技术领域technical field
本发明涉及机器人技术领域，具体涉及一种基于身份识别的人-机器人交互装置和方法。The invention relates to the technical field of robots, in particular to an identity-based human-robot interaction device and method.
背景技术Background technique
人与机器人自然和谐的交互是服务机器人发展的重要方向，传统的人-机器人的交互是指用户通过固定的交互界面向机器人传达命令。这样的交互界面需要用户主动对其适应，机器人只是一个被动的命令执行者。普通的人机交互界面对于每一个用户，其布局是不变的，且界面应用相对固定，如果用户需要在服务机器人的交互界面中寻找某一个应用，则可能需要大量的寻找过程。尤其是对于“视线跟踪”“语音”等自然的非接触性人机交互通道，这些寻找过程将会对用户带来巨大的操作负担，所以让机器人能够主动向用户推送需求是很有意义的。本发明以身份识别为基础，通过机器人对用户身份的认证，结合用户与机器人之间的交互信息，主动向用户推送其可能的需求，让人与服务机器人的合作交互更加高效。The natural and harmonious interaction between humans and robots is an important direction for the development of service robots. The traditional human-robot interaction refers to the user communicating commands to the robot through a fixed interactive interface. Such an interactive interface requires users to actively adapt to it, and the robot is only a passive command executor. The layout of the ordinary human-computer interaction interface is unchanged for each user, and the interface application is relatively fixed. If the user needs to find a certain application in the interaction interface of the service robot, it may require a lot of searching process. Especially for natural non-contact human-computer interaction channels such as "gaze tracking" and "voice", these search processes will bring a huge operational burden to users, so it is very meaningful for robots to actively push needs to users. Based on identity recognition, the present invention actively pushes possible needs to the user through the robot's authentication of the user's identity, combined with the interaction information between the user and the robot, so that the cooperative interaction between the human and the service robot is more efficient.
发明内容Contents of the invention
针对现有技术存在的缺陷，本发明的目的是提供一种基于身份识别的人-机器人交互装置和方法，让机器人在识别出用户身份后，结合用户的交互信息在交互界面上主动向用户推送其最可能的需求，用户根据推送信息进行选择，体现了机器人与用户沟通的主动性，弥补了常规交互界面功能固定的缺点，更加高效地进行人机合作。In view of the defects existing in the prior art, the purpose of the present invention is to provide a human-robot interaction device and method based on identity recognition, so that after the robot recognizes the user's identity, it can actively push the user's interaction information to the user on the interactive interface. Its most likely requirement is that the user chooses according to the push information, which reflects the initiative of the robot to communicate with the user, makes up for the shortcomings of the fixed function of the conventional interactive interface, and conducts human-machine cooperation more efficiently.
为了实现上述目的，本发明采用下述技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
一种基于身份识别的人-机器人交互装置，包括服务机器人，计算机，显示器，CCD摄像机，麦克风，扬声器，无线网卡，无线路由器；所述显示器和CCD摄像机放于用户脸部前方，所述麦克风和扬声器放于用户头部附近，且都与计算机连接；所述计算机与服务机器人各插入一个无线网卡，在无线路由器提供的局域网范围内进行通信，用户与显示器中的人机交互界面进行交互，计算机将交互信息通过无线网络传递给服务机器人，最终达到用户与服务机器人协同合作的目的。A human-robot interaction device based on identity recognition, including a service robot, a computer, a display, a CCD camera, a microphone, a speaker, a wireless network card, and a wireless router; the display and the CCD camera are placed in front of the user's face, and the microphone and The speakers are placed near the user's head and connected to the computer; the computer and the service robot each insert a wireless network card to communicate within the local area network provided by the wireless router. The user interacts with the man-machine interface in the display, and the computer The interactive information is transmitted to the service robot through the wireless network, and finally achieves the purpose of cooperation between the user and the service robot.
一种基于身份识别的人-机器人交互方法，具体步骤为：服务机器人通过人脸识别的方式对用户进行身份识别，服务机器人确认用户身份后，结合用户模型对用户进行信息组织，将“个性化”的推荐内容显示至人机交互界面中，用户通过人机交互界面与服务机器人的进行人机交互，服务机器人根据用户选择的指令完成交互动作。A human-robot interaction method based on identity recognition. The specific steps are: the service robot identifies the user through face recognition, and after the service robot confirms the user's identity, it combines the user model to organize the user's information, and "personalized" The recommended content of "is displayed on the human-computer interaction interface, and the user interacts with the service robot through the human-computer interaction interface, and the service robot completes the interactive action according to the instructions selected by the user.
所述身份识别的具体步骤为：用户的脸部由CCD摄像机将图像采集到服务机器人内存中进行训练，将检测到的用户人脸通过图像处理和机器学习的方法进行人脸识别，在环境不适合人脸识别的情况下，用户通过麦克风向服务机器人发出语音进行语义识别确定用户身份；服务机器人对用户进行人脸识别时，判断用户是否为新用户，如果为新用户，扬声器通过语音提示用户是否进行人机交互，如果用户做出肯定的回应，CCD摄像机采集新用户人脸图像，进行人脸训练，并创建新用户信息；如果用户做出否定的回应，显示器呈现固定的人机交互界面；如果为已知用户，服务机器人直接读取用户信息呈现至人机交互界面中，并进行个性化的服务。The specific steps of the identification are as follows: the user's face is collected by the CCD camera into the memory of the service robot for training, and the detected user's face is recognized by image processing and machine learning methods. When face recognition is suitable, the user sends a voice to the service robot through the microphone for semantic recognition to determine the user's identity; when the service robot performs face recognition on the user, it judges whether the user is a new user. If it is a new user, the speaker prompts the user through voice Whether to conduct human-computer interaction, if the user responds positively, the CCD camera collects the face image of the new user, conducts face training, and creates new user information; if the user responds negatively, the display presents a fixed human-computer interaction interface ; If it is a known user, the service robot directly reads the user information and presents it to the human-computer interaction interface, and provides personalized services.
所述的“个性化”推荐具体为：每个用户都有与之对应的用户模型，用于存放用户信息，用户信息在用户与服务机器人交互的过程中，是实时更新的，服务机器人根据用户模型的信息对各应用程序进行权重计算，将用户可能感兴趣的应用程序向其推荐。The "personalized" recommendation specifically includes: each user has a corresponding user model for storing user information, and the user information is updated in real time during the interaction between the user and the service robot. The information of the model calculates the weight of each application program, and recommends the application programs that the user may be interested in.
所述人机交互界面分为身份识别区域，主菜单区域，信息推荐区域，身份识别区域用于识别用户身份，主菜单区域供用户选择需求，信息推荐区域用于显示服务机器人主动向用户推送的元素。The human-computer interaction interface is divided into an identity recognition area, a main menu area, and an information recommendation area. The identity recognition area is used to identify the identity of the user, the main menu area is used for the user to select requirements, and the information recommendation area is used to display information that the service robot actively pushes to the user. element.
与现有技术相比，本发明具有如下突出的优点：Compared with the prior art, the present invention has the following prominent advantages:
本发明服务机器人通过对用户身份的识别，结合用户的用户模型和交互信息，主动地向用户推送其可能的需求，使人与服务机器人的交互更加和谐高效。The service robot of the present invention actively pushes possible demands to the user by identifying the identity of the user, combined with the user model and interaction information of the user, so that the interaction between the human and the service robot is more harmonious and efficient.
附图说明Description of drawings
图1为基于身份识别的人-机器人交互系统架构框图。Figure 1 is a block diagram of the human-robot interaction system architecture based on identity recognition.
图2为身份识别的方法流程图。Fig. 2 is a flow chart of the identification method.
图3为人-机器人交互界面示意图。Figure 3 is a schematic diagram of the human-robot interaction interface.
图4为机器人推荐电影流程图。Figure 4 is a flow chart of the robot recommending movies.
具体实施方式detailed description
下面结合附图对本发明优选实施例作详细说明。The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
如图1所示，一种基于身份识别的人-机器人交互装置，包括服务机器人2，计算机3，显示器5，CCD摄像机6，麦克风7，扬声器8，无线网卡9，无线路由器10；所述显示器5和CCD摄像机6放于用户1脸部前方，所述麦克风7和扬声器8放于用户1头部附近，且都与计算机3连接；所述计算机3与服务机器人2各插入一个无线网卡9，在无线路由器10提供的局域网范围内进行通信，用户1与显示器5中的人机交互界面4进行交互，计算机3将交互信息通过无线网络传递给服务机器人2，最终达到用户1与服务机器人2协同合作的目的。As shown in Figure 1, a kind of human-robot interaction device based on identity recognition includes a service robot 2, a computer 3, a display 5, a CCD camera 6, a microphone 7, a loudspeaker 8, a wireless network card 9, and a wireless router 10; the display 5 and CCD camera 6 are placed in front of user 1 face, and described microphone 7 and loudspeaker 8 are placed near user 1 head, and are all connected with computer 3; Described computer 3 and service robot 2 respectively insert a wireless network card 9, Communicate within the local area network provided by the wireless router 10, the user 1 interacts with the man-machine interface 4 in the display 5, and the computer 3 transmits the interaction information to the service robot 2 through the wireless network, and finally achieves cooperation between the user 1 and the service robot 2 purpose of cooperation.
如图2所示，一种基于身份识别的人-机器人交互方法，具体步骤为：服务机器人2通过人脸识别的方式对用户1进行身份识别，服务机器人2确认用户身份后，结合用户模型对用户1进行信息组织，将“个性化”的推荐内容显示至人机交互界面4中，用户1通过人机交互界面4与服务机器人2的进行人机交互，服务机器人2根据用户1选择的指令完成交互动作。As shown in Figure 2, a human-robot interaction method based on identity recognition, the specific steps are: the service robot 2 identifies the user 1 through face recognition, and after the service robot 2 confirms the user's identity, it uses the user model to identify the user 1. User 1 conducts information organization and displays "personalized" recommended content on the human-computer interaction interface 4. User 1 conducts human-computer interaction with the service robot 2 through the human-computer interaction interface 4. The service robot 2 follows the instructions selected by user 1. Complete the interaction.
所述身份识别的具体步骤为：用户1的脸部由CCD摄像机6将图像采集到服务机器人2内存中进行训练，将检测到的用户1人脸通过图像处理和机器学习的方法进行人脸识别，在环境不适合人脸识别的情况下，用户1通过麦克风7向服务机器人2发出语音进行语义识别确定用户身份；服务机器人2对用户1进行人脸识别时，判断用户1是否为新用户，如果为新用户，扬声器8通过语音提示用户1是否进行人机交互，如果用户1做出肯定的回应，CCD摄像机6采集新用户1人脸图像，进行人脸训练，并创建新用户信息；如果用户1做出否定的回应，显示器5呈现固定的人机交互界面4；如果为已知用户，服务机器人2直接读取用户信息呈现至人机交互界面4中，并进行个性化的服务。The specific steps of the identification are as follows: the face of the user 1 is collected by the CCD camera 6 into the memory of the service robot 2 for training, and the detected face of the user 1 is recognized by image processing and machine learning. , when the environment is not suitable for face recognition, the user 1 sends a voice to the service robot 2 through the microphone 7 to perform semantic recognition to determine the user identity; when the service robot 2 performs face recognition on the user 1, it judges whether the user 1 is a new user, If it is a new user, the speaker 8 prompts the user 1 by voice whether to perform human-computer interaction, and if the user 1 responds in the affirmative, the CCD camera 6 collects the face image of the new user 1, carries out face training, and creates new user information; User 1 makes a negative response, and display 5 presents a fixed human-computer interaction interface 4; if the user is a known user, service robot 2 directly reads user information and presents it to human-computer interaction interface 4, and performs personalized services.
所述的“个性化”推荐具体为：每个用户1都有与之对应的用户模型，用于存放用户信息，用户信息在用户1与服务机器人2交互的过程中，是实时更新的，服务机器人2根据用户模型的信息对各应用程序进行权重计算，将用户1可能感兴趣的应用程序向其推荐。The "personalized" recommendation specifically includes: each user 1 has a corresponding user model for storing user information, and the user information is updated in real time during the interaction between user 1 and service robot 2. The robot 2 calculates the weight of each application program according to the information of the user model, and recommends the application programs that the user 1 may be interested in.
所述人机交互界面4分为身份识别区域，主菜单区域，信息推荐区域，身份识别区域用于识别用户1身份，主菜单区域供用户1选择需求，信息推荐区域用于显示服务机器人2主动向用户1推送的元素。The human-computer interaction interface 4 is divided into an identification area, a main menu area, and an information recommendation area. The identification area is used to identify the identity of the user 1, the main menu area is for the user 1 to select requirements, and the information recommendation area is used to display the service robot 2 actively. The element pushed to user 1.
本发明的使用过程如下：The use process of the present invention is as follows:
基于身份识别的人-机器人交互方法为用户推送饮料：身份识别过程：CCD摄像机6获取用户面部图像，服务机器人2通过人脸识别对用户进行身份进行辨识。如果用户1为新用户，语音通道通过扬声器8询问用户的姓名和需求，用户通过麦克风7进行语音回答。如果用户1回答“是”，CCD摄像机6采集用户人脸图像，进行人脸训练，并创建新用户的用户模型；如果多次询问后，用户1并未对服务机器人2做出响应，显示器5呈现固定的人机交互界面。如果用户为已知用户，服务机器人2直接读取用户信息并呈现至人机交互界面4中。The human-robot interaction method based on identity recognition pushes drinks for users: identity recognition process: CCD camera 6 acquires the user's face image, and service robot 2 identifies the user's identity through face recognition. If the user 1 is a new user, the voice channel asks the user's name and requirements through the speaker 8, and the user responds by voice through the microphone 7. If the user 1 answers "yes", the CCD camera 6 collects the user's face image, performs face training, and creates a new user's user model; if after multiple inquiries, the user 1 does not respond to the service robot 2, the display 5 Present a fixed human-computer interaction interface. If the user is a known user, the service robot 2 directly reads the user information and presents it on the human-computer interaction interface 4 .
用户信息推送过程：服务机器人2读取用户的用户模型，此用户模型包含用户的爱好电影、音乐、食品等，常用的交互通道视线、语音等。读取的用户模型信息将被呈现至人机交互界面4，服务机器人2将用户1可能的需求推送至人机交互界面4中，人机交互界面4分为身份识别区域，主菜单区域，信息推荐区域。身份识别区域用于识别用户1身份，主菜单区域供用户1选择需求，信息推荐区域用于显示服务机器人2主动向用户1推送的元素。User information push process: the service robot 2 reads the user profile of the user, which includes the user's favorite movies, music, food, etc., and commonly used interactive channels such as sight and voice. The read user model information will be presented to the human-computer interaction interface 4, and the service robot 2 will push the possible needs of the user 1 to the human-computer interaction interface 4. The human-computer interaction interface 4 is divided into the identification area, the main menu area, and the information Recommended area. The identity recognition area is used to identify the identity of user 1, the main menu area is for user 1 to select requirements, and the information recommendation area is used to display the elements that service robot 2 actively pushes to user 1.
参见图3，用户1进入人交互界面4的饮料菜单，计算机3结合用户之前拿取饮料的信息，通过对各种饮料权重的计算，向用户1推送其最可能需要的饮料。用户1选择自己需要的饮料，计算机3通过无线通信将用户选择的饮料信息传递给服务机器人2。服务机器人2获取命令后，运动至摆放饮料的位置区域，执行饮料的抓取动作，并将饮料拿送至用户1附近。服务机器人2每执行一次饮料的抓取，饮料的信息都将会记录在该用户的用户信息中，为下一次机器人2对饮料的推送提供数据支持。Referring to FIG. 3 , user 1 enters the beverage menu of human interaction interface 4 , and computer 3 pushes the most likely beverage to user 1 by calculating the weight of various beverages in combination with the information of beverages taken by the user before. The user 1 selects the drink he needs, and the computer 3 transmits the information of the drink selected by the user to the service robot 2 through wireless communication. After receiving the command, the service robot 2 moves to the area where the beverage is placed, executes the grabbing action of the beverage, and delivers the beverage to the vicinity of the user 1. Every time the service robot 2 grabs a drink, the information of the drink will be recorded in the user information of the user to provide data support for the next push of the robot 2 to the drink.
基于身份识别的人-机器人交互的方法为用户推送电影：参见图4，用户1进入人机交互系统电影栏目，服务机器人2根据用户之前的观看记录，主动向用户推送其可能喜欢的电影，用户1选择电影播放。在用户1观看电影的同时，CCD摄像机6实时对用户1进行人脸检测，如果5秒钟未检测出人脸，服务机器人2判断用户为离开状态，将电影停止播放。若用户1再次进入人机交互区域，当CCD摄像机6检测出人脸时，对用户1进行身份识别，如果识别结果为上次离开的用户，电影继续播放；如果识别结果为其他用户，人机交互界面返回至初始界面，用户1与服务机器人2继续进行人机交互。The method of human-robot interaction based on identity recognition pushes movies for users: see Figure 4, user 1 enters the movie column of the human-computer interaction system, and service robot 2 actively pushes movies that the user may like to the user based on the user’s previous viewing records. 1Select movie playback. While the user 1 is watching the movie, the CCD camera 6 detects the face of the user 1 in real time. If no face is detected within 5 seconds, the service robot 2 judges that the user is away and stops playing the movie. If user 1 enters the human-computer interaction area again, when the CCD camera 6 detects a face, user 1 is identified. If the identification result is the user who left last time, the movie continues to play; The interactive interface returns to the initial interface, and the user 1 and the service robot 2 continue to interact with each other.
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| CN201610199302.5ACN105892829A (en) | 2016-04-02 | 2016-04-02 | Human-robot interactive device and method based on identity recognition |
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| CN201610199302.5ACN105892829A (en) | 2016-04-02 | 2016-04-02 | Human-robot interactive device and method based on identity recognition |
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| CN105892829Atrue CN105892829A (en) | 2016-08-24 |
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| CN201610199302.5APendingCN105892829A (en) | 2016-04-02 | 2016-04-02 | Human-robot interactive device and method based on identity recognition |
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