CN101786272A - Multisensory robot used for family intelligent monitoring service - Google Patents
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Abstract
本发明公开了一种用于家庭智能监控服务的多感知机器人，所述机器人包括一个主控制装置，所述主控制装置外接有摄像头、声音采集器、手机报警装置、扬声器等设备，所述主控制装置还外接有底盘移动装置和头部动作装置，所述底盘移动装置由底盘控制器、电机驱动器、避障传感器和烟雾传感器组成，底盘移动装置装有移动平台所需的锂电池和轮子，主控制装置通过串口向底盘控制器发送控制命令，控制电机进行相应动作，并对障碍信号进行处理，头部动作装置由3个舵机和1个继电器组成，主控制装置通过串口向头部控制器发送控制命令，控制机器人头部、眼球的转动和嘴部的张合，本发明用于家庭智能监控领域，并能够进行多感知融合，能够进行人脸识别和异常事件监测的多功能家庭监控。
The invention discloses a multi-sensing robot for home intelligent monitoring service. The robot includes a main control device, and the main control device is externally connected with equipment such as a camera, a sound collector, a mobile phone alarm device, and a speaker. The control device is also externally connected with a chassis moving device and a head action device. The chassis moving device is composed of a chassis controller, a motor driver, an obstacle avoidance sensor and a smoke sensor. The chassis moving device is equipped with a lithium battery and wheels required for the mobile platform. The main control device sends control commands to the chassis controller through the serial port, controls the motor to perform corresponding actions, and processes the obstacle signal. The head action device is composed of 3 steering gears and 1 relay. The device sends control commands to control the rotation of the robot's head, eyeballs, and opening and closing of the mouth. The invention is used in the field of home intelligent monitoring, and can perform multi-sensory fusion, multi-functional home monitoring that can perform face recognition and abnormal event monitoring. .
Description
[technical field]
The present invention relates to a kind of robot, relate in particular to a kind of many perception robot that in home environment, carries out intelligent monitoring and service.
Specifically, the various information of the present invention in can the extract real-time home environment mainly comprise information such as sound, image, smell, barrier, carry out the function of sound localization, recognition of face, abnormal event alarming.The present invention is mainly used in the service monitoring of family, there is man-hour to be responsible for old man or child's monitoring among the manager, and can in time report latest development in the family by mobile module to owner, among the manager nobody the time be responsible for detecting to anomalous event such as breaking in, and in time report latest development in the family to owner by mobile module, the present invention can free people on the one hand from daily heavy work, can look after on the other hand and accompany old man, child, ensures household safe.
[background technology]
Mainly concentrate on household service robot in the home services robot that world wide is researched and developed at present and have the service robot of specific function with some, the housekeeping robot need have the ability of handling complex transaction, generally has the frame for movement that can grasp object; And the service robot with specific function, as the robot of sweeping the floor, amusement robot etc., according to the function difference, have special structure.In addition, relevant both at home and abroad robot research comprises that the researcher of Japanese honda company once developed a " Asimo " robot, and it not only can receive the guest, also understands team collaboration, shares task with other machines people " colleague "; Stuttgart City, Germany Fu Laoenhuofu manufacturing engineering and automation institute be also in the exploration of carrying out household service robot, and made Care-O-Bot 3 model machines, can discern the extracting article, and household services are provided.
Monitor the subsystem realization that relevant background technology mainly concentrates on each special-purpose field with family in the prior art, the main documents that relates to Chinese patent that the applicant provides is:
1) CN 200610032660.3, household service robot:
This disclosure of the Invention a kind ofly have a multi-functional intelligentized robot that can replace the people to finish household services work, it comprises moving device, sensing device, receiving system, dispensing device, control device, actuating unit, storage device, interactive device etc.; The information that described sensing device will perceive in living circumstance sends control device to, the control device instruction executing device responds, and carry out antitheft monitoring, safety inspection, sanitation and hygiene, article carrying, tame electric control, and home entertaining, patient's condition supervision, children education, give the correct time waken, work such as family expenses statistics.
2) CN 200710177186.8, a kind of hand-held robot movement monitoring and control platform based on embedded system:
This invention relates to a kind of hand-held robot movement monitoring and control platform based on embedded system, general frame comprises the central control module based on the ARM9 framework, sensor assembly, motion-control module, movement executing mechanism and based on the monitor supervision platform of touch-screen, described central control module is connected with external interface by 32 central processing units and forms, 32 data that central processing unit acceptance is transmitted by external interface by sensor, transmit control signal to movement executing mechanism by external interface more after treatment, described sensor assembly comprises the pressure compass, accelerometer, relay, angular transducer, they are connected by the sensor interface that presets with central control module; Described motion-control module adopts dc micro-motor and stepper motor to control, and it connects key control unit by CAN bus transfer module, and motion control information is carried out information interaction by CAN bus and key control unit; Software section comprises built-in Linux operating system, hardware drive program and makes things convenient for the application program of secondary development.
3) CN 200810125299.8, monitoring implementation method and system, system server:
This disclosure of the Invention a kind of monitoring implementation method, be used to realize the monitoring of portable terminal to monitor terminal, this method comprises: system server receives the access request from portable terminal, wherein, carries the parameter information of the monitor terminal of request visit to some extent in the access request; System server judges whether that the monitor terminal corresponding with the parameter information that carries in the access request set up connection; In judged result is under the situation not, connects with monitor terminal, receives the current realtime graphic from the control point of monitor terminal, and current realtime graphic is transmitted to portable terminal; In judged result is under the situation that is, receives current realtime graphic from the control point of monitor terminal by the connection of setting up, and current realtime graphic is transmitted to portable terminal.
4) CN 200720077448.9 has the intelligent robot of recognition of face:
This utility model belongs to a kind of intelligent robot with recognition of face, and it comprises: the robot body with thigh motor, arm motor, neck sub-motor and loudspeaker; Be installed on the described robot body and be used to absorb the camera head of facial image; Be used for the facial image of described camera head picked-up is compared to discern the face identification unit of the facial image that is absorbed with the facial image of storing in advance; Be used to start described camera head and control the controlled module that robot body carries out different actions according to the recognition result of described face identification unit; And be used for sending the identification indication so that described controlled module starts the RCU of described camera head for the user to described control module, so can make robot have the function of recognition of face.
In above-mentioned prior art, the unusual recognition capability of disclosed home services robot is limited, usually can't carry out omnibearing monitoring to home environment, such as the robot of security protection type stress family nobody the time patrol and monitoring, home entertaining function and health measuring function mainly are provided when the kinsfolk is arranged; Has the robot that grasps object frame for movement, Asimo as mentioned in the above, Care-O-Bot etc., household services mainly are provided, can finish complicated action and rich functions, but its complex structure, mainly finish some specific tasks, do not design at domestic safety monitoring.Mainly form at the monitoring system of domestic. applications and have now by removable camera and fixing camera, just finish simple manual monitoring function, perhaps realize face identification system merely, intelligent degree is limited, and other information around can't perception, can not carry out analysis-by-synthesis to home environment, thereby carry out omnibearing monitor service.
The above defective value must improve, market demand is a kind of to be used for the family intelligent monitoring field, have a plurality of sensors such as vision, the sense of hearing, sense of smell, and can carry out many perception fusions, the multi-functional household supervisory-controlled robot that can carry out the monitoring of recognition of face and anomalous event.
[summary of the invention]
Purpose of the present invention promptly is at above-mentioned prior art weak point, provide a kind of many perception robot that is used for the family intelligent monitoring service, the present invention can be based on autonomous mobile platform, have a plurality of sensors such as vision, the sense of hearing, sense of smell, can carry out many perception merges, and can carry out recognition of face and anomalous event monitoring, and at first make family's monitoring capacity obtain to promote, provide the old man to guard monitoring function with unattended comprehensive family; Secondly, can pass through multiple sensors perception home environment information, thereby family is more comprehensively monitored, have stable performance, advantage that efficient is higher on this basis.
Technical scheme of the present invention is as described below:
A kind of many perception robot that is used for the family intelligent monitoring service, it is characterized in that, described robot comprises a main control unit, described main control unit is circumscribed with interactive devices such as camera, sound collector, mobile phone alarm device, loudspeaker, and described main control unit also is circumscribed with chassis mobile device and headwork device:
Described chassis mobile device by chassis controller, motor driver, keep away barrier sensor and Smoke Sensor and form, the chassis mobile device is equipped with the required lithium battery of mobile platform in addition, 3 wheels, comprising 2 driving wheels and 1 universal wheel, main control unit sends control command by serial ports to chassis controller, the control motor carries out corresponding actions, and obstacle signal is handled;
Described headwork device is made up of 3 steering wheels and 1 relay, and 1 steering wheel is responsible for controlling the rotation of robot neck, 2 eyeballs of 2 steering wheel control, the i.e. rotation of camera, the mouth action of 1 relay control robot.Main control unit sends control command by serial ports to the head controller, control robot head, the rotation of eyeball and the opening and closing of mouth.
According to above-mentioned technical scheme, beneficial effect of the present invention is:
1), the present invention realized that real-time face identification, abnormal behaviour and sound detection and abnormal gas detect, and carries out respective handling according to its result, follows the stranger and in time notifies owner, and home environment is carried out omnibearing monitoring;
2), overall structure of the present invention is fit to home environment, the internal mechanical device is simple, stability is high, carries out the efficient height;
3), the present invention realized the analysis-by-synthesis of many perception, merged the sensor of vision, the sense of hearing, sense of smell, realizes multi-modal abnormal event alarming.
[description of drawings]
Below in conjunction with accompanying drawing and embodiment the present invention is done more detailed explanation.
Fig. 1 is provided with figure for wired home service monitoring robot construction of the present invention;
Fig. 2 is the face recognition process flow chart of wired home service monitoring of the present invention robot;
Fig. 3 is stranger's tracing process figure of wired home service monitoring of the present invention robot;
Fig. 4 is the sound collection channel design figure of wired home service monitoring of the present invention robot.
[specific embodiment]
As shown in Figure 1, a kind of many perception robot that is used for the family intelligent monitoring service of the present invention, it is characterized in that, described robot comprises a main control unit, described main control unit is circumscribed with interactive devices such as camera, sound collector, mobile phone alarm device, loudspeaker, and described main control unit also is circumscribed with chassis mobile device and headwork device:
Described chassis mobile device by chassis controller, motor driver, keep away barrier sensor and Smoke Sensor and form, the chassis mobile device is equipped with the required lithium battery of mobile platform in addition, 3 wheels, comprising 2 driving wheels and 1 universal wheel, main control unit sends control command by serial ports to chassis controller, the control motor carries out corresponding actions, and obstacle signal is handled;
Described headwork device is made up of 3 steering wheels and 1 relay, and 1 steering wheel is responsible for controlling the rotation of robot neck, 2 eyeballs of 2 steering wheel control, the i.e. rotation of camera, the mouth action of 1 relay control robot.
Kinematic system of the present invention mainly is made up of two-wheel drive wheel and a universal wheel, and this classical architecture can be so that robot can realize various functions such as forward-reverse left-right rotation.
2 eyeballs of robot are the CMOS cameras, and the main control unit that the image of gathering in real time can be transferred to robot interior is handled.
The family expenses supervisory-controlled robot can also pass through face identification system, i.e. the owner of camera and face recognition algorithms identification family welcomes his arrival, if find that the stranger carries out auditory tone cues and notifies owner, and according to setting the tracking stranger.
Robot has the sound localization module of 4 passages, can monitor surrounding environment sound, and position.Robot can monitor the anomalous event that takes place in the family, when owner stays out, robot can go on patrol and monitor indoor every a period of time according to the route of appointment, and get around the barrier that occurs on the route, when finding that door and window breakage, stranger swarm into, will reporting to the police or corresponding prompting when gas leak, air quality decline, breaking out of fire etc., and locate the spot rapidly by abnormal sound, help owner to handle the abnormal conditions of appearance, simultaneously, robot gives the alarm to owner by the GSM network.
Exception monitoring system of described robot by recognition of face, abnormal behaviour detect, the stranger follows, abnormal sound, abnormal gas detect 5 parts and form:
1), recognition of face:
As shown in Figure 2, described face recognition module is integrated in the main control unit, adopts the face recognition algorithms of efficient stable to realize, by Harr wavelet character location people's face, improves under the situation of guaranteeing the recognition of face rate and handles monitor speed.Whether it at first has people's face by Face Detection, and obtains colour of skin mask, if colour of skin area, is then thought crested greater than 1/2nd, robot is reminded.Otherwise orient people's face position according to the Harr wavelet character, proofread and correct according to human eye feature, to obtain the comparison of people's face information and date library information, judgement is known person face or unknown human face, if the known person face enters for the first time, then robot greets to it, if the unknown human face enters for the first time, then to its inquiry, and by the SMS notification owner.If the not identification that exceeds 1 second is preferentially sought people's face by colour of skin coupling, if surpass 10 seconds then think that people's face loses.
2), abnormal behaviour detects:
Described abnormal behaviour detection module is integrated in the main control unit, by camera, rotate steering wheel and policing algorithm is realized, detects moving object the first half by scouting, judge fall down, fall, abnormal behaviour such as running.
3), the stranger follows:
As shown in Figure 3, described stranger follows module and is integrated in the main control unit, be made up of wide-angle imaging head, rotation steering wheel and following algorithm, described wide-angle imaging head can provide bigger visual angle to be beneficial to follow the tracks of, and controls the camera rotation tracking in time external world by steering wheel and changes.At first using common camera to carry out recognition of face, is unknown object in the database if navigate to people's face and identify, and can enter tracing mode according to setting.According to the positional information that recognition of face locatees out, extract stranger's upper part of the body feature, utilize the wide visual field characteristic of wide-angle lens, the trend of following the tracks of the stranger at any time.Simultaneously, can judge stranger's range information, driven machine people and stranger keep distance about 1 meter.
4), abnormal sound location:
Described abnormal sound locating module is made up of voice collection device and sound Processing Algorithm, and it orients steering angle by the voice data of 4 passages of sound collector collection by program, and drive motors carries out corresponding actions.
In the implementation process, described sound collector is made up of 4 omnidirectional microphones, is installed on around the chassis, and as shown in Figure 4, the label of 4 passages is 0,1,2,3, and each channel sample data is 2048 data, sample frequency 10000Hz.
Because the asynchronism(-nization) that sounding is put each microphone just can calculate the position that sound sends if therefore can access the time difference that arrives each point.At first will turn to be divided into 8 sounding zones, determine according to the priority of the time of advent sound is from which zone.Can calculate audio direction according to the time difference then.
5), abnormal gas detects:
Described abnormal gas test section is worked alone by the smog gas sensor, and the abnormal gas state of home environment around the random device human body mobile monitoring is if detect smog or imflammable gas then give the alarm.
Therefore the present invention is the family's monitoring system with many perception, need carry out analysis-by-synthesis by the perception to the multiple signal of environment, determines the action scheme of robot according to task priority.Described intelligent monitoring machine people's task is divided into 3 classes, and the one, moving of robot body comprises and keeps away barrier, chassis action, headwork; The one, monitor portion comprises the monitoring of video monitoring and sound; The one, the warning part mainly is that multimedia message sends.
According to the characteristics of each task, can make priority, robot handles according to priority.
| Task | Operation characteristic | Response time | Data volume | Operand |
| Keep away barrier | Interrupt | Hurry up | Little | Little |
| Headwork | Controlled | Hurry up | Do not have | Do not have |
| The chassis is moving | Controlled | According to instruction | Do not have | Do not have |
| Do | Response | |||
| Video monitoring | The continuous acquisition data are calculated | According to environmental factor | Greatly | Greatly |
| Sound localization | The continuous acquisition data, and in time make response | According to rotational angle | Bigger | Bigger |
| Multimedia message | An operation task needs the waiting signal response during transmission | According to wireless signal | Less | Less |
In the implementation process,, in the process that turns to or move, in time obstacle signal is made response because the priority of barrier avoiding function is put in the security consideration of robot self in the first place.
Because during the action of chassis, the athletic meeting of wheel is sounded,, should allow the priority of chassis action be higher than sound localization for the body sound of enable voice location algorithm to rotation process does not respond.
The abnormal sound signal is paroxysmal often, therefore need in time make response to this, and can not allow the big recognition of face of amount of calculation occupy the running time of system.
According to the characteristics that multimedia message sends, the process of transmission is relevant with signal strength signal intensity, and belongs to operation task one time, and need carry out continuous collection to sound unlike the sound collection module, therefore needs to reduce its priority.
Therefore task priority is set at from high to low and keeps away barrier, chassis action, sound localization, recognition of face, headwork, multimedia message.
In addition, robot shells of the present invention can adopt the moulding of goose, and material is plastics.
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Application publication date: 20100728 |