CN211466417U

CN211466417U - Robot control system

Info

Publication number: CN211466417U
Application number: CN201921738643.0U
Authority: CN
Inventors: 陈银燕
Original assignee: Huaian Vocational College of Information Technology
Current assignee: Jiangsu Vocational College of Electronics and Information
Priority date: 2019-10-16
Filing date: 2019-10-16
Publication date: 2020-09-11
Anticipated expiration: 2029-10-16

Abstract

The utility model provides a robot control system, including fuselage main part, head subassembly, position detector, controller, head subassembly and fuselage main part rotatable coupling, install eye subassembly on the head subassembly, position detector installs on the fuselage main part, position detector is used for detecting the positional information of the object of being interacted, the controller is used for controlling the head subassembly rotates according to the positional information, makes the head subassembly face the position that the object of interaction is located; the eye assembly is the mechanical component and comprises an eyeball rotator and an eyelid opening and closing structure, and the controller is further used for determining adjustment parameters of the eye assembly according to the position information and controlling the eye assembly to make corresponding adjustment according to the adjustment parameters. Through the utility model discloses to solve the mutual function more single problem of most robots that prior art exists.

Description

Robot control system

Technical Field

The utility model relates to a mobile robot, concretely relates to robot control system.

Background

With the increasing development of robot manufacturing technology, the application of robots is also gaining favor. The application field of the robot is not only in industrial production, but also in household, and the application proportion is increased year by year. In recent years, the development of robotics and the research of artificial intelligence are deepened, and intelligent robots play an increasingly important role in human life. With the increasing demand of people, more humanized robots will gradually become the pet of the robot world.

It is desirable that robots be more human-based, and in particular that robots be closer to "human" features in human interaction. However, most robots have a single interactive function, and most robots execute corresponding actions based on instructions input by a user through voice or touch.

SUMMERY OF THE UTILITY MODEL

The utility model provides a robot control system to solve the problem that the mutual function of the most robots of prior art existence is more single.

In order to solve the technical problem, the utility model provides a robot control system, including fuselage main part, head subassembly, position detector, controller, head subassembly and fuselage main part rotatable coupling, install eye subassembly on the head subassembly, position detector installs in the fuselage main part, position detector is used for detecting the positional information of interacted object, positional information includes the position angle that interacted object belongs to and the distance that interacted object apart from the robot, the controller is used for according to positional information control the head subassembly rotates, makes the head subassembly face the position that interacted object belongs to; the eye component is the mechanical component and comprises an eyeball rotator and an eyelid opening and closing structure, and the controller is further used for determining adjustment parameters of the eye component according to the position information and controlling the eye component to make corresponding adjustment according to the adjustment parameters; the robot further comprises a walking chassis, the robot body is connected with the walking chassis, and the controller is further used for controlling the walking chassis to rotate and/or move so that the robot body faces the position of the interactive object.

Further, the adjustment parameters of the ocular component include: the rotation direction and/or rotation angle of the eyeball rotator and/or the rotation angle of the eyelid opening and closing structure.

Further, the position detector includes one or more of a microphone array, a distance sensor, an infrared sensor, a laser sensor, and an ultrasonic sensor.

Further, the system comprises an image recognizer, wherein the image recognizer is used for acquiring an image of the interacted object, and identifying characteristic attributes of the interacted object from the image; wherein the characteristic attribute comprises at least one of the following attributes: the controller is specifically used for determining the adjustment parameters of the eye component and adjusting the rotation angle of the head component according to the position information and/or the characteristic attribute.

Further, the microphone array is further configured to collect a sound signal of the interacted object, the robot further includes a speech recognizer configured to analyze the sound signal to obtain the characteristic attribute of the interacted object, and the controller is specifically configured to determine an adjustment parameter of the eye assembly and adjust a rotation angle of the head assembly according to the position information and/or the characteristic attribute.

Further, the wireless communication device is connected with the controller, and the controller communicates with external equipment through the wireless communication device.

The utility model discloses the beneficial effect who brings: the robot provided by the application detects the position information of the interacted object through the position detector, and the controller determines the adjusting parameters of the robot eye assembly and the rotating direction and rotating angle of the robot head assembly based on the position information, so that the eye assembly and the head assembly of the robot are adjusted, the head assembly and the face eye assembly of the robot can be changed up, down, left and right according to the position change of the interacted object, and the human-computer interaction performance of the robot is expanded.

Drawings

Fig. 1 is a schematic structural diagram of a robot control system according to an embodiment of the present invention.

The system comprises a main body, a head component, a position detector, a controller, an eye component, a walking chassis, an image recognizer, a voice recognizer and a wireless communicator, wherein the main body comprises 1 part, the head component comprises 2 parts, the position detector comprises 3 parts, the controller comprises 4 parts, the eye component comprises 5 parts, the walking chassis comprises 6 parts, the image recognizer comprises 7 parts, the voice recognizer comprises 8 parts, and the wireless communicator comprises 9 parts.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, the robot control system of the present invention includes a body 1, a head assembly 2, a position detector 3, and a controller 4, wherein the head assembly 2 is rotatably connected to the body 1, an eye assembly 5 is installed on the head assembly, the position detector 3 is installed on the body 1, the position detector 3 is used for detecting position information of an object to be interacted, the position information includes an azimuth angle of the object to be interacted and a distance of the object to be interacted from the robot, and the controller 4 is used for controlling the head assembly to rotate according to the position information, so that the head assembly faces to the azimuth of the object to be interacted; the eye component 5 is the mechanical component, the eye component comprises an eyeball rotator and an eyelid opening and closing structure, and the controller 4 is further used for determining an adjustment parameter of the eye component according to the position information and controlling the eye component to make a corresponding adjustment according to the adjustment parameter; the robot further comprises a walking chassis 6, the robot body 1 is connected with the walking chassis, and the controller is further used for controlling the walking chassis to rotate and/or move so that the robot body faces the direction of the interactive object. The adjustment parameters of the ocular component include: the rotation direction and/or rotation angle of the eyeball rotator and/or the rotation angle of the eyelid opening and closing structure.

Alternatively, the controller 4 may be implemented using various Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), microcontrollers, microprocessors, or other electronic components.

In the present embodiment, the position detector 3 includes one or more of a microphone array, a distance sensor, an infrared sensor, a laser sensor, and an ultrasonic sensor.

Optionally, a microphone array (MIC array) is disposed on the main body, the MIC array is an array formed by arranging a set of omnidirectional microphones at different spatial positions according to a certain shape rule, and is a device for spatially sampling a spatially propagated sound signal, and the acquired signal includes spatial position information thereof. In the embodiment of the present application, the position information of the interactive object is acquired according to MIC array sound source localization, so that the controller 4 sets the rotation parameters of the head assembly after receiving the position information. For example, when the MIC array detects that the interactive object is located in a small angle range on the left side of the robot body, the current rotation angle of the head assembly of the robot can be set to be left rotation, and the rotation included angle is 5-10 degrees; when the MIC array detects that the interactive object is located in the left large-angle range of the robot body, the current rotation angle of the main body of the robot body can be set to be leftward rotation, and the rotation included angle is 15-30 degrees.

The distance sensor, the infrared sensor, the laser sensor and the ultrasonic sensor are position detectors which realize positioning through distance measurement and relative azimuth angles. In general, the detection of the distance and the azimuth angle may be realized by a combination of a plurality of sensors. The working process is as follows: the position detectors simultaneously send out position detection signals, the position detection signals are reflected after reaching the detected object, the position detectors record the round trip time of the position detection signals after receiving the position detection signals, the position information of the detected object is obtained through calculation according to the propagation speed of the position detection signals, and meanwhile, the direction of the detected object is obtained through comprehensive analysis according to the distance detection results of the distance sensors.

The device further comprises an image recognizer 7, wherein the image recognizer is used for acquiring an image of the interacted object, and identifying the characteristic attribute of the interacted object from the image; wherein the characteristic attribute comprises at least one of the following attributes: the emotion, age and gender of the interacted object, and the controller is specifically configured to determine the adjustment parameters of the eye assembly and adjust the rotation angle of the head assembly 2 according to the position information and/or the characteristic attributes.

The image recognizer may be a device integrated with processing capabilities for photographing, image recognition, computing, and the like. By acquiring an image or video stream containing a human face by using a camera or a camera and detecting and tracking the human face in the image, an interacted object can be found in the visual range of the camera or the camera, and the position information of the interacted object can be obtained. Based on the influence of the shooting angle of the image recognizer relative to the interacted object on the image imaging effect, the position information of the interacted object relative to the robot can be determined by calculating the shot image, the calculating process can be realized by referring to the related prior art, and details are omitted in this embodiment.

The microphone array is further configured to collect a sound signal of the interacted object, the robot further includes a speech recognizer 8 configured to analyze the sound signal to obtain the characteristic attribute of the interacted object, and the controller is specifically configured to determine an adjustment parameter of the eye assembly and adjust a rotation angle of the head assembly 2 according to the position information and/or the characteristic attribute.

Specifically, when the characteristic attributes of the interacted objects are acquired by the microphone array, the microphone array samples sound signals of the interacted objects, and the controller performs acoustic identification and classification on the sampled sound signals, so that information such as gender, age, emotion and the like of the interacted objects is acquired according to the sound characteristics of the interacted objects. The image recognizer can perform expression recognition on the face of a person and acquire the gender, age and emotional state of the interacted object from the expression recognition result. It should be understood that the above two methods for feature attribute identification of the interacted object can be used singly or in combination.

The embodiment of the application also comprises a wireless communicator connected with the controller, and the controller is communicated with external equipment through the wireless communicator. The external device can send an instruction to the controller through wireless so as to enable the controller to execute corresponding control actions.

The above description is only an example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A robot control system comprises a main body (1), a head assembly (2), a position detector (3) and a controller (4), and is characterized in that the head assembly (2) is rotatably connected with the main body (1), an eye assembly (5) is mounted on the head assembly, the position detector (3) is mounted on the main body (1), the position detector (3) is used for detecting position information of an interacted object, the position information comprises an azimuth angle of the interacted object and a distance between the interacted object and the robot, and the controller (4) is used for controlling the head assembly to rotate according to the position information to enable the head assembly to face the azimuth of the interacted object; the eye component (5) is a mechanical component, the eye component comprises an eyeball rotator and an eyelid opening and closing structure, and the controller (4) is further used for determining an adjustment parameter of the eye component according to the position information and controlling the eye component to make corresponding adjustment according to the adjustment parameter; the robot further comprises a walking chassis (6), the robot body (1) is connected with the walking chassis, and the controller is further used for controlling the walking chassis to rotate and/or move so that the robot body faces the direction of the interactive object.

2. The robotic control system of claim 1, wherein the adjustment parameters of the ocular component include: the rotation direction and/or rotation angle of the eyeball rotator and/or the rotation angle of the eyelid opening and closing structure.

3. The robot control system according to claim 2, characterized in that the position detector (3) comprises one or more of a microphone array, a distance sensor, an infrared sensor, a laser sensor and an ultrasonic sensor.

4. The robot control system according to claim 3, further comprising an image recognizer (7) for capturing an image of the interacted object, recognizing feature attributes of the interacted object from the image; wherein the characteristic attribute comprises at least one of the following attributes: the emotion, age and gender of the interacted object, and the controller is specifically used for determining the adjustment parameters of the eye assembly and adjusting the rotation angle of the head assembly (2) according to the position information and/or the characteristic attribute.

5. The robot control system of claim 4, wherein the microphone array is further configured to collect a sound signal of the object to be interacted, the robot further comprises a speech recognizer (8) configured to analyze the sound signal to obtain the characteristic attribute of the object to be interacted, and the controller is specifically configured to determine the adjustment parameter of the eye assembly and adjust the rotation angle of the head assembly (2) according to the position information and/or the characteristic attribute.

6. Robot control system according to any of the claims 1-5, characterized by further comprising a wireless communicator (9) connected to the controller, through which the controller communicates with external devices.