CN110207318B - Voice-controlled air purification robot - Google Patents

Voice-controlled air purification robot Download PDF

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CN110207318B
CN110207318B CN201910498362.0A CN201910498362A CN110207318B CN 110207318 B CN110207318 B CN 110207318B CN 201910498362 A CN201910498362 A CN 201910498362A CN 110207318 B CN110207318 B CN 110207318B
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voice
air purification
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face image
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吴赵东
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/50—Control or safety arrangements characterised by user interfaces or communication
    • F24F11/52—Indication arrangements, e.g. displays
    • F24F11/526—Indication arrangements, e.g. displays giving audible indications
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/50—Control or safety arrangements characterised by user interfaces or communication
    • F24F11/56—Remote control
    • F24F11/58—Remote control using Internet communication
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
    • F24F11/63—Electronic processing
    • F24F11/64—Electronic processing using pre-stored data

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Abstract

The invention discloses a voice-controlled air purification robot, which comprises a robot body, a man-machine interaction system, a master control system and an air purification system, wherein the man-machine interaction system, the master control system and the air purification system are arranged on the robot body; the man-machine interaction system carries out information interaction with a user to obtain a voice control instruction sent by the user and sends the voice control instruction to the main control system; the main control system controls the running state of the air purification system according to the received voice control instruction; the air purification system purifies the surrounding environment according to the air condition of the environment where the air purification robot is located. Compared with the prior art, the method and the device have the advantages that the voice signals of the collected users are processed, and then the corresponding voice control instructions are output and sent to the main control system, so that the operation state of the air purification system is adjusted. The man-machine interaction system realizes the intelligent control of the air purification system, thereby realizing the purification of the surrounding environment of the air purification robot.

Description

Voice-controlled air purification robot
Technical Field
The invention relates to the technical field of air purification, in particular to a voice-controlled air purification robot.
Background
Domestic type air purifier that has appeared in the existing market adopts unmovable fixed point work operation mode more, and intelligent degree is lower, can not be fine carry out human-computer interaction.
Disclosure of Invention
In order to solve the problems, the invention provides a voice-controlled air purification robot.
The purpose of the invention is realized by adopting the following technical scheme:
a voice-controlled air purification robot comprises a robot body, a man-machine interaction system, a master control system and an air purification system, wherein the man-machine interaction system, the master control system and the air purification system are arranged on the robot body;
the human-computer interaction system is used for carrying out information interaction with a user to obtain a voice control instruction sent by the user and sending the voice control instruction to the master control system;
the master control system is used for controlling the running state of the air purification system according to the received voice control instruction;
and the air purification system is used for purifying the surrounding environment according to the air condition of the environment where the air purification robot is located.
Preferably, the human-computer interaction system comprises a voice acquisition module, a voice processing module and a voice instruction generation module;
the voice acquisition module is used for acquiring voice signals of a user;
the voice processing module is used for processing the voice signal and extracting the voice characteristic parameters of the voice signal;
the voice instruction generating module is used for comparing the extracted voice characteristic parameters with pre-stored standard voice instruction characteristic parameters, determining a voice control instruction sent by a user, and sending the voice control instruction to the master control system.
Preferably, the air purification system includes: the system comprises an environment monitoring module, a processor and an air purification module;
the environment monitoring module is used for acquiring environment parameters of the environment where the air purification robot is located and sending the environment parameters to the processor;
the processor is used for processing and analyzing the environmental parameters, judging whether each index of the current environment exceeds a preset standard index, and if the index exceeds the preset standard index, generating a corresponding air purification instruction and sending the instruction to the air purification module;
and the air purification module is used for purifying the current environment according to the received air purification instruction.
Preferably, the environment monitoring module comprises: one or more of a temperature and humidity sensor, a differential pressure sensor, a wind speed sensor, an oxygen sensor, a carbon dioxide sensor, a particulate matter sensor and a microorganism sensor.
Preferably, the human-computer interaction system further comprises: the identity authentication module is in communication connection with the voice acquisition module;
the identity verification module is used for verifying whether the user has the authority to operate the air purification robot, and if the verification is successful, the voice acquisition module is driven to start to acquire the voice signal of the user.
Preferably, the authentication module comprises: the system comprises a face acquisition unit, a face processing unit and an identity verification unit;
the face acquisition unit is used for acquiring a face image of a user;
the face processing unit is used for processing and extracting the features of the face image and extracting the face feature parameters of the face image;
the identity verification unit is used for matching the extracted facial feature parameters with the facial feature parameters of the personnel with the control authority, if the matching is successful, the user has the authority, and at the moment, a first control instruction is sent to the voice acquisition module to drive the voice acquisition module to start to acquire the voice signals of the user.
Preferably, the face processing unit includes: the system comprises an image enhancement subunit, an image denoising subunit and a feature extraction subunit;
the image enhancement unit is used for enhancing the human face image;
the image denoising subunit is used for denoising the enhanced human face image;
and the feature extraction subunit is used for extracting facial feature parameters of the user from the denoised face image.
Preferably, in the image enhancement unit, the enhancing processing is performed on the face image, specifically:
(1) transforming the face image to an HSV space to obtain the brightness value of each pixel point of the face image;
(2) carrying out graying processing on the face image to obtain a grayed image of the face image;
(3) correcting the gray value of each pixel point in the gray image by using a lower function to obtain a corrected gray value, wherein a set formed by the corrected gray values of the pixel points is the enhanced human face image; the formula of the corrected gray scale value of the pixel point k (xl, yl) is:
Figure GDA0002571439000000021
in the formula (II), H'k(xl，yl)Is the corrected gray value of pixel point k (xl, yl), Hk(xl，yl)Is a pixel point k (in a grayed image)xl, yl) value, HmaxIs the maximum value of the gray value of the grayed image, HminIs the minimum value of the gray values of the grayed image, Ik(xl，yl)Is the brightness value, I, of pixel k (xl, yl)maxIs the maximum value of the brightness value of the face image, IminAnd the minimum value of the brightness value of the face image is obtained.
The invention has the beneficial effects that:
compared with the prior art, the method and the device have the advantages that the voice signals of the collected users are processed to extract the corresponding voice characteristic parameters, the corresponding voice characteristic parameters are compared with the pre-stored standard voice instruction characteristic parameters, and then the corresponding voice control instructions are output and sent to the main control system, so that the adjustment of the running state of the air purification system is realized. The man-machine interaction system realizes the intelligent control of the air purification system, thereby realizing the purification of the surrounding environment of the air purification robot.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
Fig. 1 is a block diagram of an air cleaning robot according to an embodiment of the present invention;
FIG. 2 is a block diagram of a human-computer interaction system 100 according to an embodiment of the present invention;
fig. 3 is a block diagram of an air purification system 300 according to an embodiment of the present invention;
fig. 4 is a block diagram of an authentication module 110 according to an embodiment of the present invention.
Reference numerals: the system comprises a human-computer interaction system 100, a master control system 200, an air purification system 300, an identity verification module 110, a voice acquisition module 120, a voice processing module 130, a voice instruction generation module 140, an environment monitoring module 310, a processor 320, an air purification module 330, a face acquisition unit 111, a face processing unit 112, an identity verification unit 113, an image enhancement unit 1121, an image denoising subunit 1122 and a feature extraction subunit 1123.
Detailed Description
The invention is further described with reference to the following examples.
A voice-controlled air purification robot comprises a robot body, a man-machine interaction system 100, a master control system 200 and an air purification system 300, wherein the man-machine interaction system 100, the master control system 200 and the air purification system 300 are arranged on the robot body;
the human-computer interaction system 100 is configured to perform information interaction with a user to obtain a voice control instruction sent by the user, and send the voice control instruction to the master control system 200;
the main control system 200 is configured to control an operation state of the air purification system 300 according to the received voice control instruction;
the air purification system 300 is configured to perform purification treatment on the surrounding environment according to the air condition of the environment where the air purification robot is located.
Preferably, the human-computer interaction system 100 includes a voice acquisition module 120, a voice processing module 130 and a voice instruction generation module 140;
the voice acquisition module 120 is configured to acquire a voice signal of a user;
the voice processing module 130 is configured to process the voice signal and extract a voice feature parameter of the voice signal;
the voice instruction generating module 140 is configured to compare the extracted voice characteristic parameters with pre-stored standard voice instruction characteristic parameters, determine a voice control instruction sent by the user, and send the voice control instruction to the master control system 200.
Preferably, the air purification system 300 includes: an environmental monitoring module 310, a processor 320, and an air purification module 330;
the environment monitoring module 310 is configured to collect an environment parameter of an environment where the air purification robot is located, and send the environment parameter to the processor 320;
the processor 320 is configured to process and analyze the environmental parameters, determine whether each index of the current environment exceeds a preset standard index, and if the index exceeds a standard, generate a corresponding air purification instruction and send the instruction to the air purification module 330;
the air purification module 330 is configured to perform purification processing on the current environment according to the received air purification instruction.
Preferably, the environment monitoring module 310 includes: one or more of a temperature and humidity sensor, a differential pressure sensor, a wind speed sensor, an oxygen sensor, a carbon dioxide sensor, a particulate matter sensor and a microorganism sensor.
Preferably, the human-computer interaction system 100 further comprises: an identity verification module 110 in communication with the voice acquisition module 120;
the identity verification module 110 is configured to verify whether the user has a right to operate the air purification robot, and if the verification is successful, drive the voice acquisition module to start acquiring a voice signal of the user.
For avoiding other people to operate the air purification robot at will, the authentication module 110 is designed in the embodiment, the embodiment firstly authenticates the identity of the user, so that only personnel with control authority are allowed to carry out voice control on the air purification robot, the energy loss of the air purification robot caused by malicious operation of other people is avoided, and the service life of the air purification robot is prolonged.
Preferably, the identity verification module 110 includes: a face acquisition unit 111, a face processing unit 112 and an identity verification unit 113;
the face acquisition unit 111 is used for acquiring a face image of a user;
the face processing unit 112 is configured to process and extract features of the face image, and extract face feature parameters of the face image;
the identity verification unit 113 is configured to match the extracted facial feature parameters with facial feature parameters of a person with control authority, if the matching is successful, the user has authority, and at this time, a first control instruction is sent to the voice acquisition module 120 to drive the voice acquisition module 120 to start acquiring a voice signal of the user.
Preferably, the face processing unit 112 includes: an image enhancement unit 1121, an image denoising subunit 1122 and a feature extraction subunit 1123;
the image enhancer unit 1121 is configured to perform enhancement processing on the face image;
the image denoising subunit 1122 is configured to perform denoising processing on the enhanced face image;
the feature extraction subunit 1123 is configured to extract facial feature parameters of the user from the denoised face image.
In an optional embodiment, in the image enhancement unit 1121, the enhancing process is performed on the face image, specifically:
(1) transforming the face image to an HSV space to obtain the brightness value of each pixel point of the face image;
(2) carrying out graying processing on the face image to obtain a grayed image of the face image;
(3) correcting the gray value of each pixel point in the gray image by using a lower function to obtain a corrected gray value, wherein a set formed by the corrected gray values of the pixel points is the enhanced human face image; the formula of the corrected gray scale value of the pixel point k (xl, yl) is:
Figure GDA0002571439000000051
in the formula (II), H'k(xl，yl)Is the corrected gray value of pixel point k (xl, yl), Hk(xl，yl)Is the gray value of pixel point k (xl, yl) in the grayed image, HmaxIs the maximum value of the gray value of the grayed image, HminIs the minimum value of the gray values of the grayed image, Ik(xl，yl)Is the brightness value, I, of pixel k (xl, yl)maxIs the maximum value of the brightness value of the face image, IminAnd the minimum value of the brightness value of the face image is obtained.
Has the advantages that: in the above embodiment, the face image is subjected to image enhancement processing by the above formula, in the enhancement processing process, the face image is firstly transformed into HSV space to obtain the brightness value of each pixel point, then the face image is subjected to graying processing to obtain the gray value of each pixel point, then based on the obtained brightness value and gray value of each pixel point, the gray value of each pixel point is corrected by using the formula to obtain the gray value of the corresponding pixel point after enhancement treatment, the embodiment considers the influence of the gray value of the pixel point as well as the influence of the brightness value of the pixel point, the image enhancement processing process is simple, the processing speed is high, the influence of the brightness information on the image enhancement processing effect can be reflected, therefore, the image enhancement processing of the face image is realized, the area with obvious characteristics is highlighted, and the subsequent extraction of the face characteristic data capable of representing the identity of the user is facilitated.
In an optional embodiment, in the image denoising subunit 1122, the denoising processing is performed on the enhanced face image, specifically:
(1) selecting a sliding window omega with the size of (2A +1) × (2A +1), calculating a denoising estimation value of a central pixel point p (i, j) in the sliding window omega by using the following formula, and replacing the denoising estimation value with a gray value of a corresponding pixel point in the enhanced face image to obtain the gray value of the pixel point p (i, j) after denoising:
Figure GDA0002571439000000052
Figure GDA0002571439000000053
in formula (II), G'p(i，j)Is the denoised estimate, G, of pixel point p (i, j)p(i，j)Is the gray value of the pixel point p (i, j), q (m, n) is the remaining pixel point except the pixel point p (i, j) in the sliding window omega, Gq(m，n)Is the gray value of the pixel point q (m, n), D (q (m, n)) is the normalization parameter, sigma2For the global noise variance of the face image after the enhancement processing,
Figure GDA0002571439000000061
is the local noise variance of the image block formed by all the pixel points in the sliding window omega, and k is a positive factor set for preventing the denominator from being zero,
Figure GDA0002571439000000062
is a gray scale gradient value of the pixel point q (m, n) in the horizontal direction,
Figure GDA0002571439000000063
is the gray gradient value of the pixel point q (m, n) in the vertical direction, and h is the set smoothing factor;
(3) traversing all pixel points in the enhanced human face image, wherein a set formed by the denoising estimated values of all pixel points is the denoised human face image.
Has the advantages that: in the embodiment, the gray value of each pixel point in the enhanced human face image is estimated through the formula, so that the gray value of each pixel point after noise reduction is obtained, the noise reduction process not only considers the influence of the absolute value of the difference between the gray value of the pixel point to be denoised and the gray value of other pixel points in the sliding window, but also considers the influence of the spatial distance between the pixel point to be denoised and other pixel points in the sliding window and the influence of the gray gradient value of the pixel point to be denoised in the horizontal direction and the vertical direction, so that the denoising estimated value of each pixel point can be accurately estimated, the noise in the human face image is comprehensively denoised, the denoising effect of the unit is improved, and the identity of a user can be accurately recognized subsequently.
In a more preferred embodiment, the above-mentioned global noise variance σ of the enhanced face image2Obtainable by:
(1) dividing the face image after the enhancement processing into a plurality of sub-images with the size of R × TCounting the number of pixels with gray values of 0 and 255 in each sub-image block, abandoning the sub-image block when the number of the pixels exceeds 10 percent of the total number of the pixels of the corresponding sub-image block, and simultaneously calculating the standard deviation s of the gray values of the non-abandoned sub-image blockszAnd image entropy EzWherein z is the index of the non-discarded sub-image blocks, and all the non-discarded sub-image blocks form a sample set
Figure GDA0002571439000000064
(2) Calculating the smoothness value corresponding to the sub-image blocks which are not discarded by using the following formula, and selecting the variance value corresponding to the sub-image block with the largest smoothness value as the final global noise variance sigma2Wherein, the calculation formula of the smoothness value of the sub-image block is:
Figure GDA0002571439000000065
in the formula, FlzIs the smoothness value, s, of the subimage block zzIs the standard deviation of the gray values of the sub-image block z, EzImage entropy, s, being the gray value of the sub-image block zf、sEIs a set small constant, s0、E0The standard deviation value and the image entropy value of the sub-image block are obviously optimized, and s is optimized0、E0Are all zero.
Has the advantages that: in the embodiment, firstly, sub-image blocks with high pixel point ratios of 0 to 255 are deleted in a screening mode, and only the smoothness values of the sub-image blocks which are not deleted are considered, the method is set based on the human face image graying characteristics, because the gray values of the sub-image blocks containing the human face information are distributed between 0 to 255 after the human face image is grayed, therefore, in the noise reduction processing, the sub-image blocks representing the human face information are selected in a centralized manner to describe the global noise variance, so that accurate denoising of the area containing the human face can be realized, and the accuracy of subsequent human face recognition is improved.
The invention has the beneficial effects that:
compared with the prior art, the method and the device have the advantages that the voice signals of the collected users are processed to extract the corresponding voice characteristic parameters, the corresponding voice characteristic parameters are compared with the pre-stored standard voice instruction characteristic parameters, and then the corresponding voice control instructions are output and sent to the main control system, so that the adjustment of the running state of the air purification system is realized. The man-machine interaction system realizes the intelligent control of the air purification system, thereby realizing the purification of the surrounding environment of the air purification robot.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims (5)

1. A voice-controlled air purification robot is characterized by comprising a robot body, a man-machine interaction system, a master control system and an air purification system, wherein the man-machine interaction system, the master control system and the air purification system are arranged on the robot body;
the human-computer interaction system is used for carrying out information interaction with a user to obtain a voice control instruction sent by the user and sending the voice control instruction to the master control system;
the master control system is used for controlling the running state of the air purification system according to the received voice control instruction;
the air purification system is used for purifying the surrounding environment according to the air condition of the environment where the air purification robot is located;
the human-computer interaction system further comprises: the identity authentication module is in communication connection with the voice acquisition module;
the identity authentication module is used for authenticating whether a user has the authority to operate the air purification robot, and if the authentication is successful, the voice acquisition module is driven to start to acquire the voice signal of the user;
the identity verification module comprises: the system comprises a face acquisition unit, a face processing unit and an identity verification unit;
the face acquisition unit is used for acquiring a face image of a user;
the face processing unit is used for processing and extracting the features of the face image and extracting the face feature parameters of the face image;
the identity authentication unit is used for matching the extracted facial feature parameters with the facial feature parameters of the personnel with control authority, if the matching is successful, the user has the authority, and at the moment, a first control instruction is sent to the voice acquisition module to drive the voice acquisition module to start to acquire the voice signals of the user;
the face processing unit includes: the system comprises an image enhancement subunit, an image denoising subunit and a feature extraction subunit;
the image enhancement unit is used for enhancing the human face image;
the image denoising subunit is used for denoising the enhanced human face image;
the feature extraction subunit is used for extracting facial feature parameters of the user from the denoised face image;
in the image denoising subunit, the denoising processing is performed on the face image after the enhancement processing, specifically:
(1) selecting a sliding window omega with the size of (2A +1) × (2A +1), calculating a denoising estimation value of a central pixel point p (i, j) in the sliding window omega by using the following formula, and replacing the denoising estimation value with a gray value of a corresponding pixel point in the enhanced face image to obtain the gray value of the pixel point p (i, j) after denoising:
Figure FDA0002513411880000011
Figure FDA0002513411880000021
in formula (II), G'p(i，j)Is the denoised estimate, G, of pixel point p (i, j)p(i，j)Is the gray value of the pixel point p (i, j), q (m, n) is the remaining pixel point except the pixel point p (i, j) in the sliding window omega, Gq(m，n)Is the gray value of the pixel point q (m, n), D (q (m, n)) is the normalization parameter, sigma2For the global noise variance of the face image after the enhancement processing,
Figure FDA0002513411880000022
is the local noise variance of the image block formed by all the pixel points in the sliding window omega, and k is a positive factor set for preventing the denominator from being zero,
Figure FDA0002513411880000023
is a gray scale gradient value of the pixel point q (m, n) in the horizontal direction,
Figure FDA0002513411880000024
is the gray gradient value of the pixel point q (m, n) in the vertical direction, and h is the set smoothing factor;
(3) traversing all pixel points in the enhanced human face image, wherein a set formed by the denoising estimated values of all pixel points is the denoised human face image.
2. The air purification robot according to claim 1, wherein the human-computer interaction system comprises a voice acquisition module, a voice processing module and a voice instruction generation module;
the voice acquisition module is used for acquiring voice signals of a user;
the voice processing module is used for processing the voice signal and extracting the voice characteristic parameters of the voice signal;
the voice instruction generating module is used for comparing the extracted voice characteristic parameters with pre-stored standard voice instruction characteristic parameters, determining a voice control instruction sent by a user, and sending the voice control instruction to the master control system.
3. The air cleaning robot according to claim 1, wherein the air cleaning system comprises: the system comprises an environment monitoring module, a processor and an air purification module;
the environment monitoring module is used for acquiring environment parameters of the environment where the air purification robot is located and sending the environment parameters to the processor;
the processor is used for processing and analyzing the environmental parameters, judging whether each index of the current environment exceeds a preset standard index, and if the index exceeds the preset standard index, generating a corresponding air purification instruction and sending the instruction to the air purification module;
and the air purification module is used for purifying the current environment according to the received air purification instruction.
4. The air purification robot of claim 3, wherein the environmental monitoring module comprises: one or more of a temperature and humidity sensor, a differential pressure sensor, a wind speed sensor, an oxygen sensor, a carbon dioxide sensor, a particulate matter sensor and a microorganism sensor.
5. The air cleaning robot according to claim 1, wherein in the image enhancement unit, the image enhancement processing is performed on the human face image, specifically:
(1) transforming the face image to an HSV space to obtain the brightness value of each pixel point of the face image;
(2) carrying out graying processing on the face image to obtain a grayed image of the face image;
(3) correcting the gray value of each pixel point in the gray image by using a lower function to obtain a corrected gray value, wherein a set formed by the corrected gray values of the pixel points is the enhanced human face image; the formula of the corrected gray scale value of the pixel point k (xl, yl) is:
Figure FDA0002513411880000031
in the formula (II), H'k(xl，yl)Is the corrected gray value of pixel point k (xl, yl), Hk(xl，yl)Is the gray value of pixel point k (xl, yl) in the grayed image, HmaxIs the maximum value of the gray value of the grayed image, HminIs the minimum value of the gray values of the grayed image, Ik(xl，yl)Is the brightness value, I, of pixel k (xl, yl)maxIs the maximum value of the brightness value of the face image, IminAnd the minimum value of the brightness value of the face image is obtained.
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