CN110640764A - An intelligent robot control system and its working method - Google Patents
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明属于智能控制领域，具体涉及一种智能机器人控制系统及其工作方法。The invention belongs to the field of intelligent control, and in particular relates to an intelligent robot control system and a working method thereof.
背景技术Background technique
互动机器人是机器人的重要分支和类别，随着科技的进步，将机器人科技融入生活中各个领域的情形越来越普遍。随着人们生活水平的提高，人们会经常带上小朋友去博物馆、科技馆、商场或游乐园等场所，因此，在博物馆、科技馆、商场或游乐园等场所加入了越来越多的人机互动机器人，这些人机互动机器人一方面可以向小朋友展示人机互动科技，一方面也让小朋友体验到有趣的人机互动。Interactive robots are an important branch and category of robots. With the advancement of technology, it is more and more common to integrate robot technology into various fields of life. With the improvement of people's living standards, people often take their children to museums, science and technology museums, shopping malls or amusement parks. Interactive robots, these human-computer interactive robots can show children human-computer interaction technology on the one hand, and let children experience interesting human-computer interaction on the other hand.
发明内容SUMMARY OF THE INVENTION
本发明的目的是提供一种智能机器人控制系统及其工作方法。The purpose of the present invention is to provide an intelligent robot control system and its working method.
为了解决上述技术问题，本发明提供了一种智能机器人控制系统，包括：机器人本体框架，以及由一控制模块控制的语音交互装置和/或部位驱动装置；其中所述部位驱动装置位于该机器人本体框架上；所述语音交互装置适于采集并识别用户的语音指令，并发送至所述控制模块；所述控制模块适于对语音指令进行处理，并生成答复指令发送至语音交互装置，和/或生成机器人本体框架各部位的动作指令发送至部位驱动装置。In order to solve the above technical problems, the present invention provides an intelligent robot control system, comprising: a robot body frame, and a voice interaction device and/or a part driving device controlled by a control module; wherein the part driving device is located in the robot body on the framework; the voice interaction device is adapted to collect and recognize the user's voice command, and send it to the control module; the control module is adapted to process the voice command, and generate a reply command to send to the voice interaction device, and/ Or generate motion commands for each part of the robot body frame and send it to the part drive device.
进一步，所述机器人本体框架位于一墙板上，且包括：头部框架和颈部框架；所述头部框架上设有上颚部框架、下颚部框架、眼部框架、鼻梁部框架和连接框架；所述头部框架通过所述连接框架与所述颈部框架相连；所述颈部框架与墙板相连；以及所述眼部框架位于上颚部框架上，且位于上颚部框架与鼻梁部框架之间。Further, the robot body frame is located on a wall panel and includes: a head frame and a neck frame; the head frame is provided with an upper jaw frame, a lower jaw frame, an eye frame, a nose bridge frame and a connection frame ; the head frame is connected to the neck frame through the connecting frame; the neck frame is connected to the wall panel; and the eye frame is located on the upper jaw frame, and between the upper jaw frame and the bridge of the nose frame between.
进一步，所述语音交互装置包括：语音识别模块和语音输出模块；其中所述语音识别模块位于所述上颚部框架上，且适于采集并识别用户的语音指令；以及所述语音输出模块适于输出答复语音。Further, the voice interaction device includes: a voice recognition module and a voice output module; wherein the voice recognition module is located on the upper jaw frame, and is suitable for collecting and recognizing a user's voice command; and the voice output module is suitable for The reply voice is output.
进一步，所述动作指令包括：眨眼动作和张嘴动作。Further, the action instructions include: blinking action and mouth opening action.
进一步，所述部位驱动装置包括：眼部框架驱动机构和下颚部框架驱动机构；所述眼部框架驱动机构适于驱动眼部框架上下转动，以执行所述眨眼动作；以及所述下颚部框架驱动机构适于驱动下颚部框架上下转动，以执行所述张嘴动作。Further, the part driving device includes: an eye frame driving mechanism and a lower jaw frame driving mechanism; the eye frame driving mechanism is adapted to drive the eye frame to rotate up and down to perform the blinking action; and the lower jaw frame The driving mechanism is adapted to drive the lower jaw frame to rotate up and down to perform the mouth opening action.
进一步，所述眼部框架驱动机构包括：位于上颚部框架上的眼部驱动电机；所述眼部框架通过一安装座位于上颚部框架上；所述眼部框架通过转轴与所述安装座相连；以及所述眼部驱动电机适于驱动所述转轴带动眼部框架上下转动，以执行所述眨眼动作。Further, the eye frame driving mechanism includes: an eye drive motor located on the upper jaw frame; the eye frame is located on the upper jaw frame through a mounting seat; the eye frame is connected to the mounting seat through a rotating shaft ; and the eye drive motor is adapted to drive the rotating shaft to drive the eye frame to rotate up and down to perform the blinking action.
进一步，所述下颚部框架驱动机构包括：位于连接框架上的下颚部驱动电机；所述下颚部框架通过一转动组件与所述连接框架相连；所述转动组件包括：第一转动轮和穿设于该第一转动轮的第一转动轴；所述下颚部框架与所述第一转动轮相连；以及所述下颚部驱动电机适于驱动所述第一转动轴带动第一转动轮转动，从而带动下颚部框架上下转动，以执行所述张嘴动作。Further, the lower jaw frame driving mechanism includes: a lower jaw driving motor located on the connecting frame; the lower jaw frame is connected with the connecting frame through a rotating assembly; the rotating assembly includes: a first rotating wheel and a through the first rotating shaft of the first rotating wheel; the lower jaw frame is connected to the first rotating wheel; and the lower jaw driving motor is suitable for driving the first rotating shaft to drive the first rotating wheel to rotate, thereby The lower jaw frame is driven to rotate up and down to perform the mouth opening action.
进一步，所述智能机器人控制系统还包括：与所述控制模块相连的人脸跟踪识别模块、显示模块和头部驱动机构；所述人脸跟踪识别模块位于鼻梁框架的前端，且适于在预设区域范围内采集并识别用户的人脸图像和相应位置信息，并发送至所述控制模块；所述控制模块适于对人脸图像和相应位置信息进行处理，并生成相应的年龄数据，以及在对应当前人脸图像的位置信息在预设区域范围内发生改变时，生成跟踪动作指令；所述头部驱动机构适于根据跟踪动作指令驱动所述头部框架左右转动，以跟踪当前人脸图像；以及所述显示模块适于显示年龄数据。Further, the intelligent robot control system also includes: a face tracking and recognition module, a display module and a head driving mechanism connected with the control module; the face tracking and recognition module is located at the front end of the nose bridge frame, and is suitable for pre- It is assumed that the face image and corresponding position information of the user are collected and recognized within the area, and sent to the control module; the control module is suitable for processing the face image and the corresponding position information, and generates corresponding age data, and When the position information corresponding to the current face image changes within a preset area, a tracking action instruction is generated; the head driving mechanism is adapted to drive the head frame to rotate left and right according to the tracking action instruction to track the current face an image; and the display module is adapted to display age data.
进一步，所述头部驱动机构包括：位于颈部框架上的头部驱动电机；所述连接框架与所述颈部框架通过连接组件相连；所述连接组件包括：第一连杆、第二连杆、第三连杆、第二转动轮和穿设于该第二转动轮的第二转动轴；第一连杆、第二连杆均与所述第二转动轮相连；第二连杆的一端设有滑轮；第三连杆上设有与滑轮相适配的滑槽；以及所述头部驱动电机适于驱动所述第二转动轴带动第二转动轮转动，从而带动头部框架左右转动，以跟踪当前人脸图像。Further, the head drive mechanism includes: a head drive motor located on the neck frame; the connecting frame is connected with the neck frame through a connecting assembly; the connecting assembly includes: a first link, a second link a rod, a third connecting rod, a second rotating wheel and a second rotating shaft passing through the second rotating wheel; the first connecting rod and the second connecting rod are both connected with the second rotating wheel; One end is provided with a pulley; the third link is provided with a chute adapted to the pulley; and the head drive motor is suitable for driving the second rotating shaft to drive the second rotating wheel to rotate, thereby driving the head frame left and right Turn to track the current face image.
又一方面，本发明还提供了一种智能机器人控制系统的工作方法，包括：通过语音交互装置采集并识别用户的语音指令，并发送至一控制模块；通过所述控制模块对语音指令进行处理，并生成答复指令和对应机器人本体框架上各部位的动作指令；通过语音交互装置根据答复指令输出答复语音；以及通过部位驱动装置根据动作指令驱动机器人本体框架上相应部位执行相应动作。In another aspect, the present invention also provides a working method of an intelligent robot control system, comprising: collecting and recognizing a user's voice command through a voice interaction device, and sending it to a control module; processing the voice command through the control module , and generate reply instructions and action instructions corresponding to each part of the robot body frame; output reply voices according to the reply instructions through the voice interaction device; and drive the corresponding parts on the robot body frame to perform corresponding actions through the part drive device according to the action instructions.
本发明的有益效果是，本发明的智能机器人控制系统通过语音交互装置与用户实现语音互动，并在进行语音互动的同时，通过控制模块和部位驱动装置驱动机器人本体框架上相应部位执行相应动作，增加了娱乐性，提高了用户互动体验；同时本智能机器人控制系统还通过人脸跟踪识别模块实现识别在预设区域范围内的人脸图像，并在显示模块上显示出对应人脸图像的年龄数据，提高用户的娱乐体验；并通过人脸跟踪识别模块实现对人脸图像的跟踪，即用户在预设区域范围内左右移动时，头部框架也会跟随左右移动，进一步提高用户的娱乐和人机互动体验。The beneficial effect of the present invention is that the intelligent robot control system of the present invention realizes voice interaction with the user through the voice interaction device, and at the same time of the voice interaction, drives the corresponding parts on the robot body frame to perform corresponding actions through the control module and the part driving device, It increases the entertainment and improves the user interaction experience; at the same time, the intelligent robot control system also recognizes the face image within the preset area through the face tracking and recognition module, and displays the age of the corresponding face image on the display module. data, improve the user's entertainment experience; and realize the tracking of the face image through the face tracking and recognition module, that is, when the user moves left and right within the preset area, the head frame will also follow the left and right movement, further improving the user's entertainment and entertainment. Human-computer interaction experience.
附图说明Description of drawings
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
图1是本发明的智能机器人控制系统的结构示意图；Fig. 1 is the structural representation of the intelligent robot control system of the present invention;
图2是图1中A的放大图；Fig. 2 is the enlarged view of A in Fig. 1;
图3是图1中B的放大图；Fig. 3 is the enlarged view of B in Fig. 1;
图4是图1中C的放大图；Fig. 4 is the enlarged view of C in Fig. 1;
图5是图4的俯视放大图。FIG. 5 is an enlarged plan view of FIG. 4 .
其中：in:
头部框架10、上颚部框架11、下颚部框架12、第一转动轮121、下颚部驱动电机122、第一转动轴123、眼部框架13、眼部驱动电机131、转轴132、安装座133、鼻梁部框架14、连接框架15、第一连杆151、头部驱动电机152、第二转动轮153、第二转动轴154、第三连杆155、第二连杆156、滑轮157、颈部框架20、墙板30、麦克风阵列40、功放41、音响42、摄像头50。
具体实施方式Detailed ways
现在结合附图对本发明的结构作进一步详细的说明。The structure of the present invention will now be described in further detail with reference to the accompanying drawings.
实施例1Example 1
如图1至图5所示，本实施例1提供了一种智能机器人控制系统，包括：机器人本体框架，以及由一控制模块控制的语音交互装置和/或部位驱动装置；其中所述部位驱动装置位于该机器人本体框架上；所述语音交互装置适于采集并识别用户的语音指令，并发送至所述控制模块；所述控制模块适于对语音指令进行处理，并生成答复指令发送至语音交互装置，和/或生成机器人本体框架各部位的动作指令发送至部位驱动装置。As shown in FIG. 1 to FIG. 5 , Embodiment 1 provides an intelligent robot control system, including: a robot body frame, and a voice interaction device and/or a part driving device controlled by a control module; wherein the part drives The device is located on the body frame of the robot; the voice interaction device is suitable for collecting and recognizing the user's voice command, and sending it to the control module; the control module is suitable for processing the voice command, and generating a reply command and sending it to the voice command The interaction device, and/or the action instructions of each part of the robot body frame are generated and sent to the part driving device.
具体的，本智能机器人控制系统适于设置在博物馆、科技馆、商场或游乐园等场所，提高通过语音交互装置与用户实现语音互动，并在进行语音互动的同时，通过控制模块和部位驱动装置驱动机器人本体框架上相应部位执行相应动作，增加了娱乐性，提高了用户互动体验；且本智能机器人控制系统设置成恐龙头造型，能够吸引大朋友、小朋友的眼球，娱乐趣味性更强。Specifically, the intelligent robot control system is suitable for setting in museums, science and technology museums, shopping malls or amusement parks, etc., to improve the realization of voice interaction with users through the voice interaction device, and at the same time of voice interaction, through the control module and part drive device The corresponding parts on the body frame of the robot are driven to perform corresponding actions, which increases the entertainment and improves the user interaction experience; and the intelligent robot control system is set in the shape of a dinosaur head, which can attract the attention of adults and children, and is more entertaining.
进一步，所述机器人本体框架位于一墙板30上，且包括：头部框架10和颈部框架20；所述头部框架10上设有上颚部框架11、下颚部框架12、眼部框架13、鼻梁部框架14和连接框架15；所述头部框架10通过所述连接框架15与所述颈部框架20相连；所述颈部框架20与墙板30相连；以及所述眼部框架13位于上颚部框架11上，且位于上颚部框架11与鼻梁部框架14之间。Further, the robot body frame is located on a
进一步，所述语音交互装置包括：语音识别模块和语音输出模块；其中所述语音识别模块位于所述上颚部框架上，且适于采集并识别用户的语音指令；以及所述语音输出模块适于输出答复语音。Further, the voice interaction device includes: a voice recognition module and a voice output module; wherein the voice recognition module is located on the upper jaw frame, and is suitable for collecting and recognizing a user's voice command; and the voice output module is suitable for The reply voice is output.
具体的，所述语音识别模块例如但不限于采用麦克风阵列40；所述语音输出模块包括：功放41和音响42。Specifically, the voice recognition module is, for example, but not limited to, a
具体的，所述语音指令例如但不限于包括：“今天天气如何”、“您好”、“请唱一首歌”等等；对应“今天天气如何”的语音指令的答复语音例如但不限于包括：“今天天气很好”或“今天气温最高30度、最低20度”或“今天是阴天”等；对应“您好”的语音指令的答复语音例如但不限于包括：“您好”或“您好，有什么可以帮到您”或“我很好，您好吗”等；对应“请唱一首歌”的语音指令的答复语音例如但不限于包括：“好的，预设曲目”或“您想听什么歌”或“预设曲目”等。Specifically, the voice instructions include, for example but not limited to: "how is the weather today", "hello", "please sing a song", etc.; the reply voice corresponding to the voice instruction "how is the weather today" such as but not limited to Including: "The weather is fine today" or "The highest temperature today is 30 degrees and the lowest is 20 degrees" or "It is cloudy today", etc.; the reply voice corresponding to the voice command of "Hello" includes, for example, but not limited to: "Hello" Or "Hello, how can I help you" or "I'm fine, how are you", etc.; the reply voice corresponding to the voice command of "please sing a song" includes, for example but not limited to: "Okay, preset track" or "what song do you want to listen to" or "preset track", etc.
进一步，所述动作指令包括：眨眼动作和张嘴动作。Further, the action instructions include: blinking action and mouth opening action.
具体的，在答复语音的同时，眨眼动作和张嘴动作也同时进行，即眼部框架会做出眨眼动作，下颚部框架会做出张嘴动作，以在答复用户语音指令时，使机器人本体框架模仿真实的对话场景，以提高用户的人机互动体验，提高娱乐性。Specifically, when replying to the voice, the blinking action and the mouth opening action are also performed simultaneously, that is, the eye frame will make an eye blinking action, and the jaw frame will make a mouth opening action, so that the robot body frame will imitate the robot body frame when responding to the user's voice command Real dialogue scenes to improve the user's human-computer interaction experience and improve entertainment.
进一步，所述部位驱动装置包括：眼部框架驱动机构和下颚部框架驱动机构；所述眼部框架驱动机构适于驱动眼部框架13上下转动，以执行所述眨眼动作；以及所述下颚部框架驱动机构适于驱动下颚部框架12上下转动，以执行所述张嘴动作。Further, the part driving device includes: an eye frame driving mechanism and a lower jaw frame driving mechanism; the eye frame driving mechanism is adapted to drive the
作为所述眼部框架驱动机构的一种可选的实施方式。As an optional implementation of the eye frame driving mechanism.
所述眼部框架驱动机构包括：位于上颚部框架11上的眼部驱动电机131；所述眼部框架13通过一安装座133位于上颚部框架11上；所述眼部框架13通过转轴132与所述安装座133相连；以及所述眼部驱动电机131适于驱动所述转轴132带动眼部框架13上下转动，以执行所述眨眼动作。The eye frame driving mechanism includes: an
作为所述下颚部框架驱动机构的一种可选的实施方式。As an optional embodiment of the lower jaw frame driving mechanism.
所述下颚部框架驱动机构包括：位于连接框架15上的下颚部驱动电机122；所述下颚部框架12通过一转动组件与所述连接框架15相连；所述转动组件包括：第一转动轮121和穿设于该第一转动轮121的第一转动轴123；所述下颚部框架12与所述第一转动轮121相连；以及所述下颚部驱动电机122适于驱动所述第一转动轴123带动第一转动轮121转动，从而带动下颚部框架12上下转动，以执行所述张嘴动作；其中第一转动轮121的转动方向参考附图中的F2。The lower jaw frame driving mechanism includes: a lower
进一步，所述智能机器人控制系统还包括：与所述控制模块相连的人脸跟踪识别模块、显示模块和头部驱动机构；所述人脸跟踪识别模块位于鼻梁框架的前端，且适于在预设区域范围内采集并识别用户的人脸图像和相应位置信息，并发送至所述控制模块；所述控制模块适于对人脸图像和相应位置信息进行处理，并生成相应的年龄数据，以及在对应当前人脸图像的位置信息在预设区域范围内发生改变时，生成跟踪动作指令；所述头部驱动机构适于根据跟踪动作指令驱动所述头部框架左右转动，以跟踪当前人脸图像；以及所述显示模块适于显示年龄数据。Further, the intelligent robot control system also includes: a face tracking and recognition module, a display module and a head driving mechanism connected with the control module; the face tracking and recognition module is located at the front end of the nose bridge frame, and is suitable for pre- It is assumed that the face image and corresponding position information of the user are collected and recognized within the area, and sent to the control module; the control module is suitable for processing the face image and the corresponding position information, and generates corresponding age data, and When the position information corresponding to the current face image changes within a preset area, a tracking action instruction is generated; the head driving mechanism is adapted to drive the head frame to rotate left and right according to the tracking action instruction to track the current face an image; and the display module is adapted to display age data.
具体的，本智能机器人控制系统还通过人脸跟踪识别模块实现识别在预设区域范围内的人脸图像，并在显示模块上显示出对应人脸图像的年龄数据，提高用户的娱乐体验；通过人脸跟踪识别模块实现对人脸图像的跟踪，即用户在预设区域范围内左右移动时，头部框架也会跟随左右移动，进一步提高用户的娱乐和人机互动体验。Specifically, the intelligent robot control system also recognizes the face image within the preset area through the face tracking and recognition module, and displays the age data corresponding to the face image on the display module, so as to improve the user's entertainment experience; The face tracking and recognition module realizes the tracking of face images, that is, when the user moves left and right within the preset area, the head frame will also follow the left and right movements, which further improves the user's entertainment and human-computer interaction experience.
具体的，所述人脸跟踪识别模块例如但不限于包括摄像头50。Specifically, the face tracking and recognition module includes, for example, but not limited to, the
作为所述头部驱动机构的一种可选的实施方式。As an optional embodiment of the head driving mechanism.
所述头部驱动机构包括：位于颈部框架上的头部驱动电机152；所述连接框架15与所述颈部框架20通过连接组件相连；所述连接组件包括：第一连杆151、第二连杆156、第三连杆155、第二转动轮153和穿设于该第二转动轮153的第二转动轴154；第一连杆151、第二连杆156均与所述第二转动轮153相连；第二连杆156的一端设有滑轮157；第三连杆155上设有与滑轮157相适配的滑槽；以及所述头部驱动电机152适于驱动所述第二转动轴154带动第二转动轮153转动，从而带动头部框架10左右转动，以跟踪当前人脸图像；其中第二转动轮153的转动方向参考附图中的F1。The head drive mechanism includes: a
实施例2Example 2
在实施例1的基础上，本实施例2提供了一种智能机器人控制系统的工作方法，包括：通过语音交互装置采集并识别用户的语音指令，并发送至一控制模块；通过所述控制模块对语音指令进行处理，并生成答复指令和对应机器人本体框架上各部位的动作指令；通过语音交互装置根据答复指令输出答复语音；以及通过部位驱动装置根据动作指令驱动机器人本体框架上相应部位执行相应动作。On the basis of Embodiment 1, Embodiment 2 provides a working method of an intelligent robot control system, including: collecting and recognizing a user's voice command through a voice interaction device, and sending it to a control module; The voice command is processed, and the reply command and the action command corresponding to each part on the robot body frame are generated; the reply voice is output according to the reply command through the voice interaction device; and the corresponding part on the robot body frame is driven by the part driving device according to the action command to execute action.
具体的，所述智能机器人控制系统的具体结构及原理可参考实施例1的描述，此处不再赘述。Specifically, for the specific structure and principle of the intelligent robot control system, reference may be made to the description of Embodiment 1, which will not be repeated here.
综上所述，本智能机器人控制系统通过语音交互装置与用户实现语音互动，并在进行语音互动的同时，通过控制模块和部位驱动装置驱动机器人本体框架上相应部位执行相应动作，增加了娱乐性，提高了用户互动体验；同时本智能机器人控制系统还通过人脸跟踪识别模块实现识别在预设区域范围内的人脸图像，并在显示模块上显示出对应人脸图像的年龄数据，提高用户的娱乐体验；并通过人脸跟踪识别模块实现对人脸图像的跟踪，即用户在预设区域范围内左右移动时，头部框架也会跟随左右移动，进一步提高用户的娱乐和人机互动体验。In summary, the intelligent robot control system realizes voice interaction with the user through the voice interaction device, and at the same time of the voice interaction, the control module and the part driving device drive the corresponding parts on the robot body frame to perform corresponding actions, which increases the entertainment. , improving the user interaction experience; at the same time, the intelligent robot control system also recognizes the face image within the preset area through the face tracking and recognition module, and displays the age data corresponding to the face image on the display module, improving the user experience. It also realizes the tracking of face images through the face tracking and recognition module, that is, when the user moves left and right within the preset area, the head frame will also follow the left and right movements, which further improves the user's entertainment and human-computer interaction experience. .
以上述依据本发明的理想实施例为启示，通过上述的说明内容，相关工作人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定其技术性范围。Taking the above ideal embodiments according to the present invention as inspiration, and through the above description, relevant personnel can make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the contents in the specification, and the technical scope must be determined according to the scope of the claims.
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