6916results about How to "Improve environmental adaptability" patented technology

The invention discloses a cucumber picking robot system in a greenhouse environment. The robot system comprises a binocular stereo vision system, a mechanical arm device and a robot mobile platform; the binocular stereo vision system is used for acquiring cucumber images, processing the images in real time and acquiring the position information of the acquired targets; the mechanical arm device is used for capturing and separating the acquired targets according to the position information of the acquired targets; and the robot mobile platform is used for independently moving in the greenhouse environment; wherein, the binocular stereo vision system comprises two black and white cameras, a dual-channel vision real-time processor, a lighting device and an optical filtering device; the mechanical arm device comprises an actuator, a motion control card and a joint actuator; and the robot mobile platform comprises a running mechanism, a motor actuator, a tripod head camera, a processor and a motion controller. The invention also discloses a cucumber picking method in the greenhouse environment. The method of combining machine vision and agricultural machinery is adopted to construct the cucumber picking robot system which is suitable for the greenhouse environment, thus realizing automatic robot navigation and automatic cucumber reaping, and reducing the human labor intensity.

The invention relates to a method for planning a path for a mobile robot based on environmental modeling and a self-adapting window, which relates to a method for planning a real-time path for the mobile robot. The method comprises the following steps of: performing modeling and analysis on a multiple constraint local environment; performing passable analysis; performing safety analysis; performing motion smoothness analysis; performing goal-directed analysis; and performing path planning by adopting the self-adapting window. Because the method has better environmental suitability and obstacle avoiding capacity, the method obtains good safety and reachability, has high calculation real-time property, so the method solves the problem that the mobile robot generates an obstacle avoidance path in real time in an uncertain complex environment, provides a path selection method with optimized integration, better meets the requirements on obstacle avoidance for the mobile robot, realizes the real-time path planning and control of the robot, and provides an effective collision-less path planning method for the navigation application of the mobile robot.

The invention discloses an automatic guidance system based on radio frequency identification labels and vision, and the method of the automatic guidance system. The invention is characterized in adopting a four-wheel structure, wherein two front wheels are used for steering and two rear wheels are used for driving; a direct current motor is used as the travelling and driving device, which is driven to steer by a stepping motor; the invention is provided with a wheel steering angle positioning device, so the invention has relatively high dynamic response ability; a black and white parallel guide belt is adopted as a guide path, with the radio frequency identification labels discontinuously laid below, and red work station characters arranged at both sides; CCD collects road surface information, and the brightness of light source adaptive controls according to image gray information; characters are extracted by utilizing color differences; straight lines are rapidly HOUGH transformed and identified; a control signal is sent to AGV controller after processed by an industrial control computer, and the direct current motor and the stepping motor are controlled. In order to effectively realize the communication dispatch between AGVS in real time, radio frequency identification labels are adopted for positioning, and a wireless transceiver module is adopted for communication between AGVS and a host. The invention has the advantages of good environmental adaptability and navigation precision, and lower cost.

The invention discloses a road boundary detecting and tracking method. The road boundary detecting and tracking method comprises acquiringpolar coordinate data of radar scanning points of the surroundings of an unmanned vehicle through radar scanning, and converting the polar coordinate data into rectangular coordinates; mapping radar points into a polar coordinate grid, and according to the height of extending vertexes in the grid, extracting ground points; extracting road boundary points through the radial distance of the scanning points from a road boundary under the same scanning line as well as the height mutation properties of the neighboring scanning points and by combining with a road extending direction; performing filtering through the random sampling consensus algorithm, fitting the filtered road boundary points through the least square method; performing tracking through a Kalman filter. The road boundary detecting and tracking method can effectively extract road boundaries in an actual scenario when obstacles exist on roads, and by means of the Kalman filter, enhances the boundary detecting accuracy and reliability. The road boundary detecting and tracking method involves no complex computation, thereby being high in practicality and applicable to wide application to unmanned navigation modules.

The invention discloses an intensive learning based urban intersection passing method for a driverless vehicle. The method includes a step 1 of collecting vehicle continuous running state informationand position information through a photographing method, the vehicle continuous running state information and position information including speed, lateral speed and acceleration value, longitudinal speed and acceleration value, traveling track curvature value, accelerator opening degree and brake pedal pressure; a second step of obtaining characteristic motion track and the velocity quantity of actual data through clustering; a step 3 of processing original data by an exponential weighting moving average method; a step 4 of realizing the interaction passing method by utilizing an NQL algorithm. The NQL algorithm of the invention is obviously superior to a Q learning algorithm in learning ability when handling complex intersection scenes and a better training effect can be achieved in shorter training time with less training data.

The invention relates to a fire smog detection method based on motion characteristics and the convolutional neural network. Through reading a video file, a first image is stored as an original image,and smog detection on each frame of the video is carried out; firstly, the original image is added to background update as reference, a background model is further established, secondly, a foregroundimage is extracted through a difference method, the foreground image is filtered through a dark channel threshold image to acquire candidate smog areas, lastly, a depth convolutional neural network model after training is loaded to automatically extract high-level characteristics of the candidate smog areas, and whether the candidate smog areas are smog areas is determined according to extracted characteristic vectors. The method is advantaged in that the channel prior knowledge is added to motion foreground detection, common interference is effectively filtered, environment adaptability of adetection method is improved, the convolutional neural network is used for carrying out characteristic extraction of smog images, and detection efficiency is substantially improved.

The invention discloses a real-time precise orbit determining method of a short orbit arc low earth orbit (LEO) navigation satellite. The method is characterized in that four or more ground receivers are used for tracking navigation signals of a plurality of GNSS (Global Navigation Satellite System) navigation satellites and LEO navigation satellites, and transmitting the navigation signals to a data center in real time. The method comprises the following steps: I, acquiring and preprocessing observing data; II, performing precise time synchronization on the receivers; III, calculating tropospheric delay in an LEO gazing direction by using tropospheric delay in a vertical direction and a projection function; IV, correcting hardware delay of the receivers to build an LEO determining geometric observing equation; V, solving an LEO precise orbit and a precise clock error through a dynamical model and the geometric equation of the LEO; VI, distributing the LEO precise orbit and the precise clock error in real time. By adopting the method, the problem of need of post-processing due to incapability of calculating the precise orbit of a low earth orbit satellite can be solved.

The invention relates to a datum point positioning method based on machine vision, which belongs to the field of image processing and aims to solve the problems of poor datum point positioning accuracy and high cost of surface mounting equipment. The method comprises the following steps that a vision obtaining device is adjusted to obtain a datum point regional image; the image is preprocessed, and a threshold is set to establish a binary image; connected region labeling is performed on the binary image, so as to find out the largest connected region as a target region of a datum point; Canny edge detection is performed on an original image, so as to preliminarily determine coarse edge points; Hough transformation processing is performed on the coarse edge points, and an optimal existing circle in the image is found out; the distance between each edge point and the center of the circle is calculated; the position of a sub-pixel level of the edge point is obtained; and circular least-square fit is performed on the edge point in the position of the sub-pixel level, and then an accurate center and radius of the datum point are obtained and sent to a control system. The datum point positioning method can be widely applied to accurate positioning of the datum point.

The invention discloses a method for optimizing WLAN (Wireless Local Area Network) indoor ANN (Artificial Neural Network) positioning based on FCM (fuzzy C-means) and least-squares curve surface fitting methods, relating to an indoor positioning method used for indoor positioning and aiming to solve generalization capability reduction of an ANN system caused by singular reference points existing in a training sample space. The method comprises the following steps of carrying out clustering on pre-labeled reference points based on the FCM method to confirm corresponding clustering centers and membership degree of different reference points to clustering centers thereof; obtaining the space position of the singular reference points in a target positioning area on the basis of carrying out quantitative processing and similarity calculation on the membership degree of the reference points; updating positioning fingerprint database by utilizing the least-squares curve surface fitting method to reject abrupt change points in an intensity distribution chart; estimating the cluster of a terminal on the basis of calculating the Euclidean distance between signal intensity samples collected online and different clustering centers; and finally accurately estimating the terminal by utilizing corresponding ANN subsystems.

The invention belongs to the technical field of robots, and relates to a crawler-type pipeline robot with active adaptation and self-adaptation functions. A series combination mechanism, which is composed of a screw mechanism, a rocker slider mechanism and a parallelogram mechanism and driven by a stepper motor, is utilized to actively adapt to different pipeline diameters and keep a certain pressure between the crawler and pipeline inner wall. A set of butterfly springs arranged between the screw nut and slider are stressed to generate deformation to automatically adapt to the working conditions of pipeline joints, uneven-surface partial obstacles and the like in the pipeline. Three servomotors drive three sets of synchronous belt wheels to rotate through the transmission of a bevel gear and a cylindrical gear, thereby driving the three bifacial synchronous notched belts used as pipeline robot crawlers to move, and implementing the running function of the pipeline robot. The crawler-type pipeline robot has the simple structure, high operation and running safety, high environmental adaptability and wide application range, is convenient to use, and can work in pipelines with different diameters.

The invention discloses a non-baffle-board laser AGV and relates to the technical field of transportation equipment. The non-baffle-board laser AGV can achieve positioning and obstacle avoidance without baffle boards and comprises a laser scanner, a vehicle body, an upper computer system, a lower computer system, an actuator and an input-output device, wherein the laser scanner is electrically connected with the upper computer system, the upper computer system is electrically connected with the lower computer system, the input-output device is connected with the lower computer system, and the actuator is rotatably connected to the lower portion of the vehicle body and is used for driving the non-baffle-board laser AGV to run.

The invention relates to a communication fuel cell spare power supply system, which comprises a hydrogen generation and storage unit, a fuel cell unit, a DC / DC unit, an output unit, an electric control unit, a routing inspection unit, a monitoring unit and a communication unit, and is characterized in that: the hydrogen generation and storage unit generates hydrogen by using solar or wind energy and releases the hydrogen by absorbing the heat of the fuel cell unit; the fuel cell unit generates direct current electric energy and heat by the electrochemical reaction of the hydrogen and oxygen; the DC / DC unit adjusts and boosts the direct current electric energy and then supplies the direct current electric energy to the output unit; the output unit supplies power to a load when commercial power fails; the electric control unit acquires various data and sends control information to all units; the routing inspection unit acquires all individual cell voltage values for transmission; the monitoring unit displays various parameters and working states and realizes human-computer interaction; and the communication unit performs short-range and long-range communication and monitoring. The power supply system is clean, high efficient, reliable and applicable to various communication spare power supplies.

A lane robust identification method for warning departure is that first conducts conditional edge detection on the left and right local windows, and constructs the corresponding gradient direction map. Then, according to the histogram processing method, the gradient direction range of lane edge points on every local window. Aiming at the continuity features of direction and space of lane edge points, the filtering algorithm of the candidate and effect point collection is put forward and every window is filtered. Finally, according to the established effective point collection corresponding to each window, the rapid and accurate extraction of lane symbol is realized though the Kalman filter method based on scalar processing.

The invention discloses a gait planning method for walking of a biped robot along a slope, and belongs to the technical field of robots. The method contains two core theories, namely, non-orthogonal decomposition and synthesis of a three-dimensional linear inverted pendulum and gait planning based on a biped long linear inverted pendulum. The method comprises the steps of gait parameter configuration, non-orthogonal decomposition of a three-dimensional linear inverted pendulum, foot trajectory planning based on three times of spline interpolation, centroid trajectory planning of a sagittal plane and a coronal plane based on a biped long linear inverted pendulum, non-orthogonal synthesis of the centroid trajectories of the sagittal plane and the coronal plane, and solving of joint trajectories of a robot based on inverse kinematics. By adopting the method of the invention, stable walking of a biped robot along all directions of a slope can be effectively achieved. The method is universal, simple in algorithm and high in practicality.

The invention discloses a high-voltage transmission line / tower remote video on-line monitoring system which comprises a multifunctional monitoring base station, a wireless communication network and a remote monitoring center; the multifunctional monitoring base station is connected with the remote monitoring center through the wireless communication network and is arranged on the tower of the high voltage transmission line; the wireless communication network supports the video communication; the multifunctional monitoring base station is used for acquiring the spot scene information, and sending the spot scene information to the remote monitoring center through the wireless communication network; and the spot scene information comprises the video / image, audio frequency, spot monitoring data as well as early warning / warning message of the high-voltage transmission line / tower. In the invention the high-voltage transmission line / tower spot scene is transmitted to the remote monitoring center through the wireless communication network synchronization, thus the monitoring center operator can grasp the running state of the high-voltage transmission line / tower timely and accurately, and the comprehensive monitoring of the high-voltage transmission line / tower is realized.

The invention discloses a picking robot and a picking method for kiwi fruits. The picking robot for the kiwi fruits comprises a machinery execution system and a control system, and is characterized in that the machinery execution system comprises a car body, a telescopic slide platform, a five freedom degree picking robot arm and a two finger type end actuator, and the control system comprises an industrial personal computer, a motion control card, a data acquisition card, an image acquisition card, a servo motor driver, a binocular video camera, an infrared sensor, a pressure sensor, an electric control cabinet and a control circuit. The picking robot and the picking method for the kiwi fruits use a building block design philosophy to integrate the two finger type end actuator, the five freedom degree picking robot arm, the telescopic slide platform and a sensor system together and integrate image acquisition and feature extraction of fruits and barriers, intelligent mobility of the telescopic slide platform, counterguard and fruit positioning of the five freedom degree picking robot arm and grab motions of the two finger type end actuator together, and therefore achieve mechanization and automation of picking of the kiwi fruits, improve labor productivity, reduce production cost, and guarantee harvest quality of the kiwi fruits.

A double-longitudinal-mode laser heat frequency stabilization method and a device based on the iodine frequency stabilization reference light belong to the application technical field, the invention takes the center frequency of the iodine frequency stabilization laser with a relative frequency accuracy being 10<-11> as a reference frequency, and leads the frequency of laser output by multi-double-longitudinal-mode lasers to keep one fixed difference with the reference frequency through regulating cavity length, so that the relative frequency accuracy of the double-longitudinal-mode laser is improved from 10<-7>-10<-8> to 10<-9>, the frequency consistency of multi-double-longitudinal-mode lasers is improved from 10<-7> to 10<-9>, therefore, the problems that the relative frequency accuracy of the double-longitudinal-mode laser can not exceed 10<-8> and the frequency consistency of multi-double-longitudinal-mode lasers is poor are solved.

The invention relates to a thermal management system for a pure electric vehicle, which is characterized in that it includes an electric drive system and a charger cooling circuit, a power battery cooling circuit, a power battery charging heating circuit, a passenger compartment heating circuit and a passenger compartment refrigeration circuit; The electric drive system and charger cooling circuit includes radiators, fans, kettles connected by pipelines, the electric drive system and charger cooling water pump installed in the circuit, as well as the motor controller and DCDC, as well as the charger and motor. The radiator realizes liquid-gas heat exchange to cool the heat dissipation components. Improve the environmental adaptability of electric vehicles, the power performance in high-temperature environments, the durability of key components, and the energy utilization efficiency of the entire vehicle.

The invention relates to a radar detection technology, and provides a method and a device for detecting radar acquiring low-altitude wind profiles through combination of a frequency-modulated continuous-wave radar technology and a wind profile radar technology against the poor low-altitude detection capability of the existing equipment. One phased-array antenna is adopted to transmit serrated linear frequency-modulated continuous waves, and the other phased-array antenna is adopted to receive echo signals, thus forming a dual-antenna working mode of continuous-wave radar. The array surfaces of the two antennas are horizontally placed side by side with opening surfaces facing upward. Time-sharing scanning is carried out to form five detection wave beams which are the same with wind profile radar, and detection signals and data of the five wave beams are processed in the same way that signals and data of wind profile radar are processed so as to obtain a low-altitude wind profile of which the smallest height can be as small as 50m to 10m and other basic data products. A low-altitude continuous-wave wind measuring radar manufactured by adopting the method and the device of the invention has a wide range of applications.

The invention provides a planet wheel type stair-climbing electric wheelchair. The wheelchair comprises a wheelchair frame, a chair backrest, an electric wheelchair controller, a battery, a caster, a front wheel assembly, a stair-climbing controller, a centering roller bearing, a centering bearing block, a conducting slip ring, a connecting disc, a wheel axle fixing component, two driving shafts, a direct-current turnover motor, an RV speed reducer, a pressure sensor, a control box, a tilt sensor, an anti-forerake bracket and two planet wheel groups, wherein the anti-forerake bracket is driven by an electric push rod; and the two planet wheel groups are driven by the direct-current turnover motor through the RV speed reducer and symmetrically distributed so as to realize the stair-climbing function of the electric wheelchair. In each of the planet wheel groups, special allocation of a hub motor and two free wheels is adopted; and the planet wheel groups can work in a manual mode, an electric wheelchair mode and a stair-climbing mode. In addition, in the wheelchair, the pressure sensor and the tilt sensor are used for feeding back the wheelchair running state when the electric wheelchair goes upstairs and downstairs.

The invention relates to a board band piezoelectric generating set. A plurality of socle beams L1, L2, L3 are divided into two groups; one end of each socle beam is fixed and the other end keeps free; the socle beams keep parallel with each other; a crossing section is arranged between the two groups of the socle beams; wherein, the socle beam consists of piezoelectric transduction elements (34, 36), a down-lead (31), a metal block (32) and electrodes (33, 35, 37). The electrodes and the transduction elements are alternately arranged; the down-lead (31) is arranged at the fixed end of the socle beam; the metal block (32) is arranged at the free end of the socle beam. The sizes and the structures of the socle beams L1, L2, L3 are different, the manufacture materials of the piezoelectric transduction elements are different and the qualities of the metal blocks are different, therefore, the resonance frequency of each beam is different. The two groups of the socle beams L1, L2, L3 are arranged in an interdigital structure in plane or an interdigital structure in space. The board band piezoelectric generating set can absorb the mechanical vibration or noise of a plurality of frequency components in the environment and realize the transformation from mechanical energy to electricity energy by the piezoelectric transduction elements so as to increase the generating capacity and improve the generating efficiency.

The invention discloses a portable wearable exoskeleton upper limb robot, which has the following characteristics, including: a back module, which is used to carry a control system and a battery power component, and is used to realize the carrying function; two shoulder modules, The two shoulder modules are respectively arranged on the left and right sides of the back module, and each shoulder module is used to realize abduction or adduction at a certain angle in the horizontal plane of the human shoulder joint, and flexion or abduction at a certain angle in the sagittal plane. Stretching function: two elbow modules, the two elbow modules are respectively connected with the two shoulder modules, each of the elbow modules is used to realize the bending or extension of the human elbow joint at a certain angle. Using the portable wearable exoskeleton upper limb robot of the present invention can effectively reduce the cost, improve the environmental adaptability of the equipment, reduce the work intensity of the rehabilitation physician and improve the work efficiency, thereby ensuring the reliability of the equipment.

The invention discloses a modular unmanned vehicle positioning method and system based on visual inertia laser data fusion. The method comprises the following steps that (1), an acquisition module acquires current information of an unmanned vehicle through a monocular camera, a laser radar and an IMU; (2), according to the current information of the driverless vehicle collected in the step (1), apose estimation module performs pose estimation of the vehicle through a monocular odometer and an IMU pre-integration model to obtain pose information of the unmanned vehicle; and (3), a pose optimization module establishes a multi-sensor fusion optimization model according to the pose estimation information in the step (2), a weight coefficient dynamic adjustment module adjusts the optimizationproportion of each sensor to enhance the environmental adaptability, the optimal pose of the vehicle is obtained after optimization, and the optical pose is converted into a world coordinate system to obtain the real-time pose of the vehicle. The method can meet the requirements for accuracy and robustness of positioning of the unmanned vehicle in a complex environment, and is suitable for positioning of the unmanned vehicle in the complex environment.

The invention discloses multichannel radar amplitude and phase automatic correcting method and device. The method comprises the following steps of: before a radar system works, respectively feeding the same radio frequency test signal into various receiving channels of a multichannel radar system by a feed source to obtain the phase characteristic and the amplitude characteristic of various receiving channels; calculating a phase difference and an amplitude specific value between other channel signals and a reference signal by using one of channel signals as a reference signal; and then enabling the radar system to work, carrying out automatic correction on target echoes of all the channels by utilizing the obtained phase difference and the amplitude specific value so as to ensure the consistency of all the channels on amplitudes and phases. When a transmission frequency point is changed or a radar working environment is changed, the amplitude and phase characteristics of the receiving channels are unavoidably changed; and the invention can accurately and conveniently measure and correct the change of the amplitude and phase characteristic and ensure the consistency of all the channels, thereby expanding the working frequency range and the environmental adaptability of radar and improving the maintainability of the radar.

The invention discloses an automatic leveling system and method for a six-point support bridging platform; six supporting legs are respectively provided with a pressure sensor and respectively connected with a hydraulic device; each hydraulic device is connected with the pressure sensor and an electro-hydraulic servo valve; and a controller is respectively connected with an alarm, a double-shaft tilt sensor, each pressure sensor and each electro-hydraulic servo valve. Coarse adjustment is performed firstly, and then fine adjustment is performed; the coarse adjustment comprises the steps of: inputting a sensed pressure signal of each supporting leg to the controller by the corresponding pressure sensor on the supporting leg, if the pressure value of the supporting leg is less than a preset value in the controller, controlling the alarm to emit an alarm by the controller, or else, performing the fine adjustment; and the fine adjustment comprises the steps of: keeping two middle auxiliary supporting legs still, adjusting two forward supporting legs and two backward supporting legs, keeping the highest supporting leg still, firstly leveling an X direction, and then leveling a Y direction. The automatic leveling system and method for the six-point support bridging platform can ensure that the platform can be automatically leveled in an outdoor severe environment, the good leveling precision and speed can be obtained, and strong environmental applicability and safety are provided.

An electroacoustic transducer includes a condenser microphone, which includes a package having a cavity and a through-hole, a plate whose thickness is thinner than the length of the through-hole and which has a sound hole overlapping with the through-hole in plan view, and an electroacoustic transducer die, which is stored in the cavity of the package. The electroacoustic transducer die includes a fixed electrode and a diaphragm electrode, which are positioned opposite to each other and which are supported by and enclosed inside of a support. The sound hole of the plate is reduced in dimensions realizing a small sectional area and a small depth, thus realizing a high resonance frequency higher than the audio frequency range.

The present invention relates to a two-dimension large-range laser displacement / deflection measuring equipment and its measuring method. Said equipment includes laser transmitting portion and two-dimension laser speckle receiving and measuring portion. The laser transmitting portion is formed-form laser and mounting frame, and said laser mounting frame is a variable damping hinge structure, and the two-dimension laser speckle receiving and measuring portion consists of receiving screen, camera and luminous or non-luminous mark. Said invention also provides the concrete steps of its measurement method.

The invention discloses a non-contact real-time online vibration measurement method based on images, and belongs to the field of vibration measurement and analysis. The method includes the steps that a vibration process of a target object is recorded through a high-speed camera, all frames of images contained in a vibration video of the target object are extracted through vibration measurement software arranged in a computer and are stored in a memory pool opened up by the vibration measurement software arranged in the computer, a thread pool is created in the vibration measurement software arranged in the computer, corresponding image frames are extracted from the memory pool by different threads in the thread pool in order, coordinates of the images and an actual object are established so that the size conversion matrix M between the images and the actual object can be solved, and therefore actual coordinates and displacement imaged through the camera are mapped in the vibration process and a measuring result and a data curve are output. A non-contact measurement mode is adopted in the method, vibration characteristics of test objects cannot be changed, measurement accuracy is high, and vibration characteristic measurement can be conducted on vibration objects under poisonous and harmful, high-temperature and dangerous environments.

The invention belongs to the field of robots, and relates to a multi-sensor information collection analyzing system, a robot device which performs real-time monitor and adjuvant treatment for autism children by using the system and a control technology of the robot device. In the multi-sensor information collection analyzing system, a plurality of sensors, collectors and information output equipment transmit communication information by adopting a controller area network (CAN) fieldbus, and the distribution type information fusion technology ensures that mounting and clipping of the equipmentto be more convenient and efficient. By adopting the multi-information fusion technology, the ways for the robot to collect interactive object emotions are increased, and the affinity and interactivesuccessful rate of human-machine interaction are improved.

The invention discloses a driver emotion recognition method and device. The method comprises the following steps of: acquiring at least two data in image data of a driver, voice data of the driver, and travelling data of a driving vehicle; recognizing the emotion of the driver according to multiple acquired data respectively, so that an emotion recognition result in each data type is obtained; and, on the basis of the obtained emotion recognition result in each data type, judging the emotion of the driver according to a set emotion judgement policy. By means of the driver emotion recognition method and device disclosed by the invention, emotion recognition can be carried out respectively according to at least two data in the image data, the voice data and the vehicle travelling data; furthermore, the emotion state of the driver is comprehensively judged according to obtained multiple emotion recognition results; the emotion state recognition manner cannot be influenced by single road conditions, vehicle conditions, facial features, voice features and the like; the recognized motion of the driver accords with the practical driver emotion state well; and thus, the emotion recognition accuracy and the environmental suitability are improved.