CN108406803A - Interaction system and method for multi-user and service robot - Google Patents

Abstract

The invention discloses an interactive system and an interactive method of a multi-user and service robot, wherein the interactive system comprises a master control part arranged on the service robot and a plurality of wearing parts worn by the user; the master control part comprises a control system, a communication unit and a positioning unit; the wearing part comprises a sub-communication unit which can communicate with the communication unit, a receiver which is used for receiving the infrared light emitted by the infrared light generating element, a positioning micro base station, a positioning label and a micro processing unit; the sub-communication units of different wearing parts can communicate with each other. According to the multi-user and service robot interaction system and the interaction method, the robot can master the position and the speaking condition of each user through signal transmission between the main control part on the service robot and the wearing part worn by the user, the complex conditions that the user falls behind, the user speaks and the like can be effectively solved in the process of guiding and presenting, and good experience is achieved.

Description

Interaction system and method for multi-user and service robot

technical field

The invention relates to the technical field of robots, in particular to the technical field of robot human-computer interaction.

Background technique

At present, in the field of robotics, human-computer interaction is an important research field. There are many existing methods of human-computer interaction, mainly in the form of voice interaction, touch interaction, input interaction, and the mixed forms of these interaction forms. However, the current robot Human-computer interaction is still mainly one-to-one with robots. For the one-to-many situation with robots, such as a tour guide robot, it needs to guide users while walking and explaining. Because humans have subjective initiative, robots cannot control users from falling behind and chaotic. Therefore, there has not been a better interactive system and method.

Contents of the invention

Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an interactive system and method for multi-user and service robots that are suitable for one-to-many human-computer interaction.

Technical solution: In order to achieve the above purpose, the interactive system between multi-users and service robots of the present invention includes a general control part on the service robot and several wearing parts for users to wear;

The general control part includes a control system, a communication unit and a positioning unit, and the communication unit and the positioning unit are both electrically connected to the control system;

The wearing part includes a sub-communication unit that can communicate with the communication unit, a receiver for use with the positioning unit, a positioning micro-base station, a positioning tag, and a micro-processing unit; the sub-communication units of different wearing parts can communicate with each other ;

The positioning unit includes a first illuminant capable of generating infrared light and a container with a vertical slit, the first illuminant is arranged in the container, and the container can rotate along a vertical axis under the action of the rotating drive unit; the positioning unit also includes A second illuminant capable of producing infrared light; the receiver is capable of sensing infrared light.

Further, the wearing part further includes an earphone unit and a microphone unit, both of which are connected to the micro-processing unit.

Further, the wearing part further includes a vibration unit connected to the micro-processing unit.

Further, the wearing part further includes a button unit connected to the micro-processing unit.

The interactive method based on the interactive system of the above-mentioned multi-user and service robot comprises the following steps:

Step 1: the control system controls the first illuminant to become brighter, and controls the rotation of the drive unit to rotate, thereby driving the container with the first illuminant built in to rotate;

Step 2: Each wearing part has a unique number. When the receiver of the wearing part receives the infrared light generated by the first luminous body, the wearing part that receives the infrared light generates feedback information and feeds it back to the control system. The feedback information includes the wearing part number and the time when the wearing part receives the infrared light, the control system calculates the orientation of each wearing part that receives the infrared light according to the feedback information and the relationship between the rotation angle of the rotary drive unit and the time;

Step 3: The control system controls the second illuminant to brighten. The wearing part that received the infrared light generated by the first illuminant before receives the infrared light generated by the second illuminant, and uses its own number and the time when it receives the infrared light as the first The second feedback information is sent to the control system again, and the control system can know the distances of these wearing parts from the positioning unit according to the time when the second illuminant brightens and the second feedback information, and these can be known in combination with the directions of these wearing parts calculated in step 2. the position of the wearing part; the control system designates three of the wearing parts of known positions as positional reference points;

Step 4: The control system sends instructions to all wearing parts except the three wearing parts as position reference points, so that the positioning tags of these wearing parts send positioning information to the positioning micro base stations of the three wearing parts as position reference points, The positioning information includes the number of the wearing part and the time when the wearing part sends out the positioning information;

Step 5: The three wearing parts serving as position reference points receive the positioning information, and add the time of receiving the positioning information to each positioning information and forward it to the control system;

Step 6: The control system calculates the position of the rest of the wearing parts according to the positioning information and the position information of the wearing part as a position reference point, and obtains the position distribution of all wearing parts.

Further, the control system obtains the distribution of users wearing the wearing parts according to the position distribution of all wearing parts, and controls the moving speed of the service robot accordingly, and controls the service robot to stop waiting for all the wearing parts to reach the set range when necessary Then continue with the guided lecture.

Further, the wearing part also includes an earphone unit and a microphone unit, and the earphone unit and the microphone unit are both connected to the micro-processing unit; the control system grasps the authority of all wearing parts to listen to information through the earphone unit and the authority to speak through the microphone unit .

Further, the wearing part also includes a vibration unit, and the vibration unit is connected to the micro-processing unit; when the control system obtains the distribution of users who wear the wearing part, and analyzes that some users lag behind seriously, it can be used by these users A vibrating unit on the worn portion of the wearer reminds these users to keep up with the line.

Further, the wearing part also includes a button unit. When the user needs to ask a question, a request signal can be sent to the control system through the button unit. After the control system accepts the user's request, the microphone unit of the wearing part that sends the request signal starts to collect voice signal.

Beneficial effects: the interactive system and method for multi-users and service robots of the present invention enables the robot to grasp the position and speaking situation of each user through the signal transmission between the general control part on the service robot and the wearing part worn by the user, In the process of guided lectures, it can effectively solve complex situations such as users falling behind and users' speeches cannot be collected, and has a good experience.

Description of drawings

Accompanying drawing 1 is the system composition diagram of the interactive system of multi-user and service robot;

Accompanying drawing 2 is the installation location drawing of positioning unit;

Accompanying drawing 3 is the structural diagram of positioning unit;

Accompanying drawing 4 is the distribution diagram of master control part and several wearing parts.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

The interactive system between multi-users and service robots as shown in Figure 1 includes a general control part 100 on the service robot and several wearing parts 200 for users to wear; the general control part 100 includes a control system 110, a communication unit 120 and The positioning unit 130, the communication unit 120 and the positioning unit 130 are all electrically connected to the control system 110; preferably, the positioning unit 130 is arranged on the top of the robot, as shown in FIG. 2 .

The wearing part 200 includes a sub-communication unit 210 that can communicate with the communication unit 120, a receiver 220 for use with the positioning unit 130, a positioning micro base station 230, a positioning tag 240, and a micro-processing unit 250; different wearing parts 200 The sub-communication units 210 can communicate with each other. The sub-communication unit 210 , the receiver 220 , the positioning micro base station 230 , and the positioning tag 240 are all connected to the micro-processing unit 250 .

As shown in FIG. 3 , the positioning unit 130 includes a first illuminant 131 (shown by a dotted line in the figure) capable of generating infrared light and a container 132 with a vertical slit, and the first illuminant 131 is disposed in the container 132, The container 132 can rotate along a vertical axis under the action of the rotation driving unit 133 , and the receiver 220 can sense infrared light. The light that the first illuminant 131 emits like this can only come out a vertical ray from the vertical slit, and the scattering range of this vertical ray is very small in the horizontal plane, and the scattering range in the vertical plane is larger, like this The vertical light can be rotated and scanned around the vertical axis. The reception of the receiver 220 on each wearing part 200 is divided into morning and evening. The orientation of the wearing part 200 containing the receiver 220 can be inferred from the orientation to the slit. The positioning unit 130 also includes a second illuminant 134 that can generate infrared light. The light emission of the second illuminant 134 is not shielded, so that the infrared light emitted by the second illuminant 134 can be spread in all directions in 360 degrees. The control system 110 controls the The second illuminant 134 is from off to bright, and in combination with the time when the second illuminant 134 emits light and the time when the receiver 220 on the wearing part 200 receives the infrared light, the distance from the wearing part 200 to the robot can be calculated, so that we know The orientation of the wearing part 200 knows the distance of the wearing part 200, thus the position of the wearing part 200 is known.

The wearing part 200 further includes an earphone unit 260 and a microphone unit 270 , and the earphone unit 260 and the microphone unit 270 are both connected to the micro-processing unit 250 .

The wearing part 200 also includes a vibration unit 280 connected to the micro-processing unit 250 .

The wearing part 200 also includes a button unit 290 connected to the micro-processing unit 250 .

Based on the interaction method of the above-mentioned multi-user and service robot interaction system, the method for the robot to obtain the position of each user includes the following steps:

Step 1: the control system 110 controls the first luminous body 131 to become brighter, and controls the rotation driving unit 133 to rotate, thereby driving the container 132 built with the first luminous body 131 to rotate;

Step 2: Each wearing part 200 has a unique number. When the receiver 220 of the wearing part 200 receives the infrared light generated by the first luminous body 131, the wearing part 200 that receives the infrared light generates feedback information and communicates with the sub-communication unit 210. The communication of the communication unit 120 is fed back to the control system 110. The feedback information includes the number of the wearing part 200 and the time when the wearing part 200 receives the infrared light. The control system 110 according to the feedback information and the relationship between the rotation angle of the rotary drive unit 132 and time Calculate the orientation of each wearing part 200 that receives the infrared light (that is, in which direction the wearing part 200 is in the general control part 100, represented by parameters, that is, θ in Figure 4);

Step 3: The control system 110 controls the second luminous body 134 to brighten, and the wearing part 200 that has received the infrared light generated by the first luminous body 131 before receives the infrared light generated by the second luminous body 131 and numbers itself and receives the infrared light. The time of the light is sent to the control system 110 again as the second feedback information, and the control system 110 can know the distance between these wearing parts 200 and the positioning unit 130 according to the time when the second illuminant 131 becomes bright and the second feedback information (in FIG. 4 D), combined with the orientations of these wearing parts 200 estimated in step 2, the positions of these wearing parts 200 can be known; the control system 110 designates three of the wearing parts 200 among the several wearing parts 200 with known positions as position reference points ( The wearing part 200 as the position reference point is shown as the black block in the accompanying drawing 4, and the other wearing parts 200 are shown as the white blocks in the accompanying drawing 4);

Step 4: The control system 110 sends instructions to all the wearing parts 200 except the three wearing parts 200 as the position reference points, so that the positioning tags 240 of these wearing parts 200 are respectively positioned to the three wearing parts 200 as the position reference points. The micro base station 230 sends positioning information, and the positioning information includes the number of the wearing part 200 and the time when the wearing part 200 sends the positioning information;

Step 5: The three wearing parts 200 serving as position reference points receive the positioning information, add the time of receiving the positioning information to each positioning information, and then forward it to the control system 110;

Step 6: The control system 110 calculates the position of the rest of the wearing parts 200 according to the positioning information and the position information of the wearing part 200 as the position reference point (first obtain the position of the wearing part 200 of the non-position reference point wearing part 200 relative to each of the wearing parts 200 as a position reference The distance of the wearing part 200 of the point, that is, D1, D2, D3 in Figure 4, and then according to the position information of the wearing part 200 as the position reference point, the position of the remaining wearing parts 200 can be calculated), and the positions of all wearing parts 200 can be obtained distribution status.

The control system 110 obtains the distribution of users wearing the wearing parts 200 according to the position distribution of all wearing parts 200, and controls the moving speed of the service robot accordingly, and controls the service robot to stop waiting for all the wearing parts 200 to reach the set point when necessary. Within the range (that is, within a circle with a certain radius centered on the service robot, as shown by the dotted circle in Figure 4), continue the guided lecture.

The wearing part 200 also includes an earphone unit 260 and a microphone unit 270, and the earphone unit 260 and the microphone unit 270 are connected to the microprocessing unit 250; Permission to speak through microphone unit 270 . In this way, the user's speech can be effectively controlled, and the problem of voice extraction in a noisy environment can be solved. The control system 110 of the robot can transmit the voice of a single user to other users through the earphone unit 260 of each wearing part 200 .

The wearing part 200 also includes a vibration unit 280, and the vibration unit 280 is connected to the micro-processing unit 250; when the control system 110 obtains the distribution of users wearing the wearing part 200, and analyzes that some users lag behind seriously, it can These users are reminded to keep up with the team through the vibration unit 280 of the wearing part 200 worn by these users.

The wearing part 200 also includes a button unit 290. When the user needs to ask a question, a request signal can be sent to the control system 110 through the button unit 290. After the control system 110 accepts the user's request, the microphone of the wearing part 200 that sends the request signal Unit 270 starts to collect voice signals.

The interactive system and interactive method between multi-users and service robots of the present invention enables the robot to grasp the position and speaking situation of each user through the signal transmission between the general control part on the service robot and the wearing part worn by the user, and make a speech in the guide In the process, it can effectively solve complex situations such as users falling behind and users' speeches cannot be collected, and has a good experience.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also possible. It should be regarded as the protection scope of the present invention.

Claims (9)

1. the interactive system of multi-user and service robot, it is characterised in that：Including the master control part on service robot （100）And several wearing parts worn for user（200）；

Master control part（100）Including control system（110）, communication unit（120）And positioning unit（130）, the communication list Member（120）And positioning unit（130）It is electrically connected the control system（110）；

Wear part（200）Including can be with the communication unit（120）The sub- communication unit of communication（210）, it is described for coordinating Positioning unit（130）The receiver used（220）, positioning micro-base station（230）, positioning label（240）And microprocessing unit （250）；Difference wears part（200）Sub- communication unit（210）Between can mutually communicate；

Positioning unit（130）Including the first illuminator of infrared light can be generated（131）An and container with vertical slots （132）, the first illuminator（131）It is arranged in container（132）It is interior, container（132）It can be in rotation driving unit（133）Under the action of It is rotated along vertical axes；Positioning unit（130）Also include can output infrared light the second illuminator（134）；The receiver（220） Infrared light can be perceived.

2. the interactive system of multi-user according to claim 1 and service robot, it is characterised in that：The wearing part （200）It further include headphone unit（260）And microphone unit（270）, the headphone unit（260）And microphone unit （270）It is all connected with the microprocessing unit（250）.

3. the interactive system of multi-user according to claim 1 and service robot, it is characterised in that：The wearing part （200）It further include vibrations unit（280）, the vibrations unit（280）Connect the microprocessing unit（250）.

4. the interactive system of multi-user according to claim 2 and service robot, it is characterised in that：The wearing part （200）It further include pushbutton unit（290）, the pushbutton unit（290）Connect the microprocessing unit（250）.

5. the exchange method of the interactive system based on multi-user described in claim 1 and service robot, it is characterised in that：Packet Include following steps：

Step 1：Control system（110）Control the first illuminator（131）It brightens, and controls rotation driving unit（133）Rotation, To which driving is built-in with the first illuminator（131）Container（132）Rotation；

Step 2：It is each to wear part（200）With unique number, when there is wearing part（200）Receiver（220）Receive One illuminator（131）The infrared light of generation then receives the wearing part of infrared light（200）It generates feedback information and feeds back to control System（110）, feedback information includes to wear part（200）Number and the wearing part（200）Receive infrared light when Between, control system（110）According to feedback information and rotary drive unit（132）Rotational angle and time relationship, calculate Each wearing part for receiving infrared light（200）Residing orientation；

Step 3：Control system（110）Control the second illuminator（134）It brightens, receives the first illuminator before（131）It generates Infrared light wearing part（200）Receive the second illuminator（131）By itself number and reception after the infrared light of generation Time to infrared light is sent to control system again as the second feedback information（110）, control system（110）According to the second hair Body of light（131）The time and the second feedback information to brighten would know that these wear part（200）From positioning unit（130）Away from From in conjunction with these wearing parts calculated in step 2（200）Orientation would know that these wear part（200）Position；Control System processed（110）In several wearing parts of known location（200）In specify wherein three wearing parts（200）Join as position Examination point；

Step 4：Control system（110）To except three wearing parts as position reference point（200）All wearing portions in addition Point（200）Instruction is sent out, these is made to wear part（200）Positioning label（240）Respectively to three as position reference point Wear part（200）Positioning micro-base station（230）Location information is sent, location information includes to wear part（200）Number with And the wearing part（200）Send out the time of location information；

Step 5：Three wearing parts as position reference point（200）Location information is received, and is increased in each location information Control system is transmitted to after the time that adjunction receives the location information（110）；

Step 6：Control system（110）According to location information and as the wearing part of position reference point（200）Position letter Breath calculates that remaining wears part（200）Position, obtain all wearing parts（200）Position distribution situation.

6. the exchange method of the interactive system of multi-user according to claim 5 and service robot, it is characterised in that：Institute State control system（110）According to all wearing parts（200）Position distribution situation obtain with wear part（200）Use The distribution situation at family controls the movement speed of service robot accordingly, and it is all to control service robot stopping waiting when necessary Wear part（200）It reaches and is further continued for guide to visitors lecture in setting range.

7. the exchange method of the interactive system of multi-user according to claim 5 and service robot, it is characterised in that：Institute It states and wears part（200）It further include headphone unit（260）And microphone unit（270）, the headphone unit（260）And wheat Gram wind unit（270）It is all connected with the microprocessing unit（250）；Control system（110）Grasp all wearing parts（200）Pass through Headphone unit（260）It listens to the permission of information and passes through microphone unit（270）The permission of speech.

8. the exchange method of the interactive system of multi-user according to claim 5 and service robot, it is characterised in that：Institute It states and wears part（200）It further include vibrations unit（280）, the vibrations unit（280）Connect the microprocessing unit（250）； Work as control system（110）It obtains with wearing part（200）User distribution situation, analyze certain user fall behind it is tighter Weight, can be by wearing part that these users wear（200）Vibrations unit（280）These users are reminded to keep up with troop.

9. the exchange method of the interactive system of multi-user according to claim 7 and service robot, it is characterised in that：Institute It states and wears part（200）It further include pushbutton unit（290）, when user needs to put question to, the pushbutton unit can be passed through（290）To control System processed（110）Send out request signal, control system（110）After accepting the request of user, make the wearing portion for sending out request signal Point（200）Microphone unit（270）Start to acquire voice signal.