminal.
As shown in fig. 3, in the method for welcome by a vehicle-mounted robot provided by the invention, the method may further include a step of performing user information management in advance, including:
step S30, the vehicle-mounted robot is awakened in response to the operation of a microphone or a steering wheel key by a user;
step S31, a vehicle-mounted robot controller receives a sound source positioning result obtained by a vehicle-mounted entertainment terminal;
step S32, the vehicle-mounted robot controller controls a turning motor group on the robot according to the sound source positioning result to enable the vehicle-mounted robot to turn to a user;
step S33, the vehicle-mounted robot responds to the voice command of the user to enter a user identification mode, inquires the name of the user through voice, photographs the user through a front-view camera of the robot, stores the photographed image, and sends newly-added user information to the vehicle-mounted entertainment terminal for management of the vehicle-mounted entertainment terminal;
and step S34, the vehicle-mounted robot controller receives management information to be synchronized to the user by the vehicle-mounted entertainment terminal.
The management information of the user by the vehicle-mounted entertainment terminal in step S34 specifically includes:
the vehicle-mounted entertainment terminal responds to management information formed by binding, modifying, storing and deleting operations of user information comprising names, identities and authorities of users, wherein the user identity information is divided into a vehicle owner, a common passenger and a common passenger, and different user identity information corresponds to different vehicle authorities.
Fig. 4 is a schematic structural diagram of an embodiment of a welcome system of the in-vehicle robot according to the present invention; as also shown in conjunction with fig. 5, it will be appreciated that in a specific example, the method shown in fig. 1-2 is implemented in the system of fig. 4, and in this embodiment, the system includes:
a vehicle-mounted entertainment terminal 4 and a vehicle-mounted robot controller 5 which are connected with each other, wherein the vehicle-mounted robot controller 5 is connected with a vehicle-mounted robot 6; the vehicle-mounted entertainment terminal is connected with a vehicle-mounted loudspeaker 1, a microphone 2 and a vehicle-mounted camera 3, and the vehicle-mounted entertainment terminal 4 and a vehicle-mounted robot controller 5 are both connected to a CAN bus;
more specifically, the vehicle-mounted robot 6 may be mounted on a center console, above the vehicle-mounted entertainment terminal 4 or the vehicle interior rearview mirror, and the like, and at least includes a front-view camera 7, a display screen 8 and a steering motor unit 9, where the front-view camera 7 is used for transmitting a captured image of a user to the vehicle-mounted robot controller 5; the display screen 8 is used for displaying a welcome expression and a welcome sending expression; the steering motor group 9 is used for completing steering of the vehicle-mounted robot 6 under the control of the vehicle-mounted robot controller 5;
the vehicle-mounted entertainment terminal 4 is used for realizing user information management, determining in-vehicle personnel seating information and receiving greeting or common greeting including user names and sending greeting or common sending greeting including user names from the vehicle-mounted robot controller 5;
the in-vehicle camera 3 is used for shooting and obtaining in-vehicle personnel seating information and sending the information to the in-vehicle entertainment terminal 4, and in one example, the in-vehicle camera 3 can be arranged above an in-vehicle rearview mirror;
the in-car loudspeaker 1 is used for playing the greeting or the common greeting comprising the user name, the greeting or the common greeting comprising the user name and other interactive contents;
the microphone 2 is used for receiving a voice command of a user, and the user can wake up the vehicle-mounted robot controller 5 through the microphone 2;
the in-vehicle robot controller 5 is configured to receive user information, voice command, in-vehicle personnel seating information, vehicle flameout from the CAN bus, and door opening information from the in-vehicle entertainment terminal 4, and control the in-vehicle robot 6 to turn and face recognition, so as to form a greeting or a common greeting including a user name, and a send-in greeting or a common send-in greeting including a user name.
The vehicle-mounted loudspeaker 1 and the microphone 2 are connected with the vehicle-mounted entertainment terminal 4 in an audio frequency differential twisted pair mode, and the vehicle-mounted camera 3 is connected with the vehicle-mounted entertainment terminal 4 in an LVDS or Ethernet mode;
the vehicle-mounted entertainment terminal 4 is connected with the vehicle-mounted robot controller 5 through a USB or Ethernet mode;
the front-view camera 7, the display screen 8 and the vehicle-mounted robot controller 5 of the robot are all connected in an LVDS mode;
the steering motor group 9 is connected with a motor driving module in the in-vehicle robot controller 5.
Wherein, the vehicle-mounted robot controller 5 comprises a vehicle-mounted robot welcome device 50, and the device 50 comprises:
the wake-up unit 500 is configured to wake up the vehicle-mounted robot controller 5 by detecting vehicle unlock information or vehicle flameout information through the CAN bus;
an information receiving unit 501, configured to receive the seating position information of the person in the vehicle acquired by the vehicle entertainment terminal 4 through the vehicle camera 3 connected thereto, or receive a door opening signal from the CAN bus;
the steering control unit 502 is used for controlling the person sitting position information or the door opening information to control the steering motor group 9 on the vehicle-mounted robot 6 to sequentially steer the vehicle-mounted robot 6 to a user, and displaying a welcome expression or a welcome expression on the display screen 9 of the vehicle-mounted robot 6;
a recognition control unit 503, configured to perform face recognition on the user through the front-view camera 7 of the robot, so as to confirm the user type of the user;
a greeting generating unit 504, configured to generate a greeting including a user name by the in-vehicle robot controller 5 and send the greeting to the in-vehicle entertainment terminal 4 when the recognition result of the recognition control unit 503 is a recognized user; when the recognition result of the recognition control unit 503 is that the user is not recognized, the in-vehicle robot controller 5 generates a common greeting and transmits to the in-vehicle entertainment terminal 4; the greeting or the common greeting called by the user is broadcasted through the voice of the in-car loudspeaker 1 connected with the vehicle-mounted entertainment terminal 4.
For more details, reference is made to the foregoing descriptions of fig. 1 to 3, and details are not repeated here.
The embodiment of the invention has the following beneficial effects:
according to the method, the device and the system for welcome of the vehicle-mounted robot, the recognition of the user identity is realized by the face recognition of the user through the front-view camera of the robot, so that the welcome greeting comprising the name of the user is realized in the welcome mode of the vehicle-mounted robot, and the individuation and intelligent interaction capability of the welcome mode in the vehicle is improved.
In the embodiment of the invention, the in-vehicle camera is adopted to replace a seat pressure sensor in the prior art, so that whether people sit or leave seats on a front row seat and a rear row seat or not can be well identified, the reliability of the system is improved, and the cost is reduced.
The above disclosure is only a preferred embodiment of the present invention, and it is needless to say that the scope of the invention is not limited thereto, and therefore, the equivalent changes according to the claims of the present invention still fall within the scope of the present invention.
Claims (10)
1. The vehicle-mounted robot welcome method is characterized by at least comprising a welcome process and comprises the following steps of:
s10, detecting vehicle unlocking information through a CAN bus, and waking up a vehicle-mounted entertainment terminal and a vehicle-mounted robot controller;
step S11, a vehicle-mounted robot controller receives the seating position information of personnel in a vehicle, which is acquired by a vehicle-mounted entertainment terminal through a vehicle-mounted camera connected with the vehicle-mounted robot controller;
step S12, a vehicle-mounted robot controller controls a steering motor group on the vehicle-mounted robot according to the personnel sitting position information to enable the vehicle-mounted robot to sequentially steer the user, a greeting expression is displayed on a display screen of the vehicle-mounted robot, and meanwhile, face recognition is carried out on the user through a robot forward-looking camera so as to confirm the user type of the user;
step S13, when the identification result is the recognized user, the vehicle-mounted robot controller sends greeting words comprising the name of the user to the vehicle-mounted entertainment terminal; when the recognition result is that the user is not recognized, the vehicle-mounted robot controller sends a common greeting to the vehicle-mounted entertainment terminal; the greeting or the common greeting called by the user is broadcasted through voice by the vehicle-mounted loudspeaker connected with the vehicle-mounted entertainment terminal;
the method further comprises the step of carrying out user information management in advance, and comprises the following steps:
step S30, the vehicle-mounted robot is awakened in response to the operation of a microphone or a steering wheel key by a user;
step S31, a vehicle-mounted robot controller receives a sound source positioning result obtained by a vehicle-mounted entertainment terminal;
step S32, the vehicle-mounted robot controller controls a turning motor group on the robot according to the sound source positioning result to enable the vehicle-mounted robot to turn to a user;
step S33, the vehicle-mounted robot responds to the voice command of the user to enter a user identification mode, inquires the name of the user through voice, photographs the user through a front-view camera of the robot, stores the photographed image, and sends newly-added user information to the vehicle-mounted entertainment terminal for management of the vehicle-mounted entertainment terminal;
and step S34, the vehicle-mounted robot controller receives management information to be synchronized to the user by the vehicle-mounted entertainment terminal.
2. The method according to claim 1, characterized in that in step S12 it comprises in particular:
controlling a front-view camera of the robot to shoot a user, comparing and identifying the front-view camera with stored face images, if the face images exist close to each other, confirming that the user type of the user is a recognized user, and obtaining the name of the user; otherwise, the user type of the user is confirmed to be the unaware user.
3. The method of claim 2, further comprising a guest sending process comprising the steps of:
s20, when the flameout of the vehicle is detected through the CAN bus, waking up the vehicle-mounted entertainment terminal and the vehicle-mounted robot controller;
step S21, a vehicle-mounted robot controller receives a door opening signal from a CAN bus and judges the vehicle-leaving direction and sequence of a user;
step S22, the vehicle-mounted robot controls a steering motor group on the vehicle-mounted robot to sequentially steer the vehicle-mounted robot to the user according to the vehicle-leaving direction and the sequence of the user, a guest-sending expression is displayed on a display screen of the vehicle-mounted robot, and the user type of the current user is obtained;
step S23, when the user type is the perceived user, the vehicle-mounted robot controller sends a greeting comprising the name of the user to the vehicle-mounted entertainment terminal; when the user type is an unaware user, the vehicle-mounted robot controller sends a common greeting to the vehicle-mounted entertainment terminal; the greeting or the common greeting called by the user is broadcasted through the voice of the in-car loudspeaker connected with the vehicle-mounted entertainment terminal.
4. The method of claim 3, further comprising, in the step S23:
the vehicle-mounted robot controller sends voices of the current day journey or/and weather reminding matters to the vehicle-mounted entertainment terminal.
5. The method according to claim 4, wherein in the step S22, the user type of the current user is obtained by:
according to the user type identified in the welcome process in the current journey, determining the user type of the current user; or alternatively
And (3) carrying out face recognition on the user by controlling the front-view camera of the robot, and confirming the user type of the user.
6. The method of claim 5, wherein the in-vehicle entertainment terminal in step S34 includes:
the vehicle-mounted entertainment terminal responds to management information formed by binding, modifying, storing and deleting operations of user information comprising names, identities and authorities of users, wherein the user identity information is divided into a vehicle owner, a common passenger and a common passenger, and different user identity information corresponds to different vehicle authorities.
7. The utility model provides a car-mounted robot welcome device, sets up in a car-mounted robot controller, its characterized in that includes:
the wake-up unit is used for detecting vehicle unlocking information or vehicle flameout information through the CAN bus and waking up the vehicle-mounted robot controller;
the information receiving unit is used for receiving the seating position information of personnel in the vehicle obtained by the vehicle-mounted entertainment terminal through the vehicle-mounted camera connected with the vehicle-mounted entertainment terminal or receiving a door opening signal from the CAN bus;
the steering control unit is used for controlling the passenger sitting position information or the door opening information to control a steering motor group on the vehicle-mounted robot to sequentially steer the vehicle-mounted robot to a user, and displaying a welcome expression or a welcome expression on a display screen of the vehicle-mounted robot;
the recognition control unit is used for recognizing the face of the user through the front-view camera of the robot so as to confirm the user type of the user;
the greeting generating unit is used for generating greeting including the name of the user and sending the greeting to the parallel on-board entertainment terminal by the on-board robot controller when the identification result of the identification control unit is the recognized user; when the recognition result of the recognition control unit is that the user is not recognized, the vehicle-mounted robot controller generates a common greeting and sends the greeting to the vehicle-mounted entertainment terminal; the greeting or the common greeting called by the user is broadcasted through voice by the vehicle-mounted loudspeaker connected with the vehicle-mounted entertainment terminal;
the system further comprises a unit for managing user information in advance, and is used for waking up the vehicle-mounted robot in response to the operation of a microphone or a steering wheel key by a user; controlling and receiving a sound source positioning result obtained by the vehicle-mounted entertainment terminal; controlling a turning motor unit on the robot according to the sound source positioning result to enable the vehicle-mounted robot to turn to a user; responding to a voice command of a user to enter a user identification mode, inquiring the name of the user through voice, photographing the user through a front-view camera of the robot, storing, and sending newly added user information to the vehicle-mounted entertainment terminal for management of the vehicle-mounted entertainment terminal; and the receiving vehicle-mounted entertainment terminal synchronizes the management information of the user.
8. An in-vehicle robotic welcome system, comprising: the vehicle-mounted entertainment terminal and the vehicle-mounted robot controller are connected with each other, and the vehicle-mounted robot controller is connected with a vehicle-mounted robot; the vehicle-mounted entertainment terminal is connected with a vehicle-mounted loudspeaker, a microphone and a vehicle-mounted camera, and the vehicle-mounted entertainment terminal and the vehicle-mounted robot controller are both connected to the CAN bus; wherein:
the vehicle-mounted robot at least comprises a front-view camera of the robot, a display screen and a steering motor unit, wherein the front-view camera of the robot is used for transmitting a shot user image to a vehicle-mounted robot controller; the display screen is used for displaying a welcome expression and a welcome sending expression; the steering motor group is used for completing steering of the vehicle-mounted robot under the control of the vehicle-mounted robot controller;
the vehicle-mounted entertainment terminal is used for realizing user information management, determining personnel sitting information in a vehicle, and receiving greeting or common greeting containing user names from the vehicle-mounted robot controller, wherein the greeting or common greeting contains a send-to-guest greeting or common send-to-guest greeting containing the user names;
the in-car camera is used for shooting and obtaining in-car personnel seating information;
the in-car loudspeaker is used for playing the greeting or the common greeting comprising the user name, and the greeting or the common greeting comprising the user name;
the microphone is used for receiving voice instructions of a user;
the vehicle-mounted robot controller is used for receiving user information, voice instructions, in-vehicle personnel seating information, vehicle flameout and vehicle door opening information from the CAN bus and controlling the vehicle-mounted robot to turn and conduct face recognition, so that a greeting or a common greeting containing user name and a sending greeting or a common sending greeting containing user name are formed;
the vehicle-mounted robot controller further comprises a unit for managing user information in advance, and is used for waking up the vehicle-mounted robot in response to the operation of a microphone or a steering wheel key by a user; controlling and receiving a sound source positioning result obtained by the vehicle-mounted entertainment terminal; controlling a turning motor unit on the robot according to the sound source positioning result to enable the vehicle-mounted robot to turn to a user; responding to a voice command of a user to enter a user identification mode, inquiring the name of the user through voice, photographing the user through a front-view camera of the robot, storing, and sending newly added user information to the vehicle-mounted entertainment terminal for management of the vehicle-mounted entertainment terminal; and the receiving vehicle-mounted entertainment terminal synchronizes the management information of the user.
9. The system of claim 8, wherein the in-car speaker and the microphone are connected with the in-car entertainment terminal in an audio differential twisted pair mode, and the in-car camera is connected with the in-car entertainment terminal in an LVDS or Ethernet mode;
the vehicle-mounted entertainment terminal is connected with the vehicle-mounted robot controller in a USB or Ethernet mode;
the front-view camera, the display screen and the vehicle-mounted robot controller of the robot are all connected in an LVDS mode;
the steering motor group is connected with a motor driving module in the vehicle-mounted robot controller.
10. The system of claim 8 or 9, wherein the in-vehicle robot controller comprises:
the wake-up unit is used for detecting vehicle unlocking information or vehicle flameout information through the CAN bus and waking up the vehicle-mounted robot controller;
the information receiving unit is used for receiving the seating position information of personnel in the vehicle obtained by the vehicle-mounted entertainment terminal through the vehicle-mounted camera connected with the vehicle-mounted entertainment terminal or receiving a door opening signal from the CAN bus;
the steering control unit is used for controlling the passenger sitting position information or the door opening information to control a steering motor group on the vehicle-mounted robot to sequentially steer the vehicle-mounted robot to a user, and displaying a welcome expression or a welcome expression on a display screen of the vehicle-mounted robot;
the recognition control unit is used for recognizing the face of the user through the front-view camera of the robot so as to confirm the user type of the user;
the greeting generating unit is used for generating greeting including the name of the user and sending the greeting to the parallel on-board entertainment terminal by the on-board robot controller when the identification result of the identification control unit is the recognized user; when the recognition result of the recognition control unit is that the user is not recognized, the vehicle-mounted robot controller generates a common greeting and sends the greeting to the vehicle-mounted entertainment terminal; the greeting or the common greeting called by the user is broadcasted through the voice of the in-car loudspeaker connected with the vehicle-mounted entertainment terminal.
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| CN113276861B (en) * | 2021-06-21 | 2023-03-28 | 上汽通用五菱汽车股份有限公司 | Vehicle control method, vehicle control system, and storage medium |
| CN115817387A (en) * | 2023-01-03 | 2023-03-21 | 重庆长安汽车股份有限公司 | Method, device, equipment and storage medium for welcoming and sending guests of vehicle |
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