CN2642473Y - Robot head - Google Patents
Robot head Download PDFInfo
- Publication number
- CN2642473Y CN2642473Y CN 03280106 CN03280106U CN2642473Y CN 2642473 Y CN2642473 Y CN 2642473Y CN 03280106 CN03280106 CN 03280106 CN 03280106 U CN03280106 U CN 03280106U CN 2642473 Y CN2642473 Y CN 2642473Y
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- Prior art keywords
- head
- robot
- computer
- robot head
- host computer
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- Expired - Lifetime
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- 210000003128 head Anatomy 0.000 abstract description 38
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 230000000007 visual effect Effects 0.000 abstract description 5
- 230000006870 function Effects 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 abstract 1
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 230000007812 deficiency Effects 0.000 abstract 1
- 210000005069 ears Anatomy 0.000 abstract 1
- 238000003786 synthesis reaction Methods 0.000 abstract 1
- 241001672694 Citrus reticulata Species 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000005236 sound signal Effects 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
A robot head use two cameras as eyes, wireless mikes as ears and a speaker as a mouth. The robot head is controlled by two computers. The head computer is embedded inside the robot head and used for Chinese speech synthesis, image acquisition and image processing. The other host computer is installed at a general console outside the robot head and used for Chinese speech recognition and external information exchange. The head computer and the host computer are connected with a local area network equipped between them. The utility model is provided with functions of visual navigation, visual orientation, sound recognition, speech response and image monitoring. With the invention, speech processing and image processing are completed at two computers respectively, and are integrated a whole, which settles a problem of computation resource deficiency and reduce a dimension of a robot. Moreover, compressed images are transmitted through the local area network, so the transmission is capable of strong interference resistance and suffers little influences from barriers, which guarantees not only flexibility of the robot moving, but also reliability of the image transmission.
Description
Technical field
The utility model relates to robot, refers in particular to a kind of robot head.
Background technology
Robot vision is the important research field of robot research, but only there is vision or far from being enough in robot.In the aspectant interchange of people, listening and speaking are important communication meanses, and are all finished by head.
At present, domestic also do not have can be visible, hear, sociable, the robot that can discern the Chinese speech order.Certainly, also do not have such robot head, this makes the very difficult alternately of people and robot.
In the world, the anthropomorphic robot Asimo (http://world.honda.com/ASIMO/) that the Japanese honda skill is ground Co., Ltd. (Honda) has the ability of seeing, listen, saying, can discern about 50 voice commands of communicating with the eyes.The computer that is used for speech recognition and visual processes is installed in the back of ASIMO robot, is the part of robot knapsack.But can't discern the Chinese speech order.
Summary of the invention
Main purpose of the present utility model is to provide a kind of robot head, has littler volume;
Secondary objective of the present utility model is to provide a kind of robot head, has the Chinese speech control device, can discern the Chinese speech order;
A purpose more of the present utility model is to provide a kind of robot head, has the visual sensing function of better availability.
For achieving the above object, a kind of robot head that the utility model provides, it utilizes two video cameras as eyes, and wireless microphone is made ear, and loudspeaker are made face.
It comprises two computers that adopt WLAN to connect, these two computer-controlled robots' action; Wherein one is the head computer, is installed in the robot head, is used for that Chinese speech is synthetic, IMAQ and image handle; Another is a host computer, is installed in the robot outside, such as console, is used for Chinese speech identification, picture control and externally information exchange.
Two video cameras that host computer in robot head is installed are used to absorb video data.Wherein two video cameras are installed in the robot head in the mode of activity, and the position can be adjusted, and the angle of optical axis center line can be adjusted, and camera lens with an automatic light meter also is housed.The head computer compresses the image of a video camera, sends host computer to, shows after decompressing, and realizes the picture control of robot.The present invention utilizes WLAN to carry out the transmission of compressed image, and antijamming capability is strong, is subjected to the influence of shelter little, has promptly guaranteed the kinematic dexterity of robot, has guaranteed the reliability of image transmission again.
The loudspeaker that host computer in robot head is installed are used to send sound signal.Host computer is equipped with the wireless microphone receiver, is used to accept voice.Handle by software, can accept different tellers' non-standard mandarin Chinese speech order, can make Chinese speech to voice command and reply.
Wherein the head computer adopts embedded computer, and host computer adopts desktop computer.
The utility model can be installed on the mobile platform, and the navigation, location and the man machine language that are used for robot are mutual.
Outstanding feature of the present utility model is speech processes and image to be handled to be placed on respectively on two computers finish, and becomes one, and has both solved the not enough problem of computational resource, has reduced the volume of robot again.
Another outstanding feature of the present utility model is to accept different tellers' non-standard mandarin pronunciation order.
Description of drawings
Fig. 1 is the utility model robot head structural representation;
Fig. 2 is the utility model robot head hardware principle schematic diagram.
The specific embodiment
Please consult Fig. 1 and Fig. 2 simultaneously.
Head computer 1 is made up of CPU101, image acquisition device 102, I/O card 103, sound card 104; Be connected with image acquisition device 102 two video cameras 11 are housed, be used to absorb video data; Be connected with sound card 104 loudspeaker 12 are housed, be used to send sound signal; Be connected with I/O card 103 control button 1031 and state indication 1032 are housed; By wireless network card 13 and wireless network card 23, accept and transmission information between head computer 1 and the host computer 2.
Host computer 2 is made up of CPU201, video card 202, network interface card 203, sound card 204; Be connected with sound card 204 wireless receiver 2042 and wireless microphone 21 are housed, be used to accept voice,, also be connected with loudspeaker 2041 by the speech recognition software voice command recognition; Be connected with video card 202 picture monitor 24 also is housed,, send host computer 2 to, after decompressing, show, realize the picture control of robot when the image of 1 pair of video camera 11 of head computer compresses; Also be equipped with an information interface 22 with network interface card 203 in addition,, send instruction thus in order to connect the robot miscellaneous part.
In a preferred embodiment of the present utility model, host computer 2 is configured to: CPU frequency 2.0GHz, internal memory 256M, hard disk 80G, Asus's 533 mainboards, Audio and video card, 17 inches displays.Host computer 2 is furnished with TP-Link 10/100Mbps network interface card and ORINOCO wireless network card, and the TP-Link network interface card is used for external information exchange, and the ORINOCO wireless network card is used for and head computer swap data.Adopt the directed wireless microphone of TAKSTAR DM-715 type, the wireless microphone receiver inserts the microphone interface of sound card.Loudspeaker insert the earphone interface of sound card, are used for system debug.
Head computer 1 adopts SBS PC104 embedded computer, CPU frequency 800MHz, internal memory 128M, hard disk 40G.Head computer 1 is furnished with the ORINOCO wireless network card, sound card, image pick-up card and I/O card.The ORINOCO wireless network card is used for and the host computer swap data.Host computer 2 adopts the Peer-to-Peer mode to be connected with the wireless network card of head computer 1.Two loudspeaker 12 insert the earphone interface of sound card, are used for the robot sounding.Two video camera 11 incoming image capture cards are used for the visual pattern collection.The state indication is gone into the head computer with control button by the I/O clamping.In the present embodiment, two video cameras all adopt the MINTRON colour TV camera, and install camera lens with an automatic light meter additional.
Head computer 1, two video cameras 11 and loudspeaker 12 etc. all are installed on robot head, see also Fig. 3.In addition, robot head also is equipped with power switch, SR, radiator fan etc.
Head computer 1, two video cameras 11 and radiator fan etc. all adopt the 12VDC power supply, by the storage battery power supply of robot body part.
The leading indicator that present embodiment reaches is as follows:
Vision guided navigation: coarse positioning frequency＞5 time/second.
Head configuration size: 250 * 220 * 200mm.
Head weight:＜4Kg.
Indoor environment requires: no light intensity acute variation type light disturbs, as electro-welding arc; No electromagnetism closure space; No strong electromagnetic; Satisfy the indoor environment that common computer can be worked.
Claims (7)
1, a kind of robot head is characterized in that: it comprises two computers that connect by WLAN; Wherein one is the head computer, is installed in the robot head; Another is a host computer, is installed in the robot outside.
2, robot head as claimed in claim 1 is characterized in that, the head computer connects two video cameras in robot head.
3, robot head as claimed in claim 2 is characterized in that, wherein two video cameras are installed in the robot head, and the position can be adjusted.
4, robot head as claimed in claim 3 is characterized in that, wherein video camera is equipped with camera lens with an automatic light meter.
5, robot head as claimed in claim 1 is characterized in that, the head computer is connected with loudspeaker in robot head.
6, robot head as claimed in claim 1 is characterized in that, host computer is connected with the wireless microphone receiver.
7, robot head as claimed in claim 1 is characterized in that, the head computer adopts embedded computer, and host computer adopts desktop computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03280106 CN2642473Y (en) | 2003-09-19 | 2003-09-19 | Robot head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03280106 CN2642473Y (en) | 2003-09-19 | 2003-09-19 | Robot head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2642473Y true CN2642473Y (en) | 2004-09-22 |
Family
ID=34303541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03280106 Expired - Lifetime CN2642473Y (en) | 2003-09-19 | 2003-09-19 | Robot head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2642473Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100460167C (en) * | 2007-03-22 | 2009-02-11 | 上海交通大学 | Head system of anthropomorphic robot |
-
2003
- 2003-09-19 CN CN 03280106 patent/CN2642473Y/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100460167C (en) * | 2007-03-22 | 2009-02-11 | 上海交通大学 | Head system of anthropomorphic robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |
Expiration termination date: 20130919 Granted publication date: 20040922 |