Robot system and method for detecting human face and recognizing emotion

Abstract

The invention discloses a robot system and method for detecting a human face and recognizing emotion. The system comprises a human face expression library collecting module, an original expression library building module, a feature library rebuilding module, a field expression feature extracting module and an expression recognizing module. The human face expression library collecting module is used for collecting a large number of human face expression color image frames through a video collecting device and processing the human face expression color image frames to form a human face expression library. The original expression library building module is used for extracting expression features after removing image redundant information of training images in the human face expression library to form an original expression feature library. The feature library rebuilding module is used for rebuilding the original expression feature library as a structuralized hash table through the distance hash method. The field expression feature extracting module is used for collecting field human face expression color image frames through the video collecting device and extracting field expression features. The expression recognizing module is used for recognizing the human face expression through the k neighbor sorting algorithm in the feature library in which the field expression features extracted by field expression feature extracting module are rebuilt.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a system and method for human face detection and emotion recognition of intelligent robots. Background technique [0002] Existing home service robots have limited face recognition capabilities, especially very limited emotion recognition capabilities, and cannot fully recognize the emotional state of the elderly or children in the family. For example, Chinese patent application CN200720077448.9 describes a human An intelligent robot for face recognition, which includes: a robot body with leg motors, arm motors, neck motors and speakers; a camera device installed on the robot body and used to capture human face images; The face image captured by the camera device is compared with the pre-stored face image to identify the face recognition unit of the captured face image; Chinese patent application 201220365083.0 describes a security robot for face recognition, which con...

AI Technical Summary

Problems solved by technology

[0002] Existing home service robots have limited face recognition capabilities, especially very limited emotion recognition capabilities, and cannot fully recognize the emotional state of the elderly or children in the family. For example, Chinese patent application CN200720077448.9 describes a human An intelligent robot for face recognition, which includes: a robot body with leg motors, arm motors, neck motors and speakers; a camera device installed on the robot body and used to capture human face images; The face image captured by the camera device is compared with the pre-stored face image to identify the face recognition unit of the captured face image; Chinese patent application 201220365083.0 describes a security robot for face recognition, which consists of a security robot body , a camera device installed on the surface of the security robot body for taking face images, installed inside the security robot body and used to compare and identify the face images captured by the camera device with pre-stored face images Face recognition module, a data processing module for processing data and sending instructions to other modules, and a remote control module for users to issue instructions to make security robots perform security actions. Face recognition in these two patent applications module, only by comparing the face image captured by the camera with the pre-stored face image to identify the captured face image, but the recognition ability is limited, especially when storing more face images, it cannot be effectively completed face recognition

[0003] In addition, the Chinese utility model patent CN201120506957.5 provides a robot for helping the elderly and the disabled, which includes a monocular vision system that can rotate, is used to identify daily necessities, visitors and obstacles, and a pair of The five-finger humanoid manipulator and the triangular linkage wheel drive structure used to drive the robot to walk. Although the robot for helping the elderly and the disabled has the functions of anti-theft monitoring, safety inspection, monitoring diagnosis and treatment, assisted walking, article handling, home appliance control, cleaning and sanitation, family entertainment, timekeeping, etc. Waking up, children's education and other functions, but without the functions of face detection and emotion recognition, it is impossible to effectively identify the status of the elderly and children in the family

[0004] To sum up, the existing face detection and emotion recognition systems for home robot applications are mainly composed of movable cameras and fixed cameras, which only implement face recognition systems with limited intelligence and cannot perceive other information around them. Comprehensive analysis of the emotional state of the elderly and children, so as to provide a full range of escort services

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