CN108600695A - A kind of intelligent interaction robot control system - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- G—PHYSICS
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/107—Static hand or arm
- G06V40/113—Recognition of static hand signs
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/28—Recognition of hand or arm movements, e.g. recognition of deaf sign language
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- 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
- G10L17/00—Speaker identification or verification techniques
- G10L17/22—Interactive procedures; Man-machine interfaces
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- H04B1/713—Spread spectrum techniques using frequency hopping
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- H04L27/001—Modulated-carrier systems using chaotic signals
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
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Abstract
The invention belongs to robotic technology fields, disclose a kind of intelligent interaction robot control system, including：Wake-up module, photographing module, voice acquisition module, central processing module, picture recognition module, session module, data memory module, display module.The present invention in the dormant state, obtains interactive operation, and determine interaction parameter corresponding with the type of the interactive operation by wake-up module；Judge whether the interaction parameter meets wake operation requirement；When the interaction parameter, which meets the wake operation, to be required, the component being closed accordingly is opened, the wake-up mode of the embodiment of the present invention is simple, and cumbersome wake operation is remembered without interactive object, improves user experience；It is experienced simultaneously by session module significant increase voice dialogue, the speech habits and style for meeting the mankind is provided, keep robot more intelligent.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of intelligent interaction robot control systems.
Background technology
Currently, the prior art commonly used in the trade is such：
Interaction, i.e. exchange and interdynamic are that many internet platforms pursue the functional status made.Have by some
The internet platform of interactive function allows user that can not only obtain relevent information, information or service above, moreover it is possible to make user
It is mutually exchanged between user or between user and platform and interactive, to collide out more intention, thought and demand etc..
However, existing intelligent interaction robot wakes up, robot manipulation is cumbersome, and experience property is poor；Robot talks with stiff, voice simultaneously
Interaction effect is poor.
Telemetry communication signal in communication security there is importance, modern image communication system generally use to jump spread spectrum mode
Come to interference image anti-intercepting and capturing and anti-interference, with the raising of interception capability and signal identification Processing Algorithm ability, basic jump
Spread spectrum anti-intercepting and capturing and interference performance seem increasingly weak.The current ability for improving anti-intercepting and capturing is mainly using spread spectrum and frequency hopping as base
On the one hand plinth improves the bandwidth of hop rate and frequency set, on the one hand use the new frequency hopping sides such as differential jumping frequency and adaptive frequency hopping
Formula.The problems such as that there are hardware spendings is larger for these methods, networking planning is relatively difficult, real-time is very poor.Although conventional frequency hopping skill
Art, Technology of differential frequency hopping and adaptive frequency hopping technology all can fight most intercepting and capturing and conflicting mode, but right
When resisting growing acquisition techniques and perturbation technique, performance cannot still meet the needs of Image Communication.
Since the noise circumstance of image space communication is complicated and changeable and interference problem getting worse, signal is easily by its shadow
It rings and faint state is presented.Therefore, improving the Detection and Parameter Estimation of small-signal under Low SNR in Image Communication is
Urgent problem to be solved at present.Psk signal be phase-modulation, constant amplitude digital modulation signals, due to it have it is anti-interference
Ability is strong and can extensively be answered often as the signal type generally used in satellite communication with the advantage of the bandwidth of broadened signal
For in image procossing.Carrier frequency is one of the core parameter for describing signal arteries and veins internal characteristic, accurately estimates image communication signal
Carrier frequency all has great importance for the identification of modulation system, the search of signal specific and demodulation etc..It is steady to study Alpha
The estimation for determining PSK signal elements rate under partition noise has certain theory value and actual engineering significance.
But it still needs to go deep into its covariance spectrum there is no specific algorithm step is provided to carrier frequency estimation in document
Research can just estimate carrier frequency.The prior art, which is stablized for the method for parameter estimation based on cyclic-statistic in Alpha, divides
The problem of seriously degenerating in cloth noise, it is proposed that a kind of mpsk signal carrier frequency estimation method based on fractional lower-order Cyclic Spectrum, it is right
Psk signal under different M values analyzes the relationship of its carrier frequency and corresponding scores low order Cyclic Spectrum parameter, basic herein
On give the carrier frequency estimating methods of suitable all psk signals.This method is -10dB in mixing signal-to-noise ratio and α is 1.5
When, the normalized mean squared error of the carrier frequency estimation of bpsk signal is the normalization mean square error of 0.043, QPSK signal carrier frequency estimation
Difference is 0.041, therefore the carrier frequency estimation performance under low signal-to-noise ratio is still to be improved.
In conclusion problem of the existing technology is：
Existing intelligent interaction robot wake-up robot manipulation is cumbersome, and experience property is poor；Robot dialogue simultaneously is stiff,
Interactive voice effect is poor.
Conventional images processing method cannot be vulnerable to Image Communication intercepting and capturing and the degree of interference is effectively solved.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of intelligent interaction robot control systems.
The invention is realized in this way a kind of intelligent interaction robot control system, including：
Wake-up module is connect with central processing module, and operation is interacted for waking up robot；
Photographing module is connect with central processing module, and user image is acquired for passing through camera；
Voice acquisition module is connect with central processing module, the voice data information for acquiring user；
Central processing module, with wake-up module, photographing module, voice acquisition module, picture recognition module, session module,
Data memory module, display module connection, for controlling modules normal work；
Picture recognition module is connect with central processing module, for action element in the user image image of acquisition into
Row identification；
Session module is connect with central processing module, for engaging in the dialogue operation with user；
The wake-up module awakening method is as follows：
First, in the dormant state, interactive operation is obtained, and determines interaction corresponding with the type of the interactive operation
Parameter；
Then, judge whether the interaction parameter meets wake operation requirement；
Finally, when the interaction parameter, which meets the wake operation, to be required, the group being closed accordingly is opened
Part；
The type of the interactive operation be gesture operation when, it is described in the dormant state, obtain interactive operation, and determine
Interaction parameter corresponding with the type of the interactive operation, including：
In the dormant state, the gesture for obtaining interactive object determines the interactive object and the intelligent interaction robot
The distance between；
After the gesture for obtaining interactive object, judge whether the gesture meets preset standard gesture, institute
The standard gesture of stating includes following one or more：
The number that range sensor is blocked blocks the matched gesture of number with preset, what range sensor was blocked
Time and the preset gesture for blocking time match and the range sensor is blocked twice in succession interval time with preset
Interval time matched gesture；
When the gesture meets preset standard gesture, then enters and determine that the interactive object is handed over the intelligence
The step of the distance between mutual robot；
Session module dialogue method includes：
First, a variety of different dialog strategies are pre-stored, the dialog strategy includes at least absolutely dry pre- dialog strategy, half
Intervene dialog strategy and nonintervention dialog strategy；
Secondly, according to current session strategy generating answer signal；
Then, current session strategy is converted to selected dialog strategy in response to choosing instruction；
Finally, answer signal is regenerated according to selected dialog strategy；
In the image recognition of picture recognition module, modulated in conjunction with chaotic secret communication and pattern, after real information is extended
Pseudo-code corresponding to the generation of Constructing Chaotic Code exclusive or controls whether corresponding hop period sends carrier frequency by pseudo-code, whether load is sent in the period
The location information of frequency forms different modulation pattern；The rule whether sent by carrier frequency transmits information, and real information is hidden
It ensconces in modulation pattern, and the randomness of chaos sequence enhanced modulation pattern；
Cycle is asked altogether to the psk signal that modulation pattern real information contains Alpha Stable distritation noises that is hidden in of reception
Varying function；
Fourier transformation is carried out to the cycle covariant function, it is asked to recycle co-variation spectrum；
Pass through the section of the cycle co-variation spectrum extraction cycle frequency ε=0Hz；Search for the positive and negative semiaxis in the section
Peak value finds the corresponding positive negative frequency value of the peak value, and the estimated value averaged as carrier frequency after taking absolute value.
Further, the image-recognizing method of picture recognition module specifically includes following steps：
Step 1, by the 1 of real information, that is, code word and 0 sequence by N times extension after, respectively with corresponding time sequencing
Chaos sequence carries out exclusive or, obtains the corresponding pseudo-code of information code word；
The frequency hop sequences generated by pseudo-code generator are divided into one group by step 2, information transmitting terminal per N number of point, each code
The corresponding N number of pseudo- symbol of word corresponds to the frequency point in frequency hop sequences N number of period, and 1 and the 0 of pseudo-code respectively represents corresponding frequency hopping
Whether send carrier frequency on period, form modulation pattern, pseudo-code sequence is subjected to unconventional modulation by modulation pattern, then with by frequency
The frequency hopping pattern that rate synthesizer generates is mixed, and is sent；
Step 3 after information receiving end receives signal, estimates the transmission rule of transmitting terminal carrier frequency, then
It is compared with known Hopping frequencies sequence, it is equal with corresponding temporal carrier frequency, it is denoted as 1, and it is corresponding temporal
Carrier frequency is unequal to be denoted as 0；
Step 4 compresses the sequence compared chaos sequence exclusive or identical with transmitting terminal up to very through N times
Real information；
Step 5, to the PSK signals for being hidden in modulation pattern real information and containing Alpha Stable distritation noises of reception
Seek cycle covariant function；
Fourier transformation is carried out to the cycle covariant function, it is asked to recycle co-variation spectrum；
Pass through the section of the cycle co-variation spectrum extraction cycle frequency ε=0Hz；Search for the positive and negative semiaxis in the section
Peak value finds the corresponding positive negative frequency value of the peak value, and the estimated value averaged as carrier frequency after taking absolute value.
Further, the step 1 further comprises：
Bit rate is F by the first stepb_realThe authentic and valid information x [1 of=25kbps:1000] N=5 times extending transversely,
I.e. 1, which is extended to 11111,0, is extended to 00000, obtains sequence x1[1:5000], sample rate Fs_real=5MHz；
Second step generates Chebyshev-Map chaos sequences y [1:5000], mapping equation is：
yn+1=Tk(yn)=cos (kcos-1yn),yn∈[-1,1]；
Wherein k is that Chebyshev mapping parameters take 4, ynFor current state, yn+1For next state, from initial value y0It opens
Beginning iteration quantifies obtained sequence two-value to obtain sequences y={ y using thresholding0,y1,y2,…,yi..., initial value y0It takes
0.6；
Third walks, by sequence x1Pseudo-random sequence z [1 is obtained with chaos sequence y exclusive or:5000]：
The step 2 further comprises：
(1) by pseudo-code sequence z [1:5000] 1 and 0 control generates modulation pattern, and pseudo-code sequence z carries out unconventional BPSK
Modulation is 1, then it is cos (2 π f to correspond to baseband signal in the timec_bpskT), it is 0, then corresponds to baseband signal in the time and be all 0,
Generate baseband modulation signal fbpsk[1:100000]；
(2) pseudo-random sequence is generated by pseudo-noise code generator, by command decoder, control frequency synthesizer generates
Frequency hopping pattern X；
(3) by baseband modulation signal fbpskWith frequency hopping pattern X after frequency mixer is mixed, obtains transmission signal rs and carry out again
It sends；
The method that the synthesizer generates frequency hopping pattern X is：By the frequency hopping that pseudo-noise code generator formation range is 1-8
Sequence xhop[1:5000], with random number xhop(i), the corresponding frequency-hopping carrier frequency f of i=1...5000c(xhop(i)) it is：
fc(xhop(i))=fL+(xhop(i)-1)*fI；
fsend(i)=fc(xhop(i))；
Wherein low-limit frequency fL=30M, stepped-frequency interval fIThus=0.25M obtains frequency-hopping carrier frequency set fsend[1:
5000], frequency-hopping carrier, that is, frequency hopping pattern X [1 is regenerated:100000].
Further, the cycle covariant function for receiving signal includes：
The signal contains the mpsk signal for obeying S α S partition noises, can be expressed as：
Wherein E is the mean power of signal,M=2k, m=1,
2 ... M, q (t) indicate that rectangular pulse waveform, T indicate symbol period, fcIndicate carrier frequency, φ0Initial phase is indicated, if (this
Whether place needs plus condition：If) w (t) is the non-Gaussian noise for obeying S α S distribution, autocovariance function is defined as：
Wherein (x (t- τ))<p-1>=| x (t- τ) |p-2X* (t- τ), γx(t-τ)It is the coefficient of dispersion of x (t), then x (t) is followed
Ring co-variation is defined as：
Wherein ε is known as cycle frequency, and T is a code-element period；
The cycle co-variation spectrum for receiving signal is carried out as follows：
Cycle co-variation spectrum is to recycle the Fourier transformation of covariant function, is expressed as：
It recycles co-variation spectrum and is derived as：
As M >=4,Place,
As M=2,
Wherein Q (f) is the Fourier transformation of q (t), and
Carrier frequency estimation is realized in the section that cycle frequency ε=0Hz in co-variation spectrum is recycled by extraction, is carried out as follows：
The envelope of the cycle co-variation spectrum on n=0, that is, ε=sections 0Hz be：
As f=± fcWhen, envelope obtains maximum value.
Further, the intelligent interaction robot control system further includes：
Data memory module is connect with central processing module, the user information for storing acquisition；
Display module is connect with central processing module, for showing the interactive information content.
The intelligent interaction robot control system control method is realized another object of the present invention is to provide a kind of
Computer program.
Another object of the present invention is to provide a kind of equipped with the information for stating intelligent interaction robot control system
Data processing terminal.
Another object of the present invention is to provide a kind of computer readable storage mediums, including instruction, when it is in computer
When upper operation so that computer executes intelligent interaction robot control system control method as mentioned.
Advantages of the present invention and good effect are：
The present invention in the dormant state, obtains interactive operation, and determine the class with the interactive operation by wake-up module
The corresponding interaction parameter of type；Judge whether the interaction parameter meets wake operation requirement；Described in meeting when the interaction parameter
When wake operation requires, the component being closed accordingly is opened, the wake-up mode of the embodiment of the present invention is simple, is not necessarily to
Interactive object remembers cumbersome wake operation, improves user experience；Pass through session module significant increase voice dialogue body simultaneously
It tests, the speech habits and style for meeting the mankind is provided, keep robot more intelligent.
Anti-intercepting and capturing performance of the image processing method based on existing frequency hopping system of the present invention is managed in conjunction with chaotic secret communication
Refer to pattern modulation frequency-hopping method, it is proposed that processing method indicates information by the transmission position rule of system carrier, only
The transmission rule of frequency point need to be detected to solve information, transmitting terminal controls in hop period whether send carrier wave by pseudo-code " 1 " and " 0 ",
Real information is hidden in modulation pattern, simultaneously because the aperiodicity of chaos sequence, misconvergence and irreversible property,
Be applied to this method transmitting terminal can enhanced modulation pattern randomness, therefore with it is existing conventional anti-based on frequency hopping
Acquisition techniques are compared, and the present invention can reach the almost anti-intercepting and capturing performance up to 100% when signal-to-noise ratio is 10.It ensure that acquisition
The accuracy of image.
The present invention can estimate the carrier frequency of psk signal under Alpha Stable distritation noises；
The present invention has preferable estimation performance under low signal-to-noise ratio environment；
In identical emulation experiment environment and identical chip rate, carrier frequency, sample frequency, sampling number and letter
It makes an uproar than under the conditions of equal signal parameters setting, the present invention has preferably estimation performance than existing method.It can get accurately place
Manage data.
Description of the drawings
Fig. 1 is intelligent interaction robot control system architecture block diagram provided in an embodiment of the present invention.
In figure：1, wake-up module；2, photographing module；3, voice acquisition module；4, central processing module；5, image recognition
Module；6, session module；7, data memory module；8, display module.
Fig. 2 is that present invention BPSK and QPSK under different mixing signal-to-noise ratio recycles the performance map (α that carrier frequency estimation is composed in co-variation
=1.5)；
Fig. 3 is the performance comparison figure (MSNR=0dB) that the present invention estimates under different characteristic index；
Fig. 4 under identical emulation experiment environment and signal parameter setting, makes an uproar to be of the invention for Alpha Stable distritations
Bpsk signal under sound, the performance comparison figure of the present invention and bibliography method of estimation；
Fig. 5 under identical emulation experiment environment and signal parameter setting, makes an uproar to be of the invention for Alpha Stable distritations
QPSK signals under sound, the performance comparison figure of the present invention and bibliography method of estimation.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached
Detailed description are as follows for figure.
As shown in Figure 1, intelligent interaction robot control system provided by the invention includes：Wake-up module 1, photographing module
2, voice acquisition module 3, central processing module 4, picture recognition module 5, session module 6, data memory module 7, display module
8。
Wake-up module 1 is connect with central processing module 4, and operation is interacted for waking up robot；
Photographing module 2 is connect with central processing module 4, and user image is acquired for passing through camera；
Voice acquisition module 3 is connect with central processing module 4, the voice data information for acquiring user；
Central processing module 4, with wake-up module 1, photographing module 2, voice acquisition module 3, picture recognition module 5, dialogue
Module 6, data memory module 7, display module 8 connect, for controlling modules normal work；
Picture recognition module 5 is connect with central processing module 4, for action element in the user image image of acquisition
It is identified；
Session module 6 is connect with central processing module 4, for engaging in the dialogue operation with user；
Data memory module 7 is connect with central processing module 4, the user information for storing acquisition；
Display module 8 is connect with central processing module 4, for showing the interactive information content.
1 awakening method of wake-up module provided by the invention is as follows：
First, in the dormant state, interactive operation is obtained, and determines interaction corresponding with the type of the interactive operation
Parameter；
Then, judge whether the interaction parameter meets wake operation requirement；
Finally, when the interaction parameter, which meets the wake operation, to be required, the group being closed accordingly is opened
Part.
The type of interactive operation provided by the invention be gesture operation when, it is described in the dormant state, obtain interaction behaviour
Make, and determines interaction parameter corresponding with the type of the interactive operation, including：
In the dormant state, the gesture for obtaining interactive object determines the interactive object and the intelligent interaction robot
The distance between；
After the gesture provided by the invention for obtaining interactive object, judge whether the gesture meets preset mark
Quasi- gesture, the standard gesture include following one or more：
The number that range sensor is blocked blocks the matched gesture of number with preset, what range sensor was blocked
Time and the preset gesture for blocking time match and the range sensor is blocked twice in succession interval time with preset
Interval time matched gesture；
When the gesture meets preset standard gesture, then enters and determine that the interactive object is handed over the intelligence
The step of the distance between mutual robot.
6 dialogue method of session module provided by the invention is as follows：
First, a variety of different dialog strategies are pre-stored, the dialog strategy includes at least absolutely dry pre- dialog strategy, half
Intervene dialog strategy and nonintervention dialog strategy；
Secondly, according to current session strategy generating answer signal；
Then, current session strategy is converted to selected dialog strategy in response to choosing instruction；
Finally, answer signal is regenerated according to selected dialog strategy.
It is of the invention interactive, robot is waken up by wake-up module 1 and interacts operation；It is acquired and is used by photographing module 2
Family image；The voice data information of user is acquired by voice acquisition module 3；Image recognition is dispatched by central processing module 4
Action element in the user image image of acquisition is identified in module 5；It is engaged in the dialogue operation by session module 6 and user；
The user information of acquisition is stored by data memory module 7；The information content of interaction is shown by display module 8.
With reference to concrete analysis, the invention will be further described.
In the image recognition of picture recognition module, modulated in conjunction with chaotic secret communication and pattern, after real information is extended
Pseudo-code corresponding to the generation of Constructing Chaotic Code exclusive or controls whether corresponding hop period sends carrier frequency by pseudo-code, whether load is sent in the period
The location information of frequency forms different modulation pattern；The rule whether sent by carrier frequency transmits information, and real information is hidden
It ensconces in modulation pattern, and the randomness of chaos sequence enhanced modulation pattern；
Cycle is asked altogether to the psk signal that modulation pattern real information contains Alpha Stable distritation noises that is hidden in of reception
Varying function；
Fourier transformation is carried out to the cycle covariant function, it is asked to recycle co-variation spectrum；
Pass through the section of the cycle co-variation spectrum extraction cycle frequency ε=0Hz；Search for the positive and negative semiaxis in the section
Peak value finds the corresponding positive negative frequency value of the peak value, and the estimated value averaged as carrier frequency after taking absolute value.
The image-recognizing method of picture recognition module specifically includes following steps：
Step 1, by the 1 of real information, that is, code word and 0 sequence by N times extension after, respectively with corresponding time sequencing
Chaos sequence carries out exclusive or, obtains the corresponding pseudo-code of information code word；
The frequency hop sequences generated by pseudo-code generator are divided into one group by step 2, information transmitting terminal per N number of point, each code
The corresponding N number of pseudo- symbol of word corresponds to the frequency point in frequency hop sequences N number of period, and 1 and the 0 of pseudo-code respectively represents corresponding frequency hopping
Whether send carrier frequency on period, form modulation pattern, pseudo-code sequence is subjected to unconventional modulation by modulation pattern, then with by frequency
The frequency hopping pattern that rate synthesizer generates is mixed, and is sent；
Step 3 after information receiving end receives signal, estimates the transmission rule of transmitting terminal carrier frequency, then
It is compared with known Hopping frequencies sequence, it is equal with corresponding temporal carrier frequency, it is denoted as 1, and it is corresponding temporal
Carrier frequency is unequal to be denoted as 0；
Step 4 compresses the sequence compared chaos sequence exclusive or identical with transmitting terminal up to very through N times
Real information；
Step 5, to the PSK signals for being hidden in modulation pattern real information and containing Alpha Stable distritation noises of reception
Seek cycle covariant function；
Fourier transformation is carried out to the cycle covariant function, it is asked to recycle co-variation spectrum；
Pass through the section of the cycle co-variation spectrum extraction cycle frequency ε=0Hz；Search for the positive and negative semiaxis in the section
Peak value finds the corresponding positive negative frequency value of the peak value, and the estimated value averaged as carrier frequency after taking absolute value.
The step 1 further comprises：
Bit rate is F by the first stepb_realThe authentic and valid information x [1 of=25kbps:1000] N=5 times extending transversely,
I.e. 1, which is extended to 11111,0, is extended to 00000, obtains sequence x1[1:5000], sample rate Fs_real=5MHz；
Second step generates Chebyshev-Map chaos sequences y [1:5000], mapping equation is：
yn+1=Tk(yn)=cos (kcos-1yn),yn∈[-1,1]；
Wherein k is that Chebyshev mapping parameters take 4, ynFor current state, yn+1For next state, from initial value y0It opens
Beginning iteration quantifies obtained sequence two-value to obtain sequences y={ y using thresholding0,y1,y2,…,yi..., initial value y0It takes
0.6；
Third walks, by sequence x1Pseudo-random sequence z [1 is obtained with chaos sequence y exclusive or:5000]：
The step 2 further comprises：
(1) by pseudo-code sequence z [1:5000] 1 and 0 control generates modulation pattern, and pseudo-code sequence z carries out unconventional BPSK
Modulation is 1, then it is cos (2 π f to correspond to baseband signal in the timec_bpskT), it is 0, then corresponds to baseband signal in the time and be all 0,
Generate baseband modulation signal fbpsk[1:100000]；
(2) pseudo-random sequence is generated by pseudo-noise code generator, by command decoder, control frequency synthesizer generates
Frequency hopping pattern X；
(3) by baseband modulation signal fbpskWith frequency hopping pattern X after frequency mixer is mixed, obtains transmission signal rs and carry out again
It sends；
The method that the synthesizer generates frequency hopping pattern X is：By the frequency hopping that pseudo-noise code generator formation range is 1-8
Sequence xhop[1:5000], with random number xhop(i), the corresponding frequency-hopping carrier frequency f of i=1...5000c(xhop(i)) it is：
fc(xhop(i))=fL+(xhop(i)-1)*fI；
fsend(i)=fc(xhop(i))；
Wherein low-limit frequency fL=30M, stepped-frequency interval fIThus=0.25M obtains frequency-hopping carrier frequency set fsend[1:
5000], frequency-hopping carrier, that is, frequency hopping pattern X [1 is regenerated:100000].
It is described receive signal cycle covariant function include：
The signal contains the mpsk signal for obeying S α S partition noises, can be expressed as：
Wherein E is the mean power of signal,M=2k, m=1,
2 ... M, q (t) indicate that rectangular pulse waveform, T indicate symbol period, fcIndicate carrier frequency, φ0Initial phase is indicated, if (this
Whether place needs plus condition：If) w (t) is the non-Gaussian noise for obeying S α S distribution, autocovariance function is defined as：
Wherein (x (t- τ))<p-1>=| x (t- τ) |p-2X* (t- τ), γx(t-τ)It is the coefficient of dispersion of x (t), then x (t) is followed
Ring co-variation is defined as：
Wherein ε is known as cycle frequency, and T is a code-element period；
The cycle co-variation spectrum for receiving signal is carried out as follows：
Cycle co-variation spectrum is to recycle the Fourier transformation of covariant function, is expressed as：
It recycles co-variation spectrum and is derived as：
As M >=4,Place,
As M=2,
Wherein Q (f) is the Fourier transformation of q (t), and
Carrier frequency estimation is realized in the section that cycle frequency ε=0Hz in co-variation spectrum is recycled by extraction, is carried out as follows：
The envelope of the cycle co-variation spectrum on n=0, that is, ε=sections 0Hz be：
As f=± fcWhen, envelope obtains maximum value.
With reference to emulation experiment, the invention will be further described.
Fig. 2 is that present invention BPSK and QPSK under different mixing signal-to-noise ratio recycles the performance map (α that carrier frequency estimation is composed in co-variation
=1.5)；
Fig. 3 is the performance comparison figure (MSNR=0dB) that the present invention estimates under different characteristic index；
Fig. 4 under identical emulation experiment environment and signal parameter setting, makes an uproar to be of the invention for Alpha Stable distritations
Bpsk signal under sound, the performance comparison figure of the present invention and bibliography method of estimation；
Fig. 5 under identical emulation experiment environment and signal parameter setting, makes an uproar to be of the invention for Alpha Stable distritations
QPSK signals under sound, the performance comparison figure of the present invention and bibliography method of estimation.
BPSK and QPSK signal models are respectively adopted in the present invention, and noise is Alpha Stable distritation noises.Bpsk signal, 8
Bit word [1,0,1,1,0,1,1,0], symbol width WmFor 25.6ms, carrier frequency fcFor 1200Hz, sampling rate fsFor
10000Hz；QPSK signals, 8 Frank codes [11,01,00,10,00,11,10,01], symbol width WmFor 25.6ms, carry
Frequency fcFor 1200Hz, sampling rate fsFor 10000Hz.
The influence of performance is estimated to test mixing signal-to-noise ratio to the carrier frequency of psk signal under Alpha Stable distritation noises,
Respectively to BPSK and QPSK signals the case where, characteristic index α=1.5 of Alpha Stable distritation noises.As shown in Fig. 2, low
Method of estimation of the invention can reach comparatively ideal estimation performance under signal-to-noise ratio environment, and with the increase of signal-to-noise ratio, originally
The performance of the method for estimation of invention improves therewith.
In order to test loads of the characteristic index α to PSK signals under Alpha Stable distritation noises of Alpha Stable distritation noises
Frequency estimates the influence of performance, and further illustrates the present invention the superiority of method, in identical emulation experiment environment and signal
Under parameter setting, the case where being respectively BPSK and QPSK signals to signal model, the method for the present invention and bibliography based on point
The carrier frequency estimation method of number low order Cyclic Spectrum thought, carries out contrast test.As shown in figure 3, with the increase of characteristic index, this
The performance of the method for estimation of invention improves therewith, and better than the method for estimation of bibliography.
Superiority in order to further illustrate the present invention is right under identical emulation experiment environment and signal parameter setting
The case where signal model is respectively BPSK and QPSK signals, the method for the present invention and bibliography are thought based on fractional order Cyclic Spectrum
The carrier frequency estimation method thought carries out contrast test.As shown in Figure 4, Figure 5, the estimation performance of the method for the present invention is superior to reference to text
The method of estimation offered.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Every any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (8)
1. a kind of intelligent interaction robot control system, which is characterized in that the intelligent interaction robot control system includes：
Wake-up module is connect with central processing module, and operation is interacted for waking up robot；
Photographing module is connect with central processing module, and user image is acquired for passing through camera；
Voice acquisition module is connect with central processing module, the voice data information for acquiring user；
Central processing module, with wake-up module, photographing module, voice acquisition module, picture recognition module, session module, data
Memory module, display module connection, for controlling modules normal work；
Picture recognition module is connect with central processing module, is known for action element in the user image image to acquisition
Not；
Session module is connect with central processing module, for engaging in the dialogue operation with user；
The wake-up module awakening method is as follows：
First, in the dormant state, interactive operation is obtained, and determines interaction parameter corresponding with the type of the interactive operation；
Then, judge whether the interaction parameter meets wake operation requirement；
Finally, when the interaction parameter, which meets the wake operation, to be required, the component being closed accordingly is opened；
The type of the interactive operation be gesture operation when, it is described in the dormant state, obtain interactive operation, and determine with it is described
The corresponding interaction parameter of type of interactive operation, including：
In the dormant state, the gesture for obtaining interactive object determines between the interactive object and the intelligent interaction robot
Distance；
After the gesture for obtaining interactive object, judge whether the gesture meets preset standard gesture, the mark
Quasi- gesture includes following one or more：
Number that range sensor is blocked blocks the matched gesture of number with preset, the time that range sensor is blocked with
The preset gesture for blocking time match and the range sensor is blocked twice in succession interval time and preset interval
The gesture of time match；
When the gesture meets preset standard gesture, then entrance determines the interactive object and the intelligent interaction machine
The step of the distance between people；
Session module dialogue method includes：
First, a variety of different dialog strategies are pre-stored, the dialog strategy includes at least absolutely dry pre- dialog strategy, half intervention pair
Words strategy and nonintervention dialog strategy；
Secondly, according to current session strategy generating answer signal；
Then, current session strategy is converted to selected dialog strategy in response to choosing instruction；
Finally, answer signal is regenerated according to selected dialog strategy；
In the image recognition of picture recognition module, modulated in conjunction with chaotic secret communication and pattern, it is after real information is extended and mixed
Ignorant code exclusive or generates corresponding pseudo-code, controls whether corresponding hop period sends carrier frequency by pseudo-code, whether carrier frequency is sent in the period
Location information forms different modulation pattern；The rule whether sent by carrier frequency transmits information, and real information is hidden in
It modulates in pattern, and the randomness of chaos sequence enhanced modulation pattern；
Cycle co-variation letter is asked to the psk signal that modulation pattern real information contains Alpha Stable distritation noises that is hidden in of reception
Number；
Fourier transformation is carried out to the cycle covariant function, it is asked to recycle co-variation spectrum；
Pass through the section of the cycle co-variation spectrum extraction cycle frequency ε=0Hz；The peak value of the positive and negative semiaxis in the section is searched for,
Find the corresponding positive negative frequency value of the peak value, and the estimated value averaged as carrier frequency after taking absolute value.
2. intelligent interaction robot control system as described in claim 1, which is characterized in that the image recognition of picture recognition module
Method specifically includes following steps：
Step 1, by the 1 of real information, that is, code word and 0 sequence by N times extension after, respectively with the chaos sequence of corresponding time sequencing
Row carry out exclusive or, obtain the corresponding pseudo-code of information code word；
The frequency hop sequences generated by pseudo-code generator are divided into one group by step 2, information transmitting terminal per N number of point, and each code word is corresponding
N number of pseudo- symbol correspond to the frequency point in frequency hop sequences N number of period, and 1 and the 0 of pseudo-code respectively represents on corresponding hop period and is
No transmission carrier frequency forms modulation pattern, pseudo-code sequence is carried out unconventional modulation by modulation pattern, then give birth to by frequency synthesizer
At frequency hopping pattern be mixed, sent；
Step 3 after information receiving end receives signal, estimates the transmission rule of transmitting terminal carrier frequency, then with it is known
Hopping frequencies sequence is compared, equal with corresponding temporal carrier frequency, is denoted as 1, with corresponding temporal carrier frequency
It is unequal to be denoted as 0；
The sequence compared chaos sequence exclusive or identical with transmitting terminal is compressed through N times and is believed up to true by step 4
Breath；
Step 5 seeks cycle to the psk signal that modulation pattern real information contains Alpha Stable distritation noises that is hidden in of reception
Covariant function；
Fourier transformation is carried out to the cycle covariant function, it is asked to recycle co-variation spectrum；
Pass through the section of the cycle co-variation spectrum extraction cycle frequency ε=0Hz；The peak value of the positive and negative semiaxis in the section is searched for,
Find the corresponding positive negative frequency value of the peak value, and the estimated value averaged as carrier frequency after taking absolute value.
3. intelligent interaction robot control system as claimed in claim 2, which is characterized in that the step 1 further comprises：
Bit rate is F by the first stepb_realThe authentic and valid information x [1 of=25kbps:1000] N=5 times extending transversely, i.e., 1 expands
Exhibition is extended to 00000 for 11111,0, obtains sequence x1[1:5000], sample rate Fs_real=5MHz；
Second step generates Chebyshev-Map chaos sequences y [1:5000], mapping equation is：
yn+1=Tk(yn)=cos (kcos-1yn),yn∈[-1,1]；
Wherein k is that Chebyshev mapping parameters take 4, ynFor current state, yn+1For next state, from initial value y0Start to change
In generation, quantifies obtained sequence two-value to obtain sequences y={ y using thresholding0,y1,y2,…,yi..., initial value y0Take 0.6；
Third walks, by sequence x1Pseudo-random sequence z [1 is obtained with chaos sequence y exclusive or:5000]：
The step 2 further comprises：
(1) by pseudo-code sequence z [1:5000] 1 and 0 control generates modulation pattern, and pseudo-code sequence z carries out unconventional BPSK modulation,
It is 1, then it is cos (2 π f to correspond to baseband signal in the timec_bpskT), it is 0, then corresponds to baseband signal in the time and be all 0, generate base
Band modulated signal fbpsk[1:100000]；
(2) pseudo-random sequence is generated by pseudo-noise code generator, by command decoder, control frequency synthesizer generates hopping pattern
Case X；
(3) by baseband modulation signal fbpskWith frequency hopping pattern X after frequency mixer is mixed, obtains transmission signal rs and sent again；
The method that the synthesizer generates frequency hopping pattern X is：By the frequency hop sequences that pseudo-noise code generator formation range is 1-8
xhop[1:5000], with random number xhop(i), the corresponding frequency-hopping carrier frequency f of i=1...5000c(xhop(i)) it is：
fc(xhop(i))=fL+(xhop(i)-1)*fI；
fsend(i)=fc(xhop(i))；
Wherein low-limit frequency fL=30M, stepped-frequency interval fIThus=0.25M obtains frequency-hopping carrier frequency set fsend[1:
5000], frequency-hopping carrier, that is, frequency hopping pattern X [1 is regenerated:100000].
4. intelligent interaction robot control system as described in claim 1, which is characterized in that the cycle co-variation for receiving signal
Function includes：
The signal contains the mpsk signal for obeying S α S partition noises, can be expressed as：
Wherein E is the mean power of signal,M=2k, m=1,2 ... M,
Q (t) indicates that rectangular pulse waveform, T indicate symbol period, fcIndicate carrier frequency, φ0Indicate initial phase, if (herein whether
It needs to add condition：If) w (t) is the non-Gaussian noise for obeying S α S distribution, autocovariance function is defined as：
Wherein (x (t- τ))<p-1>=| x (t- τ) |p-2X* (t- τ), γx(t-τ)It is the coefficient of dispersion of x (t), then the cycle of x (t) is total
Change is defined as：
Wherein ε is known as cycle frequency, and T is a code-element period；
The cycle co-variation spectrum for receiving signal is carried out as follows：
Cycle co-variation spectrum is to recycle the Fourier transformation of covariant function, is expressed as：
It recycles co-variation spectrum and is derived as：
As M >=4,Place,
As M=2,
Wherein Q (f) is the Fourier transformation of q (t), and
Carrier frequency estimation is realized in the section that cycle frequency ε=0Hz in co-variation spectrum is recycled by extraction, is carried out as follows：
The envelope of the cycle co-variation spectrum on n=0, that is, ε=sections 0Hz be：
As f=± fcWhen, envelope obtains maximum value.
5. intelligent interaction robot control system as described in claim 1, which is characterized in that the intelligent interaction robot control
System further includes：
Data memory module is connect with central processing module, the user information for storing acquisition；
Display module is connect with central processing module, for showing the interactive information content.
6. a kind of computer for realizing intelligent interaction robot control system control method described in Claims 1 to 5 any one
Program.
7. it is a kind of equipped with the information data for stating intelligent interaction robot control system described in Claims 1 to 5 any one at
Manage terminal.
8. a kind of computer readable storage medium, including instruction, when run on a computer so that computer is executed as weighed
Profit requires the intelligent interaction robot control system control method described in 1-5 any one.
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