The content of the invention
The technical problems to be solved by the invention are to provide a kind of family's social interaction server humanoid robot system, can automaticallyThe functional modules such as locating and tracking, Projection Display, voice interface, user's Differentiated Services are integrated in one, and provide the user more justPrompt, more intelligent Consumer's Experience.
The technical scheme that the present invention is used to solve above-mentioned technical problem is to provide a kind of family's social interaction server type machinePeople's system, including sound and image capture module：Sound collection is completed by MIC arrays, and IMAQ is completed by high-definition camera,The image of collection from motion tracking and servo module to provide input；From motion tracking and servo module：By sound positioning and image peopleFace and human bioequivalence block combiner are formed；The cardinal points information of user is navigated to according to sound first, then by face andHuman body recognition method is accurately positioned to user, then realizes accurate tracking by controlling tracking servo system；Display module：AdoptUsing low-power consumption projection module, automatic focusing, automatic regulating lightness simultaneously carries out frame compensation；Interactive controlling module：Including intelligent languageSound, infrared remote control, long-range APP three-type-persons machine interactive controlling mode；Multi-user's Differentiated Services module：By recording different userVocal print and face characteristic make a distinction to different user.
Above-mentioned family's social interaction server humanoid robot system, wherein, it is described to be moved using whole machine from motion tracking and servo moduleDynamic device enters Mobile state tracking to target, or is realized from motion tracking using rotary machine people head.
Above-mentioned family's social interaction server humanoid robot system, wherein, the display module is LCD/DLP Projection Display mouldsBlock, 3D display module or line holographic projections/display module.
Above-mentioned family's social interaction server humanoid robot system, wherein, multi-user's Differentiated Services module also records differenceThe personal habits and user preference of user, and targetedly serviced according to user personality offer.
Present invention contrast prior art has following beneficial effect：The social interaction server humanoid robot system of family that the present invention is providedSystem, can be widely applied for the scenes such as family's projection, projection robot, video display box, and it is more convenient to provide the user, more intelligentlyService.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is family's social interaction server humanoid robot system architecture schematic diagram of the present invention.
Refer to Fig. 1, family's social interaction server humanoid robot system that the present invention is provided, mainly including sound/IMAQSystem, from the module such as motion tracking and servo-drive system, low-power consumption Projection Display.Essential characteristic is：(1) robot can be by collectionThe information such as sound/image control tracking servo system is positioned and tracked to user automatically；(2) display picture passes through low-power consumptionProjection module freely delivers completion；(3) by network connection, can be real between robot and mobile phone, robot and robotExisting voice and video session；(4) user can control robot row by modes such as interactive voice, infrared remote control and long-range APPFor.The system and device can be widely applied to home theater, remote nursing monitoring, video conference/chat, home entertaining activityDeng.
Family's social interaction server humanoid robot system that the present invention is provided, the functional realiey of several big basic modules is as follows：
1. sound and image capture module
IMAQ is completed by MIC arrays, and MIC arrays can be with relatively good positioning in the multichannel MIC inputs of spatial distributionTo the relative position of sound source；IMAQ is completed by high-definition camera, and the image of collection from motion tracking and servo module to provideInput.
2. from motion tracking and servo module
Automatic tracking module is formed by sound positioning with image face and human bioequivalence block combiner；Working method is machinePeople navigates to the cardinal points information of user according to sound first, and user is carried out by methods such as face and human bioequivalences thenIt is accurately positioned, accurate tracking is realized by controlling tracking servo system.
3. display module
Robot display module use low-power consumption projection module, with low-power consumption, automatic focusing, ABC,The features such as automatic picture compensation, it is possible to achieve multi-angle arbitrarily delivers display in a room, easily realizes that home theater, video are chattedThe function such as it.
4. interactive controlling module
The human-computer interactive control of robot can be completed by three kinds of modes：
(1) intelligent sound interaction, user can be exchanged by direct voice dialogue mode with robot；
(2) infrared remote control, user can control robot by IR remote controller；
(3) long-range APP controls, user can carry out remote interaction with mobile phone A PP by network connection；
Robot and the terminal device such as robot and robot and mobile phone/PC can realize that point is right by network interconnectionPoint and multi-channel video session.
5. multi-user's Differentiated Services module
For different users, with different sound and face feature；Sound by recording different user of the inventionLine and face characteristic make a distinction to different user.On the basis of user distinguishes, the personal habit of different user can be recordedUsed, user preference etc., robot is provided according to user personality and targetedly serviced, and takes the more intelligent differentiationization of robotBusiness.
Robot of the invention employs numerous complicated functional module, solves compatible adaptation, coordination between various modulesThe many difficult and challenge run into work, just reaches the effect of " listen must understand, visible, elegant draw ".Particular problem and solutionScheme is as follows：
(1) contradiction of camera and Projection Display to environmental light intensity demand：Camera is needed bright under normal circumstancesMore preferably face and human body are tracked under light intensity, and Projection Display needs that relatively good display is presented in than dark environmentEffect.In order to more preferable equilibrium camera shoots tracking effect and Projection Display effect, the present invention camera shooting effect withThe aspect of projection brightness two is combined and carries out adjustment：A) by controlling the parameters such as camera exposure, white balance, Gamma correctionsImprove the effect taken pictures under low light environment；B) by optical sensor perception external light intensity, self-adaptative adjustment projection brightness,Moderately increase projection light intensity in bright light environments, projection light intensity is moderately reduced in low light environment.
(2) arbitration and decision-making of multichannel data and controlling stream
Data flow in robot of the invention includes：MIC voice datas, Camera video datas, Projection Display dataStream, network remote audio, video data, user profile data etc.；Controlling stream includes：Stepper motor/servos control, Projection Display controlSystem, the control of camera tracing control, radiator, the control of MIC/ audio amplifiers etc..The present invention needs to close the data of numerous complicatedThe classification of reason, merger treatment, unified Decision Control.For example, the control of robotic tracking's motor, controllable input includes：, objectively there is multichannel control in voice command, mobile phone A PP remote controls, IR remote controller, robot automatic tracking module etc. in itselfThe conflict of system；Robot of the invention can assign different control signals different priority, to each road according to specifically used sceneInput is weighted treatment, robot is reached more preferable tracking effect.
(3) the whole machine heat dissipation problem of robot
Projector equipment is the main heating source in whole robot components, it is necessary to ventilation and heat condition is to ensure projection wellNormal work.In robot fuselage interior, device is numerous, and space is relatively narrow and small；And projection angle needs to automatically adjust,So radiating element will also follow projection part to link, and requirement higher is proposed to radiating.The present invention is according to robot fuselageCharacteristic, using the design of ventilating duct from bottom to top, the physical principle that hot-air can be made full use of to float naturally, whilePowerful radiator fan, collocation adaptable heat conducting pipe and fin, it is ensured that good radiating effect are configured in vertical direction.
The present invention provide family's social interaction server humanoid robot system, can be widely applied for family projection, projection robot,The scenes such as video display box, it is more convenient to provide the user, more intelligent service.Specific feature is as follows：
1. the combination of automatic tracking location and Projection Display
Robot is positioned by voice MIC arrays and is combined with camera face/Human detection, to the behavior energy of userIt is enough more accurately to position and track.This accurately locating and tracking can provide the user the possibility of leisurely and carefree exchange,So as to liberate the behavior of user in interactive process.
The projection of low-power consumption, can need that very convenient that picture is projected into wall, roof etc. is indoor any according to userThe position of convenient viewing, and picture size is adjustable, so that the eyes of thorough liberation user, can meet user in different occasionsThe possibility of Video chat.
2. multi-user's Differentiated Services
Robot can make a distinction according to information such as the vocal print feature of user and face features to user, and according toThe information such as different use habit, personal preference, targetedly service for different users provides, as towards home intelligentThe bright spot of domestic robot.
Although the present invention is disclosed as above with preferred embodiment, so it is not limited to the present invention, any this area skillArt personnel, without departing from the spirit and scope of the present invention, when a little modification and perfect, therefore protection model of the invention can be madeEnclose when by being defined that claims are defined.