KR200435980Y1 - Intelligence receptionist robot system - Google Patents

Abstract

It is to provide an intelligent guide robot system that can guide public buildings to the public by applying various technologies in various fields such as motion control, voice and video recognition, sensor interface, networking, etc., including artificial intelligence of the robot of the present invention.

In order to design such an intelligent guide robot system, the present invention uses techniques such as motion control, face detection and recognition, voice recognition and speech synthesis, remote control, PC interface, and actuator control, which are elements of existing intelligent robots. In consideration of the functional aspects of public buildings, the system was reconstructed into a humanoid form. For this purpose, a system that can deliver the voice of the public to be guided to the robot through a wired or wireless microphone is constructed. It is configured to select various public services provided in this GUI form, and the robot can perform guidance tasks such as public buildings through voice and motion of robots to users who request guidance services through voice synthesizer and motion control system. Configure.

In addition, the guide robot of the present invention distinguishes whether a person currently located in front of the robot is a member of a public building or a guest coming to the public building through a camera attached to the head of the robot. It is configured to provide services.

Intelligent guide robot, voice recognition, voice synthesis, face detection, face recognition

Description

Intelligent reception robot system {Intelligence receptionist robot system}

1 is a structural diagram of the mechanism of the intelligent guide robot system of the present invention

2 is a structural diagram of a hardware device of the intelligent guide robot system of the present invention

3 is a schematic diagram of interaction with human of the intelligent guide robot system of the present invention

[Description of Symbols for Main Parts of Drawing]

1-7, 44-45: DC servo motor 46: power supply

8-14, 43: RC servo motor 47: external power source

15, 80: graphic LCD panel 48: RC servo motor control signal

16-17, 38, 81, 82: Speaker 49: RC servo motor drive signal

30: PC mainboard 50: Web camera control signal

31-32: DC servo motor control board 51: sound signal

33: RC servo motor controller 52, 54 59, 60: DC servo motor control signal

34-35: DC Servo Motor Drive Board 53: Joystick Control Signal

36, 85: joystick or wireless keyboard 55, 61: DC servo motor drive signal

37: sound codec 62: WLAN signal

39, 84: microphone 83: camera video input

40: WLAN card 86: human service request command

41: Remote PC 87: Guide Robot System Control Command

42: web camera 88: robot human interface providing signal

The present invention relates to an intelligent guide robot system capable of performing a guide role of a public building among intelligent service robots. The various element technologies for the existing intelligent robots, that is, artificial intelligence, face detection and recognition, voice recognition and synthesis, By focusing on the functional aspects of the robot, such as actuators, motion control, and remote control, the intelligent guidance robot system is provided.

Such intelligent guide robots are rarely commercialized until now due to the large gap between consumer's requirements and actual technology level, but research and development for commercialization of these intelligent guide robots are very active in Korea and other countries. It is being done.

Nevertheless, the guide robots that have been commercially available in Korea so far have a very passive form of movement in terms of interaction with humans. For example, they cannot proactively provide guidance information services according to the situation. Providing only service contents according to a certain predetermined pattern of operation flow, or a method of performing an operation according to a control action of a guide robot operator through a wire or wirelessly in a remote place is mainstream.

However, since the robot behavior pattern is always a fixed passive motion form, the ability to interact with humans is inevitably degraded. In addition, the robot operator must always observe the robot state and operate the robot. This exists.

In other words, the existing guide robot cannot be actively guided according to the situation, and because the operator guides the manual guide as designed by the operator in advance, it is necessary to recognize the external environment and to perform the intelligent and active guide. will be.

The object of the present invention is to provide intelligent guide robots which provide various guide services according to each situation externally intelligently by integrating various element technologies of intelligent robots into guide robots.

That is, the present invention is to provide an intelligent guide robot system that focuses on the functional aspects of the guide robot, each element technology of the conventional intelligent robot.

The present invention implements robot control means in a GUI (Graphical User Interface) environment, implements a user voice command transmission system through a microphone, and operates a joystick to provide various guide services based on human interaction in a guide robot. It is possible to implement a direct robot control tool using a sieve, and the robot's voice synthesizer and output device can be interpreted in response to the user's instructions transmitted from the user's voice or joystick control body. It provides users with various contents of public guidance service using a motion control system, etc., and the camera is mounted on the head of the robot so that the robot can capture the user's face through the camera, image it, and compare it with the pre-entered official image. Current robot users Then to determine whether the personnel of a public building or guests themselves to actively mission to improve the performance of the robot, with voice recognition ever offered by a service content according to each situation.

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The present invention is to provide an intelligent guide robot system for actively guiding public buildings to the general public, the present invention is provided with a humanoid robot mechanism frame for providing an efficient public guidance service, the robot mechanism It is equipped with various control devices for driving the frame, and equipped with a robot main board for mounting the robot's artificial intelligence and controlling the entire system at a higher level.

First, as shown in Figure 1, the robot mechanism frame for providing a public guidance service in a form similar to a human being is configured in a form similar to a human sitting on a chair, and the lower half of the robot is fixed to the chair. The robot's upper body is composed of two neck joints, a rotatable waist joint, five axes of arms and a gripper that can hold things. It is.

This configuration allows the guide robot to create a motion that is as close as possible to the actual and active human guided behavior pattern while using a minimal simple structure.

In the actuators used in the joints of these guide robots, the one-axis (1) and the three-axis (2, 3, 4, 5, 6, 7) of the shoulder joint, which are relatively heavily loaded, can generate a large torque. Encoder-mounted DC geared motors, with two less-load robot heads, two axes (8), one elbow joint (11, 12), and two cuffs (10, 13) and grippers One axis 9, 14 used an RC servo motor.

In addition, the graphic LCD panel 15 for providing a graphical user interface (GUI) is located in front of the chest of the robot, and below it, the robot voice synthesized by the robot voice synthesizer or the robot voice in the form of a wave is output. Speakers 16 and 17 were mounted.

This type of robot mechanism is very similar to humans, so it is the most suitable type for guiding missions to the general public, and can produce various types of motions including the eyes of the robot or the change of direction of the body. It is secured to the chair and always maintains a stable posture, which ensures stable mission performance.

As shown in FIG. 2, the hardware configuration for controlling the guide robot mechanism of the present invention is two DC servo motor control boards 31 and 32 and a DC servo motor drive around the PC main board 30. The boards 34 and 35, the RC servo motor controller 33, and a camera 42 for receiving images from the outside of the robot, a microphone 39 for receiving user voice, a speaker 38 for outputting the robot voice, Wireless LAN 40 for networking with an external computer 41, etc. and a joystick or wireless keyboard 36 for direct control of the robot is made.

Each hardware constituting the intelligent guide robot of the present invention is all centrally controlled by the PC motherboard 30, the PC motherboard 30 is a variety of user interface tools mounted around the guide robot system, that is, joystick or wireless In response to changes in the surrounding environment input through the keyboard 36, the microphone 39, the camera 42, and the like, it is configured to transmit the most active control commands to various devices mounted around the robot.

Referring to FIG. 2, the transmission system for the control command of the intelligent guide robot, the transmission signals 52 and 59 between the PC main board 30 and the DC servo motor control boards 31 and 32 are controlled by USB to Serial. The transmission signal 48 between the PC main board 30 and the RC servo motor controller 33 is composed of a RS-232 standard signal, and the PC main board 30 and the camera 42, the joystick or the wireless keyboard. (36), In the case of the transmission signals 50, 53, 58 of the wireless LAN 40, it is comprised by the signal of USB standard.

In addition, the PC interfaces 56 and 57 of the speaker 38 and the microphone 39 are made of analog signals.

Finally, the power supply of the entire hardware including the actuator of the intelligent guide robot system thus configured converts the 220V external power source 47 into three types of voltage levels (5V, 9V, 12V) through the power supply 46. It is made to be done at once, which can use external power because the upper body moves in a fixed state without moving the guide robot.

The most important in the intelligent guide robot system of the present invention configured as described above is the implementation of the guide service of the robot through human interaction, and this is through the camera image 83 or the microphone 84 of the intelligent guide robot as shown in FIG. In response to changes in surrounding conditions or human command signals 86 and 87 input through a direct control tool such as a human voice or a joystick 85, the robot performs various guide actions. The robot by allowing the robot to grasp the service contents currently provided by the robot through a signal 88 such as a robot voice service output through the speaker 81 and 82 or a GUI environment through the graphic LCD 80 mounted on the robot body. This is made possible by creating a structure in which interaction between humans and humans occurs naturally.

In particular, in order to make such a configuration possible, in this invention, the voice recognition software, the voice synthesis software, and the face recognition software applied to the general intelligent robot are linked with the robot motion control software to be operated on the PC inside the robot. Various information of public buildings and voices and faces of building officials were registered in advance. By doing so, the robot receives the image information (83) and the voice information (84) through the camera and microphone attached to the robot, and compares it with all the registered people before registering it in advance. The robot was able to perform active guidance by distinguishing whether or not it was an authorized person and providing appropriate building guidance services accordingly.

The intelligent guide robot system of the present invention is realized as a commercial service robot system that can be commercialized by concentrating conventional element technologies used in intelligent humanoid robots on the side of public buildings based on human interaction. It is.

As described above, the intelligent guide robot system of the present invention is designed a new type of robot system that can perform a guide role of a public building using various element technologies used in the conventional intelligent service robot as an intelligent robot Increasing the utility value of each element technology used in the, and to enhance the interaction with humans in the guide robot function having only a conventionally passive form or fixed flow behavior pattern to implement an intelligent guide robot that can be commercialized.

Claims (4)

A humanoid robot frame with a head, arms and legs, The robot mechanism frame is provided with various control devices for driving the neck, the head arm, the shoulder, and the waist, respectively, to control the driving through the PC main board 30, Recognizing the user in the PC mainboard 30 through the camera and the user's voice, etc. mounted on the head of the robot mechanism frame, and outputs voice and robot motion and GUI-based guide service, such as joystick or wireless keyboard Intelligent guide robot system comprising a PC main board that provides voice and motion and GUI-based guidance services by receiving the user's service content requirements as a control tool. delete The PC main board 30 receives images from two DC servo motor control boards 31 and 32, DC servo motor drive boards 34 and 35, RC servo motor controller 33, and the outside of the robot. Direct control of the user's robot and wireless LAN (40) for networking with the camera (42), microphone (39) for receiving user voice, speaker (38) for outputting robot voice, external computer (41), etc. Intelligent guide robot system, characterized in that for connecting a joystick or wireless keyboard (36). The robot according to claim 1, wherein the guide robot places a graphic LCD panel 15 for providing a graphic user interface (GUI) in front of the chest, and a lower part of the robot voice or wave synthesized by the voice synthesizer of the robot. Intelligent guide robot system, characterized in that equipped with a speaker (16, 17) for outputting the form of the robot voice.

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