CN106346487A - Interactive VR sand table show robot - Google Patents
Interactive VR sand table show robot Download PDFInfo
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- CN106346487A CN106346487A CN201610715439.1A CN201610715439A CN106346487A CN 106346487 A CN106346487 A CN 106346487A CN 201610715439 A CN201610715439 A CN 201610715439A CN 106346487 A CN106346487 A CN 106346487A
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- 239000004576 sand Substances 0.000 title claims abstract description 61
- 230000002452 interceptive effect Effects 0.000 title claims abstract description 19
- 230000008451 emotion Effects 0.000 claims abstract description 8
- 239000003292 glue Substances 0.000 claims abstract description 8
- 238000013461 design Methods 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims abstract description 6
- 230000009471 action Effects 0.000 claims description 21
- 238000005516 engineering process Methods 0.000 claims description 19
- 238000012545 processing Methods 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 6
- 238000013507 mapping Methods 0.000 claims description 6
- 241000209140 Triticum Species 0.000 claims description 5
- 235000021307 Triticum Nutrition 0.000 claims description 5
- 238000003491 array Methods 0.000 claims description 4
- 230000002996 emotional effect Effects 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims description 4
- 230000000284 resting effect Effects 0.000 claims description 4
- 230000002618 waking effect Effects 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 3
- 239000003086 colorant Substances 0.000 abstract description 2
- 230000000875 corresponding effect Effects 0.000 description 15
- 230000006870 function Effects 0.000 description 5
- 230000006698 induction Effects 0.000 description 4
- 229940104697 arixtra Drugs 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- KANJSNBRCNMZMV-ABRZTLGGSA-N fondaparinux Chemical compound O[C@@H]1[C@@H](NS(O)(=O)=O)[C@@H](OC)O[C@H](COS(O)(=O)=O)[C@H]1O[C@H]1[C@H](OS(O)(=O)=O)[C@@H](O)[C@H](O[C@@H]2[C@@H]([C@@H](OS(O)(=O)=O)[C@H](O[C@H]3[C@@H]([C@@H](O)[C@H](O[C@@H]4[C@@H]([C@@H](O)[C@H](O)[C@@H](COS(O)(=O)=O)O4)NS(O)(=O)=O)[C@H](O3)C(O)=O)O)[C@@H](COS(O)(=O)=O)O2)NS(O)(=O)=O)[C@H](C(O)=O)O1 KANJSNBRCNMZMV-ABRZTLGGSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Health & Medical Sciences (AREA)
- Computational Linguistics (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Toys (AREA)
Abstract
The invention discloses an interactive VR sand table display robot which comprises a voice reading and positioning module, a voice awakening module, a permission recognition module, an obstacle recognition module and an emotion characteristic reflection module, wherein different emotion characteristics are displayed by switching colors and patterns of an LED full-color glue drop lamp strip, a mobile execution module, a voice communication module and a following module, and a camera tracks a motion track of a person to drive the mobile execution module to follow, a power supply charging position positioning module and a VR display module; the brand-new intelligent robot combined with the high-end host VR equipment can realize self-service voice explanation of the building, displays the corresponding building or house type on the sand table through the voice recognition function, corresponds interactively in real time, enables house buyers to know the design condition of the building more visually, and improves the experience of watching the building.
Description
Technical field
The present invention relates to field in intelligent robotics, it is related to domestic robot field and vr field of virtual reality.
Background technology
People were mainly divided into for 3 generations robot, and the robot of the first generation is remote manipulation machine it is impossible to leave the control of people
Move alone.The robot of the second filial generation is by the program finished in advance, robot to be controlled so as to automatically be repeatedly performed certain
The operation of the mode of kind.Third generation robot rise possess from this can perceive, identify, judging, learning and emotion expression service function, it can
So that an action intellectuality is combined, therefore referred to as intelligent robot.
Vr virtual reality is the technology with wide application prospect emerging in recent years.At present, virtual reality technology has been
It is widely used in amusement game, architectural design, the field such as medical treatment.Virtual reality is the modern times adopting with computer technology as core
The vision true to nature that advanced technology generates, the virtual environment of the integration such as audition, user can be set by necessary input and output
For interacting with the object in virtual environment, influence each other, and then obtain impression on the spot in person and experience.This by calculating
The virtual environment that machine generates can be the reproduction in a certain particular objective world.High-end pc machine vr is due to there being high performance video cards main frame
Support, the experience effect of immersion can be described as very outstanding, but do not have in prior art to carry for client in real time
For explaining and showing the robot of sand table.
Content of the invention
1st, the purpose of the present invention.
The present invention, in order to realize explaining sand table for client in real time, carries out interaction with client, and provides one
Interactive vr sand table show robot.
2nd, the technical solution adopted in the present invention.
A kind of interactive mode vr sand table show robot proposed by the present invention, comprising:
Voice reads locating module, obtains the direction determining target speaker by sound localization, the spatial domain filter of microphone array
Ripple, to the angle positioning waking up people, forms orientation pickup wave beam, and the noise beyond wave beam is suppressed, lifting far field is picked up
Sound quality, guarantee recognition effect, and carry out echo cancellor；
Robot is waken up from resting state by voice wake-up module by keyword；
Authority recognition module, gathers face by camera module and carries out authority recognition；
By infrared sensor, obstacle identification module, is detected whether moving direction has obstacle, and is judged by system, stop
Move or detour；
Emotional characteristicss reflect module, and the design and color dripping light bar by switching the full-color glue of led goes to be shown different emotions
Feature；
Mobile performing module, routing instruction set in advance controls performing module action, or external voice is flown by University of Science and Technology's news
Five wheat ring battle arrays, after acquisition instructions in Android system, control chassis action by socket communication；
Speech exchange module, sets up the mapping of voice answer-back, by calling the voice number in cloud server or local data base
It is identified answering according to the outside voice obtaining；
Follow module, drive mobile performing module to follow action by photographic head tracker's movement locus；
Power source charges location positioning module, obtains information about power, is obtained according to laser sensor and comprises charging station positional information
Pulse signal, master board finds charge power supply according to pulse signal；
Vr display module, the command information being obtained by speech exchange module or the instruction of input carry out vr displaying.
Further in specific embodiment, sand table interactive module, set up voice and building position mapping relations in sand table
It is stored in local data base, described speech exchange module obtains the building recommended information corresponding to speech sound eeplaining, is locally counting
According to the relevant position information of the explanation building found in storehouse in sand table, transmit the phase of explanation building by way of wired or wireless
Answer the indicating module to sand table for the positional information, drive the indicating module in sand table to carry out action.
Further in specific embodiment, voice is explained to the sand table being stored in local data base or cloud server
Identification information is classified, and is divided into building and house type classification information, sets up corresponding grammer bag respectively:
The sand table explanation voice signal of receives input, respectively to the voice receiving in local data base or cloud server
Signal carries out speech recognition lookup,
When can from the voice signal receiving sand table identify classification information after, transfer from the classification information prestoring
Corresponding sand table display execute instruction；
Sand table display execute instruction is sent to sand table indicating module and carries out action；
As the explanation speech recognition of this sand table fails, and according to this voice recognition processing failure cause, from preassigned each
In the corresponding mark of voice recognition processing failure cause, select this sand table explanation voice recognition processing failure cause corresponding
Mark is as this voice identification result to described voice signal for grammer bag.
Further in specific embodiment, described sand table display execute instruction is sent to sand table indicating module and enters action
Show corresponding building or house type as by vr display module.
Further in specific embodiment, described camera module adopts 120 frame usb camera modules.
Further in specific embodiment, described voice wake-up module, speech exchange module are flown by University of Science and Technology's news
Xfm10521 realizes.
3rd, beneficial effects of the present invention.
Present device is the brand-new intelligent robot combining with high end main frame vr equipment, it is possible to achieve self-assisted voice is said
Solution building, and pass through speech identifying function, building corresponding on sand table or house type are shown, real-time interactive corresponds to,
Make house purchaser's more intuitive understanding building design conditions, the experience of lifting building viewing.
Brief description
The overall structure figure of Tu1Shi robot of the present invention.
The building-block of logic of Tu2Shi robot of the present invention.
Fig. 3 is the detailed accessory introduction figure of the present invention.
Figure of description 1 is the overall structure figure of robot of the present invention, and the part that in figure is respectively indicated is disassembled: 1. head
Portion's 2. body part 3. chassis portion.
Figure of description 2 is the overall accessory figure in detail of machine heat, and the part that in figure is respectively indicated is respectively as follows: 1. display pc
Interconnecting module 2. display and touch screen 3. camera module 4. speech recognition interactive module 5. mainboard 6. the full-color glue of led drips lamp
7. loudspeaker are 8. high joins the video card 9. external interface plate 10. vr equipment locker chassis such as high dispensing computer mainboard return pulley chassis for band
Control module robot external power supply and switch infrared induction sensor.
Specific embodiment
Embodiment
As shown in figure 1, a kind of interactive mode vr sand table show robot proposed by the present invention, comprising:
Voice reads locating module, obtains the direction determining target speaker by sound localization, the spatial domain filter of microphone array
Ripple, to the angle positioning waking up people, forms orientation pickup wave beam, and the noise beyond wave beam is suppressed, lifting far field is picked up
Sound quality, guarantee recognition effect, and carry out echo cancellor；
Robot is waken up from resting state by voice wake-up module by keyword；
Authority recognition module, gathers face by camera module and carries out authority recognition；
By infrared sensor, obstacle identification module, is detected whether moving direction has obstacle, and is judged by system, stop
Move or detour；
Emotional characteristicss reflect module, and the design and color dripping light bar by switching the full-color glue of led goes to be shown different emotions
Feature；
Mobile performing module, routing instruction set in advance controls performing module action, or external voice is flown by University of Science and Technology's news
Five wheat ring battle arrays, after acquisition instructions in Android system, control chassis action by socket communication；
Speech exchange module, sets up the mapping of voice answer-back, by calling the voice number in cloud server or local data base
It is identified answering according to the outside voice obtaining；
Follow module, drive mobile performing module to follow action by photographic head tracker's movement locus；
Power source charges location positioning module, obtains information about power, is obtained according to laser sensor and comprises charging station positional information
Pulse signal, master board finds charge power supply according to pulse signal；
Vr display module, the command information being obtained by speech exchange module or the instruction of input carry out vr displaying.
Further in specific embodiment, sand table interactive module, set up voice and building position mapping relations in sand table
It is stored in local data base, described speech exchange module obtains the building recommended information corresponding to speech sound eeplaining, is locally counting
According to the relevant position information of the explanation building found in storehouse in sand table, transmit the phase of explanation building by way of wired or wireless
Answer the indicating module to sand table for the positional information, drive the indicating module in sand table to carry out action.
Further in specific embodiment, voice is explained to the sand table being stored in local data base or cloud server
Identification information is classified, and is divided into building and house type classification information, sets up corresponding grammer bag respectively:
The sand table explanation voice signal of receives input, respectively to the voice receiving in local data base or cloud server
Signal carries out speech recognition lookup,
When can from the voice signal receiving sand table identify classification information after, transfer from the classification information prestoring
Corresponding sand table display execute instruction；
Sand table display execute instruction is sent to sand table indicating module and carries out action；
As the explanation speech recognition of this sand table fails, and according to this voice recognition processing failure cause, from preassigned each
In the corresponding mark of voice recognition processing failure cause, select this sand table explanation voice recognition processing failure cause corresponding
Mark is as this voice identification result to described voice signal for grammer bag.
Further in specific embodiment, described sand table display execute instruction is sent to sand table indicating module and enters action
Show corresponding building or house type as by vr display module.
Further in specific embodiment, described camera module adopts 120 frame usb camera modules.
Further in specific embodiment, described voice wake-up module, speech exchange module are flown by University of Science and Technology's news
Xfm10521 realizes.
As shown in Figures 2 and 3, the intelligent robot of interactive vr includes head a, body part b, chassis portion c；Head
A includes display pc interconnecting module 1, display and touch screen 2, camera module 3, speech recognition interactive module 4, mainboard 5；Body
Body portion b includes loudspeaker 7, height joins video card 8, external interface 9, high dispensing computer mainboard 10, vr equipment locker 11, chassis portion c
Including chassis return pulley 12, chassis control module 13；Display and touch screen 2 are arranged on the top of head, and camera module 3 is in head
The top in portion is mounted laterally, and display pc interconnecting module 1 is installed in the lower end of display and touch screen 2, mainboard 5 is arranged on photographic head
The lower end of module 3；Height joins the middle part that video card 8 is located at body part b, and loudspeaker 7 are located at the top of body, high dispensing computer mainboard 10 with
Height is joined video card 8 and is connected；Chassis control module 13 is connected with chassis return pulley 12 and drives chassis return pulley in rotary moving.Speech recognition interacts
Module 4 adopts University of Science and Technology's news to fly xfm10521 module.Mainboard 5 adopts full will a83t of ARIXTRA eight core mainboard.It is complete that head a also includes led
Color glue drips light bar 6 display different colours and pattern.Also include the front end detection that infrared induction sensor 15 is arranged on chassis portion c
Surroundings outside, is connected with chassis control module 13.Described loudspeaker 7 are 3 cun of Full-frequency trumpets.Also include the external electricity of robot
Source and switch 14, are arranged on body part b or chassis portion c.
Voice read module uses University of Science and Technology's news to fly xfm10521 module, carries 4+1 multi-microphone, realizes 360 ° of voices
Signals collecting, and the direction of target speaker can be determined by sound localization, module utilizes the airspace filter of microphone array
Characteristic, by the angle positioning waking up people, forming orientation pickup wave beam, and the noise beyond wave beam being suppressed, lifting
Far field pickup quality, guarantee recognition effect, and carry out echo cancellor.By using the retrievable voice messaging of five rings battle array wheat, its
Far field pickup technology uses far field identification and noise reduction technology, makes pickup distance reach 5 meters；Voice awakening technology, can be by closing
Module is waken up by key word from resting state；Collect cloud server data and support the intelligent sound chat work(with customizable
Energy；Image identification and Emotion identification aspect adopt 120 frame usb camera modules, carry out real-time photography collection, also can be set by this
Standby owner is followed by system lock；Whether obstacle function has obstacle using infrared sensor detection moving direction, and by being
System judges, and stops moving.Emotional characteristicss present invention uses the full-color glue of led drips light bar, can carry out design and color go into
Row shows different effects.Instruction controls and flies five wheat ring battle arrays by University of Science and Technology's news, after acquisition instructions in Android system, passes through
Socket communication controls the action such as chassis.
In Fig. 3, carrying out practically flow process is: is opened by robot external power supply and switch after robot start, Ran Houtong
The photographic head crossing 120 frame usb camera modules carries out head portrait collection, carries out authority distribution and enter corresponding user after identification
In, can fly in xfm10521 module, to start voice wake-up intelligent sound function in University of Science and Technology's news by saying keyword, should simultaneously
Module may determine that owner after opening, position changes towards and coordinates the control modules such as chassis steering gear electric-machine to have automatically
Follow owner's function, colleague bottom possesses infrared induction sensor and can carry out obstacle avoidance, stops moving ahead.3. 120 frame simultaneously
Usb camera module is passed through to gather user's face expression, flies the voice collecting of xfm10521 module, Ke Yi in conjunction with University of Science and Technology's news
Judge in the system of full will a83t of ARIXTRA eight core mainboard, real-time judge goes out the expression of owner, and semantic understanding, by 3 cun
Full-frequency trumpet makes feedback language performance it is possible to drip light bar by the full-color glue of led to make the expression feedback of oneself, shows emotion
Feature, also can be judged by system simultaneously, and the phonetic order coming for collection also can make the actions such as corresponding action.Pass through
Infrared induction sensor.Power source charges can be found in automatic decision cradle seat when electricity is low or instructs.In vr equipment locker
Put vr equipment and pass through operation 2. display and touch screen after powering, recalling vr program can be practical, can also pass through simultaneously
9. external interface plate goes to show outside other display external or projector, also can the input such as external access of mouse, keyboard, game paddle set
For preferably to experience vr.
The intelligent robot that this money can experience vr can be in conjunction with current main flow vr equipment, in conjunction with Thailand smooth video card master top at present
Machine, to ensure that the experience fluency of vr virtual reality, in experience, internally carries out relevant interface and carry out portable disposable wiring,
Refuse loaded down with trivial details butted line.Carry with excessive bulk-breaking.The arrangement vr equipment that user can be convenient can be made, and carry vr
Equipment, using vr, simultaneously as a robot, language is the most natural, most convenient the means of Human communication, therefore also inevitable
Become for exchanging one of the most natural, most convenient means between people and computer, robot can carry out free friendship with our mankind
Talk, also there is thinking, the learning capacity main frame of comparing over and also more have interesting and recreational, bring for our life more
Convenience and enjoyment are more rich and varied.
Claims (6)
1. a kind of interactive mode vr sand table show robot is it is characterised in that include
Voice reads locating module, obtains the direction determining target speaker by sound localization, the spatial domain filter of microphone array
Ripple, to the angle positioning waking up people, forms orientation pickup wave beam, and the noise beyond wave beam is suppressed, lifting far field is picked up
Sound quality, guarantee recognition effect, and carry out echo cancellor；
Robot is waken up from resting state by voice wake-up module by keyword；
Authority recognition module, gathers face by camera module and carries out authority recognition；
By infrared sensor, obstacle identification module, is detected whether moving direction has obstacle, and is judged by system, stop
Move or detour；
Emotional characteristicss reflect module, and the design and color dripping light bar by switching the full-color glue of led goes to be shown different emotions
Feature；
Mobile performing module, routing instruction set in advance controls performing module action, or external voice is flown by University of Science and Technology's news
Five wheat ring battle arrays, after acquisition instructions in Android system, control chassis action by socket communication；
Speech exchange module, sets up the mapping of voice answer-back, by calling the voice number in cloud server or local data base
It is identified answering according to the outside voice obtaining；
Follow module, drive mobile performing module to follow action by photographic head tracker's movement locus；
Power source charges location positioning module, obtains information about power, is obtained according to laser sensor and comprises charging station positional information
Pulse signal, master board finds charge power supply according to pulse signal；
Vr display module, the command information being obtained by speech exchange module or the instruction of input carry out vr displaying.
2. according to claim 1 interactive mode vr sand table show robot it is characterised in that: sand table interactive module, set up
Voice is stored in local data base with building position mapping relations in sand table, and described speech exchange module obtains speech sound eeplaining institute
Corresponding building recommended information, finds the relevant position information of the explanation building in sand table, in the local database by wired
Or wirelessly transmit the indicating module to sand table for the relevant position information explaining building, drive the indicating module in sand table
Carry out action.
3. interactive mode vr sand table show robot according to claim 2 is it is characterised in that to being stored in local data base
Or the sand table explanation voice recognition information classification of cloud server, is divided into building and house type classification information, sets up respectively and correspond to
Grammer bag:
The sand table explanation voice signal of receives input, respectively to the voice receiving in local data base or cloud server
Signal carries out speech recognition lookup,
When can from the voice signal receiving sand table identify classification information after, transfer from the classification information prestoring
Corresponding sand table display execute instruction；
Sand table display execute instruction is sent to sand table indicating module and carries out action；
As the explanation speech recognition of this sand table fails, and according to this voice recognition processing failure cause, from preassigned each
In the corresponding mark of voice recognition processing failure cause, select this sand table explanation voice recognition processing failure cause corresponding
Mark is as this voice identification result to described voice signal for grammer bag.
4. interactive mode vr sand table show robot according to claim 3 is it is characterised in that described sand table display executes
It is to show corresponding building or house type by vr display module that instruction be sent to sand table indicating module to carry out action.
5. interactive mode vr sand table show robot according to claim 1 is it is characterised in that described camera module is adopted
With 120 frame usb camera modules.
6. interactive mode vr sand table show robot according to claim 1 is it is characterised in that described voice wake-up module, language
Sound AC module adopts University of Science and Technology's news to fly xfm10521.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610715439.1A CN106346487B (en) | 2016-08-25 | 2016-08-25 | Interactive VR sand table show robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610715439.1A CN106346487B (en) | 2016-08-25 | 2016-08-25 | Interactive VR sand table show robot |
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| CN106346487A true CN106346487A (en) | 2017-01-25 |
| CN106346487B CN106346487B (en) | 2018-09-21 |
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| CN201610715439.1A Active CN106346487B (en) | 2016-08-25 | 2016-08-25 | Interactive VR sand table show robot |
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| CN107123423A (en) * | 2017-06-07 | 2017-09-01 | 微鲸科技有限公司 | Voice pick device and multimedia equipment |
| CN107199572A (en) * | 2017-06-16 | 2017-09-26 | 山东大学 | A kind of robot system and method based on intelligent auditory localization and Voice command |
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| CN111312244A (en) * | 2020-02-17 | 2020-06-19 | 苏州思必驰信息科技有限公司 | Voice interaction system and method for sand table |
| CN112578716A (en) * | 2020-12-23 | 2021-03-30 | 福建（泉州）哈工大工程技术研究院 | Humanoid robot control system for shoe and clothes display |
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