# A Voice Recognition Sensor and Voice Control System in an Intelligent Toy Robot System

Authors: Cong Luo
Journal: Journal of Sensors
 (2023)

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## Abstract

In order to make the toy robot more entertaining, interesting, and intelligent, a voice recognition sensor and voice control system in the intelligent toy robot system are proposed. The system builds an overall system architecture including a client and a server. Through the camera calibration and data transmission module of the client, it collects images and calculates the internal and external parameters of the camera and transmits the image and external parameter data to the server. With the images and external parameter data transmitted from the terminal, a background image is constructed and the camera position and angle are updated in real time to complete the fusion of virtual and real scenes. Through the motion control part of the user interaction module, hearing-impaired children can control the movement and rotation of smart toys. The experimental results show that the system has high communication synchronization and stability and can realize high-precision control of smart toys, and the average frame rate can reach 30.97 f/s. The beneficial effect of the system is that it has various functions, has the effect of speech recognition, and is highly interesting.


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## Body

## 1. Introduction

With the improvement of people’s material and cultural living standards, people’s consumption level is getting higher and higher [1]. At present, children’s toys, especially smart toys, have a large market. Smart toys can not only satisfy children’s curiosity and strengthen the interaction between children and toys but also stimulate children’s curiosity [2]. Smart toys integrate advanced technologies in the fields of computers, electronics, and communications, breaking through the limitations of traditional toys, giving the toy the functions of “listening” and “speaking,” interacting with people, and combining knowledge with pleasure, can enable children to learn and experience life in pleasure, and truly achieve the purpose of entertaining and teaching [3].The toy industry is undergoing a technological revolution, and the future toy industry will develop in the direction of interactivity, intelligence, education, and high-tech content [4]. Traditional toys have a single function and generally only meet the requirements of entertainment. In order to develop creative and selling toys, it is necessary to emphasize the multifunctionality of the toy, so that it can meet the needs of various functions such as entertainment, science, intelligence, and ideological education [5]. The combination of computer technology, microelectronic technology, microsensing technology, and mechanical technology makes toys more vibrant and magical [6]. The intelligent toy robot collects sound signals and performs speech recognition; the motion control of the robot is realized according to the recognized speech [7]. The system adopts a modular design scheme, which not only realizes intelligent control but also increases interactivity, and achieves the effect of entertaining toy robots.Now most toys are developing in the direction of intelligence, and the upsurge of smart toys is unstoppable, and smart toy robots have become well-known children’s playmates [8]. However, the products on the market currently have a single function, and if it is a fully functional robot, the price is very expensive. Children’s robot toys mainly produced in the society for early education and companionship have strong interactive functions, which can meet the various needs of young children, and allow children to interact with robots better and increase their interest [9]. Children’s intelligent toys, with a little expansion, can replace people to perform tasks in a variety of occasions that are not suitable for human work, so this kind of intelligent children’s toys have important academic research value.


## 2. Literature Review

Hearing-impaired children have a lack of self-awareness to varying degrees due to their physical defects; therefore, personality and psychological defects such as depression and self-enclosure are prone to occur, which will lead to hearing-impaired children form obstacles in interpersonal communication in the long run [10]. Defects in language and hearing make them more accustomed to experiencing the external life and cognition of the world through vision; therefore, smart toys designed for hearing-impaired children should pay more attention to the visual impact and interactive experience [11]. Based on this design, the intelligent toy for hearing-impaired children can arouse the emotions of hearing-impaired children and let their attention focus on the interaction with the smart toy, so that they have a deep sensory response; it can effectively stimulate their learning interest and potential, eliminate psychological barriers such as self-enclosure of hearing-impaired children, and improve their interpersonal skills [12]. In order to achieve this purpose, it is necessary to design a system that can realize the interaction between hearing-impaired children and smart toys.The control system based on Mindstorms completes the communication between the control robot and the PC through the UDP protocol and uses PD to realize the control, the control accuracy of this system is high, but the communication synchronization and the fluency of the screen presentation are poor. The control system based on WinCE is connected with the controller through the remote debugging mode, the control of the robot under the built-in WinCE operating system of the teach pendant is completed, the fluency of the system screen presentation and the stability of communication synchronization are better, but the control accuracy is slightly worse [13]. Augmented Reality (AR) technology is a kind of real-time calculation of camera position and angle using computer vision technology, at the same time, the technology of superimposing computer-generated 3D virtual objects or 2D images into real images. It not only inherits the advantages of virtual reality technology but also makes up for the shortcomings of virtual reality technology; compared with virtual reality technology, its display effect is more realistic [14, 15].Based on the above analysis, the author designed an intelligent toy system for hearing-impaired children based on AR technology, which belongs to a virtual intelligent toy interactive system, which can realize the accurate demonstration of the movement status and various functions of real intelligent toys and provide interactive functions at the same time [16]. The system can provide more brilliant presentation effects for hearing-impaired children through virtual intelligent toys; at the same time, it can replace the functions of real smart toys, bring fun that real toys cannot provide, and improve the interactive ability and self-cognition ability of hearing-impaired children.


## 3. Methods

### 3.1. Intelligent Toy System for Hearing Impaired Children Based on AR Technology

#### 3.1.1. Overall System Architecture

By analyzing the requirements of the smart toy system for hearing-impaired children with AR technology, the C/S architecture is used to create an overall system architecture that protects the client and server [17]. Among them, the main tasks of the client are collecting images, calibrating cameras, and computing scene information. The key responsibilities of the server side are building and rendering virtual scenes, intelligent toy motion control, virtual-real integration of scenes, and user interface display. The overall architecture of the system is shown in Figure 1.Figure 1
Overall architecture of the system.According to the actual application requirements of the intelligent toy system for hearing-impaired children with AR technology, the functional requirements of the system are divided into basic functional requirements and advanced functional requirements [18]. Among them, the basic functional requirements belong to the foundation of the normal operation of the system, and the camera posture is accurate by calibrating the camera, so as to achieve the purpose of virtual and real integration of the smart toy scene. The focus of advanced functional requirements is to manually control interactive functions such as virtual intelligent toy roaming and designated roaming routes for hearing-impaired children [19].


#### 3.1.2. Division and Design of System Functional Modules

(1) Camera Calibration and Data Transmission Module. The camera is calibrated by collecting a certain amount of images with a complete identification map, and the internal parameters of the camera are calculated, and the internal parameters of the calculation are stored in an XML format file [20]. By reading the calculated internal parameters, based on each frame of image collected, the external parameters of the camera are calculated, and the calculated external parameters of the camera and the collected current frame image data are sent to the server. Continue to enter the next frame; repeat the above process to implement the frame loop. Data transmission is realized through Socket, after establishing a TCP connection with the server, each frame of data is sent in packets, and the operation is repeated until the process is completed or terminated. The process of camera calibration and data transmission module is shown in Figure 2.Figure 2
Process diagram of camera calibration and data transmission module.(2) Scene Virtual Reality Fusion Module. This module mainly includes two parts: virtual scene construction and scene virtual-real integration. The system completes the construction of the virtual environment based on the real scene; the built virtual scene mainly includes Smart toy 3D model, virtual camera, model material, and scene light source and virtual ground. In addition, the automatic roaming function is added to the virtual intelligent toy, so that it can implement a roaming display in a virtual environment.The camera external parameter data and image data transmitted by the client are received by the data receiving module on the server. The image data received through format transformation is regarded as the background map of the current frame. Use the received external parameters of the camera to calculate the pose and angle of the camera, and set the camera pose of the current frame according to the calculation result. Enter the next frame to perform the above process in a loop, and show the sensory effect that combines the real scene and the virtual scene to the hearing-impaired children.(3) User Interaction Module. On the basis of the above two modules, a user interaction module including two parts of intelligent toy motion control and specified motion path is designed, to provide better immersion and realism to hearing-impaired children.Through the motion control part in the user interaction module, hearing-impaired children can control the rotation and movement of smart toys with keyboard, mouse, or other input devices. The screen pick-up function can be realized through the specified motion path part in this module; for example, a hearing impaired child can specify a certain point in the virtual environment with the mouse, and the system can detect the position of the specified point and make the smart toy move according to the detected designated point position.


### 3.2. Calculation of Internal and External Parameters of the Camera

Suppose a point in the three-dimensional space is projected to the center of a plane, the point in the three-dimensional space is represented byP=X,Y,ZT, and the projection center is used as the origin of the coordinates of the Euclidean space, the origin of this coordinate is the optical center of the camera, the image plane or focal plane is represented by plane Z=f, and f represents the camera focal length. For the pinhole camera used in the system, the intersection of the image plane and the line connecting point P and the projection center, p is the projection of point P on the image plane, based on the similarity relationship of triangles, the coordinate fX/Z,fY/Z,fT of the intersection point p is obtained, and the coordinate of the projection point on the projection plane is this coordinate. When the focal lengths in the x and y directions are not uniform, the coordinates can be expressed as fxX/Z,fyY/Z,fT, when the coordinates of the projection plane are converted into image coordinates, the optical center amount fxX/Z+cx,fyY/Z+cy,fT of the optical center relative to the origin of the image coordinates should be added, and the optical center offsets in the x and y directions are represented by cx and cy, respectively. If the above projection process from three-dimensional points to the image plane is represented by a matrix, at the same time, it is defined as a projection function π; then, there is formula:
(1)XYZ↦uv1=πP=1ZPKP=1Zfx0cx0fycy001XYZ.In the formula,K represents the camera internal parameter matrix; u,v,1 represents a point in three-dimensional space. If the depth value Zp of the pixel p in the image is known, the relative three-dimensional space coordinates can be obtained through the back projection function π−1, which can be expressed as
(2)uv1↦XYZ=π−1p,Zp=Zpu−cxfxZpv−cyfyZp.The pose of the camera is represented by a4×4 matrix, that is, the external parameter matrix of the camera, which can be expressed as
(3)H4×4=R3×3t3×101.In the formula,R∈R3×3 and t∈R3 represent the rotation matrix and translation vector.


### 3.3. Fusion of Virtual and Real Scenes

By setting the background map and updating the camera position and angle in real time, the virtual scene and the real scene can be made close to the same, and the virtual and real scene can be merged.


#### 3.3.1. Background Texture Structure

Fusion of virtual scenes and real scenes is the key to AR technology, so as to achieve the effect of superimposing virtual objects or images into the actual environment, so the images collected by the camera should be used as the background texture of the virtual scene. By using the depth rendering hierarchy of the auxiliary camera, constructs a background map within the scene. The objects are rendered from high to low based on the depth value, which is the rendering order in the entire virtual scene. The depth value of the background texture is set to -1, the depth value of other scene elements is 1, the acquisition interval of the main camera in the scene is set to the depth value ≥1, and the acquisition interval of the auxiliary camera is set to the depth value ≤ -1, in this way, all other scene elements in the entire virtual scene except the background texture are imaged by the main camera, and the auxiliary camera only images the background texture. When rendering each frame of image, the part with high depth value in the entire virtual scene should be rendered first, and then the background texture with low depth value should be rendered; get the final result with the background texture placed behind the entire virtual scene.


#### 3.3.2. Data Reception and Scene Update

After the construction of the background texture is completed, each frame is rendered in the scene, the background texture is updated through the image data received by the listening port, and the position and angle of the virtual camera are adjusted in real time. The scene update process is shown in Figure3. Use New Thread to build a child thread, and open the listening port in the child thread to implement monitoring. When the subthread listening port receives the image data, it implements the corresponding coordinate transformation. The three-channel value of the relative position pixel is set in turn by GPU operation, which avoids the problem of low operation efficiency of individually setting each pixel value. Store all the pixel values of each image in the Color array, and then set the background texture pixel values of the current frame.Figure 3
Scene update process.


### 3.4. Motion Control of Smart Toys

In order to realize the motion control of smart toys, it is necessary to design a feedback incremental control method based on the client/server mode and based on the TCP/IP protocol; among them, the client side and the server side are the lower computer and the upper computer, respectively. The specific control process is shown in Figure4.Figure 4
Motion control process of smart toys.The specific control steps are as follows:(1)
A connection request is sent by the lower computer(2)
The upper computer monitors the connection request sent by the lower computer(3)
When the upper computer monitors the connection request from the lower computer, if it does not give a response, it returns to step (1). If the lower computer gets the connection response from the upper computer, it will continue(4)
The lower computer reads the current position dataE,A1,A2,⋯,A5 of the smart toy; among them, A1∼A5 represents the five rotational degrees of freedom of the smart toy, and E represents the overall translational degree of freedom of the smart toy, which is packaged in a data packet format and sent to the upper computer(5)
When the upper computer receives the data packet from the lower computer, based on the set motion trajectory, the operation is performed on the displacement incrementΔE,ΔA1,ΔA2,⋯,ΔA5 of the next frame of the motion degree of freedom of the smart toy, and it is packaged and sent to the lower computer in the instruction format(6)
After the lower computer receives the command data from the upper computer, it extracts the displacement increment data of each degree of freedom of the smart toy and drives the smart toy to move according to the set increment(7)
The lower computer checks whether the communication is disconnected, if not, go to step (4). Otherwise, go to step (1)


### 3.5. Simulation Experiment

Take the intelligent toys produced by a company as the experimental object to test the comprehensive performance of the system. Select the intelligent robot control system based on Mindstorms and the open 6R industrial robot control system based on WinCE as the system comparison system, the two comparison systems are Mindstorms’ intelligent robot control system and WinCE’s open 6R industrial robot control system, and experimental intelligent toys are used in the three systems to compare and analyze the comprehensive performance of each system. The system test environment is shown in Table1.Table 1
System test environment.
Test environmentService-terminalMicrosoft SQL Server 2014 database, Windows Server 2016 server operating system, Power Builder 9.1 and IIS 6.1 Information Services Management ToolsClientWindows 10, Power Builder 9.1, IE10 and Browser of above version


## 3.1. Intelligent Toy System for Hearing Impaired Children Based on AR Technology

### 3.1.1. Overall System Architecture

By analyzing the requirements of the smart toy system for hearing-impaired children with AR technology, the C/S architecture is used to create an overall system architecture that protects the client and server [17]. Among them, the main tasks of the client are collecting images, calibrating cameras, and computing scene information. The key responsibilities of the server side are building and rendering virtual scenes, intelligent toy motion control, virtual-real integration of scenes, and user interface display. The overall architecture of the system is shown in Figure 1.Figure 1
Overall architecture of the system.According to the actual application requirements of the intelligent toy system for hearing-impaired children with AR technology, the functional requirements of the system are divided into basic functional requirements and advanced functional requirements [18]. Among them, the basic functional requirements belong to the foundation of the normal operation of the system, and the camera posture is accurate by calibrating the camera, so as to achieve the purpose of virtual and real integration of the smart toy scene. The focus of advanced functional requirements is to manually control interactive functions such as virtual intelligent toy roaming and designated roaming routes for hearing-impaired children [19].


### 3.1.2. Division and Design of System Functional Modules

(1) Camera Calibration and Data Transmission Module. The camera is calibrated by collecting a certain amount of images with a complete identification map, and the internal parameters of the camera are calculated, and the internal parameters of the calculation are stored in an XML format file [20]. By reading the calculated internal parameters, based on each frame of image collected, the external parameters of the camera are calculated, and the calculated external parameters of the camera and the collected current frame image data are sent to the server. Continue to enter the next frame; repeat the above process to implement the frame loop. Data transmission is realized through Socket, after establishing a TCP connection with the server, each frame of data is sent in packets, and the operation is repeated until the process is completed or terminated. The process of camera calibration and data transmission module is shown in Figure 2.Figure 2
Process diagram of camera calibration and data transmission module.(2) Scene Virtual Reality Fusion Module. This module mainly includes two parts: virtual scene construction and scene virtual-real integration. The system completes the construction of the virtual environment based on the real scene; the built virtual scene mainly includes Smart toy 3D model, virtual camera, model material, and scene light source and virtual ground. In addition, the automatic roaming function is added to the virtual intelligent toy, so that it can implement a roaming display in a virtual environment.The camera external parameter data and image data transmitted by the client are received by the data receiving module on the server. The image data received through format transformation is regarded as the background map of the current frame. Use the received external parameters of the camera to calculate the pose and angle of the camera, and set the camera pose of the current frame according to the calculation result. Enter the next frame to perform the above process in a loop, and show the sensory effect that combines the real scene and the virtual scene to the hearing-impaired children.(3) User Interaction Module. On the basis of the above two modules, a user interaction module including two parts of intelligent toy motion control and specified motion path is designed, to provide better immersion and realism to hearing-impaired children.Through the motion control part in the user interaction module, hearing-impaired children can control the rotation and movement of smart toys with keyboard, mouse, or other input devices. The screen pick-up function can be realized through the specified motion path part in this module; for example, a hearing impaired child can specify a certain point in the virtual environment with the mouse, and the system can detect the position of the specified point and make the smart toy move according to the detected designated point position.


## 3.1.1. Overall System Architecture

By analyzing the requirements of the smart toy system for hearing-impaired children with AR technology, the C/S architecture is used to create an overall system architecture that protects the client and server [17]. Among them, the main tasks of the client are collecting images, calibrating cameras, and computing scene information. The key responsibilities of the server side are building and rendering virtual scenes, intelligent toy motion control, virtual-real integration of scenes, and user interface display. The overall architecture of the system is shown in Figure 1.Figure 1
Overall architecture of the system.According to the actual application requirements of the intelligent toy system for hearing-impaired children with AR technology, the functional requirements of the system are divided into basic functional requirements and advanced functional requirements [18]. Among them, the basic functional requirements belong to the foundation of the normal operation of the system, and the camera posture is accurate by calibrating the camera, so as to achieve the purpose of virtual and real integration of the smart toy scene. The focus of advanced functional requirements is to manually control interactive functions such as virtual intelligent toy roaming and designated roaming routes for hearing-impaired children [19].


## 3.1.2. Division and Design of System Functional Modules

(1) Camera Calibration and Data Transmission Module. The camera is calibrated by collecting a certain amount of images with a complete identification map, and the internal parameters of the camera are calculated, and the internal parameters of the calculation are stored in an XML format file [20]. By reading the calculated internal parameters, based on each frame of image collected, the external parameters of the camera are calculated, and the calculated external parameters of the camera and the collected current frame image data are sent to the server. Continue to enter the next frame; repeat the above process to implement the frame loop. Data transmission is realized through Socket, after establishing a TCP connection with the server, each frame of data is sent in packets, and the operation is repeated until the process is completed or terminated. The process of camera calibration and data transmission module is shown in Figure 2.Figure 2
Process diagram of camera calibration and data transmission module.(2) Scene Virtual Reality Fusion Module. This module mainly includes two parts: virtual scene construction and scene virtual-real integration. The system completes the construction of the virtual environment based on the real scene; the built virtual scene mainly includes Smart toy 3D model, virtual camera, model material, and scene light source and virtual ground. In addition, the automatic roaming function is added to the virtual intelligent toy, so that it can implement a roaming display in a virtual environment.The camera external parameter data and image data transmitted by the client are received by the data receiving module on the server. The image data received through format transformation is regarded as the background map of the current frame. Use the received external parameters of the camera to calculate the pose and angle of the camera, and set the camera pose of the current frame according to the calculation result. Enter the next frame to perform the above process in a loop, and show the sensory effect that combines the real scene and the virtual scene to the hearing-impaired children.(3) User Interaction Module. On the basis of the above two modules, a user interaction module including two parts of intelligent toy motion control and specified motion path is designed, to provide better immersion and realism to hearing-impaired children.Through the motion control part in the user interaction module, hearing-impaired children can control the rotation and movement of smart toys with keyboard, mouse, or other input devices. The screen pick-up function can be realized through the specified motion path part in this module; for example, a hearing impaired child can specify a certain point in the virtual environment with the mouse, and the system can detect the position of the specified point and make the smart toy move according to the detected designated point position.


## 3.2. Calculation of Internal and External Parameters of the Camera

Suppose a point in the three-dimensional space is projected to the center of a plane, the point in the three-dimensional space is represented byP=X,Y,ZT, and the projection center is used as the origin of the coordinates of the Euclidean space, the origin of this coordinate is the optical center of the camera, the image plane or focal plane is represented by plane Z=f, and f represents the camera focal length. For the pinhole camera used in the system, the intersection of the image plane and the line connecting point P and the projection center, p is the projection of point P on the image plane, based on the similarity relationship of triangles, the coordinate fX/Z,fY/Z,fT of the intersection point p is obtained, and the coordinate of the projection point on the projection plane is this coordinate. When the focal lengths in the x and y directions are not uniform, the coordinates can be expressed as fxX/Z,fyY/Z,fT, when the coordinates of the projection plane are converted into image coordinates, the optical center amount fxX/Z+cx,fyY/Z+cy,fT of the optical center relative to the origin of the image coordinates should be added, and the optical center offsets in the x and y directions are represented by cx and cy, respectively. If the above projection process from three-dimensional points to the image plane is represented by a matrix, at the same time, it is defined as a projection function π; then, there is formula:
(1)XYZ↦uv1=πP=1ZPKP=1Zfx0cx0fycy001XYZ.In the formula,K represents the camera internal parameter matrix; u,v,1 represents a point in three-dimensional space. If the depth value Zp of the pixel p in the image is known, the relative three-dimensional space coordinates can be obtained through the back projection function π−1, which can be expressed as
(2)uv1↦XYZ=π−1p,Zp=Zpu−cxfxZpv−cyfyZp.The pose of the camera is represented by a4×4 matrix, that is, the external parameter matrix of the camera, which can be expressed as
(3)H4×4=R3×3t3×101.In the formula,R∈R3×3 and t∈R3 represent the rotation matrix and translation vector.


## 3.3. Fusion of Virtual and Real Scenes

By setting the background map and updating the camera position and angle in real time, the virtual scene and the real scene can be made close to the same, and the virtual and real scene can be merged.


### 3.3.1. Background Texture Structure

Fusion of virtual scenes and real scenes is the key to AR technology, so as to achieve the effect of superimposing virtual objects or images into the actual environment, so the images collected by the camera should be used as the background texture of the virtual scene. By using the depth rendering hierarchy of the auxiliary camera, constructs a background map within the scene. The objects are rendered from high to low based on the depth value, which is the rendering order in the entire virtual scene. The depth value of the background texture is set to -1, the depth value of other scene elements is 1, the acquisition interval of the main camera in the scene is set to the depth value ≥1, and the acquisition interval of the auxiliary camera is set to the depth value ≤ -1, in this way, all other scene elements in the entire virtual scene except the background texture are imaged by the main camera, and the auxiliary camera only images the background texture. When rendering each frame of image, the part with high depth value in the entire virtual scene should be rendered first, and then the background texture with low depth value should be rendered; get the final result with the background texture placed behind the entire virtual scene.


### 3.3.2. Data Reception and Scene Update

After the construction of the background texture is completed, each frame is rendered in the scene, the background texture is updated through the image data received by the listening port, and the position and angle of the virtual camera are adjusted in real time. The scene update process is shown in Figure3. Use New Thread to build a child thread, and open the listening port in the child thread to implement monitoring. When the subthread listening port receives the image data, it implements the corresponding coordinate transformation. The three-channel value of the relative position pixel is set in turn by GPU operation, which avoids the problem of low operation efficiency of individually setting each pixel value. Store all the pixel values of each image in the Color array, and then set the background texture pixel values of the current frame.Figure 3
Scene update process.


## 3.3.1. Background Texture Structure

Fusion of virtual scenes and real scenes is the key to AR technology, so as to achieve the effect of superimposing virtual objects or images into the actual environment, so the images collected by the camera should be used as the background texture of the virtual scene. By using the depth rendering hierarchy of the auxiliary camera, constructs a background map within the scene. The objects are rendered from high to low based on the depth value, which is the rendering order in the entire virtual scene. The depth value of the background texture is set to -1, the depth value of other scene elements is 1, the acquisition interval of the main camera in the scene is set to the depth value ≥1, and the acquisition interval of the auxiliary camera is set to the depth value ≤ -1, in this way, all other scene elements in the entire virtual scene except the background texture are imaged by the main camera, and the auxiliary camera only images the background texture. When rendering each frame of image, the part with high depth value in the entire virtual scene should be rendered first, and then the background texture with low depth value should be rendered; get the final result with the background texture placed behind the entire virtual scene.


## 3.3.2. Data Reception and Scene Update

After the construction of the background texture is completed, each frame is rendered in the scene, the background texture is updated through the image data received by the listening port, and the position and angle of the virtual camera are adjusted in real time. The scene update process is shown in Figure3. Use New Thread to build a child thread, and open the listening port in the child thread to implement monitoring. When the subthread listening port receives the image data, it implements the corresponding coordinate transformation. The three-channel value of the relative position pixel is set in turn by GPU operation, which avoids the problem of low operation efficiency of individually setting each pixel value. Store all the pixel values of each image in the Color array, and then set the background texture pixel values of the current frame.Figure 3
Scene update process.


## 3.4. Motion Control of Smart Toys

In order to realize the motion control of smart toys, it is necessary to design a feedback incremental control method based on the client/server mode and based on the TCP/IP protocol; among them, the client side and the server side are the lower computer and the upper computer, respectively. The specific control process is shown in Figure4.Figure 4
Motion control process of smart toys.The specific control steps are as follows:(1)
A connection request is sent by the lower computer(2)
The upper computer monitors the connection request sent by the lower computer(3)
When the upper computer monitors the connection request from the lower computer, if it does not give a response, it returns to step (1). If the lower computer gets the connection response from the upper computer, it will continue(4)
The lower computer reads the current position dataE,A1,A2,⋯,A5 of the smart toy; among them, A1∼A5 represents the five rotational degrees of freedom of the smart toy, and E represents the overall translational degree of freedom of the smart toy, which is packaged in a data packet format and sent to the upper computer(5)
When the upper computer receives the data packet from the lower computer, based on the set motion trajectory, the operation is performed on the displacement incrementΔE,ΔA1,ΔA2,⋯,ΔA5 of the next frame of the motion degree of freedom of the smart toy, and it is packaged and sent to the lower computer in the instruction format(6)
After the lower computer receives the command data from the upper computer, it extracts the displacement increment data of each degree of freedom of the smart toy and drives the smart toy to move according to the set increment(7)
The lower computer checks whether the communication is disconnected, if not, go to step (4). Otherwise, go to step (1)


## 3.5. Simulation Experiment

Take the intelligent toys produced by a company as the experimental object to test the comprehensive performance of the system. Select the intelligent robot control system based on Mindstorms and the open 6R industrial robot control system based on WinCE as the system comparison system, the two comparison systems are Mindstorms’ intelligent robot control system and WinCE’s open 6R industrial robot control system, and experimental intelligent toys are used in the three systems to compare and analyze the comprehensive performance of each system. The system test environment is shown in Table1.Table 1
System test environment.
Test environmentService-terminalMicrosoft SQL Server 2014 database, Windows Server 2016 server operating system, Power Builder 9.1 and IIS 6.1 Information Services Management ToolsClientWindows 10, Power Builder 9.1, IE10 and Browser of above version


## 4. Results and Discussion

When implementing the motion control of experimental smart toys in the interactive process, the communication synchronization between the upper computer and the lower computer is particularly important; the higher the synchronization, the more sensitive the smart toy is to the motion control in the interaction process, which can effectively improve the real experience of hearing-impaired children when interacting. Here, the communication synchronization of the three systems is detected and analyzed by the communication frequency, and the obtained detection results are shown in Figure5. From Figure 5, it can be concluded that the system and WinCE system increase with the communication cycle; the communication frequency does not fluctuate significantly, while the communication frequency of the Mindstorms system fluctuates more obviously. The overall communication frequency of the system is significantly higher than the other two systems; it can be seen that the communication synchronization between the system and the WinCE system is more stable, and the communication synchronization of the system is higher.Figure 5
Comparison results of communication frequencies of each system.The cameras used in the three systems were installed on the experimental smart toys in turn, and the motion control errors when controlling the experimental smart toys during the interaction of each system were compared. During the motion control process of each system, the error between the actual trajectory and the designed trajectory of the experimental smart toy is calculated, this compares the motion control errors of each system. The errors in the two translation directions ofx and y are compared, respectively, and the comparison results are shown in Figure 6(a) and (b). It can be seen from Figures 6(a) and 6(b) that, under the control of the system, the average displacement errors in the x, y, and two directions of the experimental smart toy are 1.96 mm and 0.69 mm and the maximum errors in the two directions are 2.41 mm and 0.98 mm in sequence. Under the control of Mindstorms system, the average displacement errors in x, y, and two directions of the experimental smart toy are 3.08 mm, 1.76 mm, respectively; the maximum errors in the two directions are 3.86 mm and 2.12 mm in turn. Under the control of the WinCE system, the average displacement errors in the x, y, and two directions of the experimental smart toy are 5.47 mm and 2.78 mm, respectively, and the maximum errors in the two directions are 6.23 mm and 3.66 mm. This shows that the motion control error of the system for the experimental smart toy is lower; it can better realize that the actual motion trajectory of the smart toy coincides with the designed motion trajectory and has good control effect, high precision, and superior control performance.Figure 6
Comparison of motion errors of smart toys under the control of each system.
(a)
Displacement error in thex direction(b)
Displacement error in they directionIn order to further test the smooth performance of the system for rendering dynamic images, the test statistics are now carried out on the frame rate status of the background texture update of the three systems within 30 s; the specific test statistics obtained are shown in Figure7.Figure 7
Comparison of frame rate test status of each system.By analyzing the test results of each system in Figure7, it can be concluded that in the process of implementing the background map update; the average frame rates of the system and WinCE system are 30.97 f/s and 25.55 f/s, respectively, which is significantly higher than the average frame rate of Mindstorms system of 15.33 f/s; it can be seen that the system and WinCE system can provide more effective guarantee for the smooth display of dynamic pictures, while the Mindstorms system is slightly weaker in the fluency of dynamic pictures.Based on the above three sets of experimental test results, it can be seen that the comprehensive performance of the system in terms of communication synchronization, motion control performance, and smooth performance is better, and it has very good real-time interactive performance, which can effectively improve the interactive experience and interaction between hearing-impaired children and smart toys.


## 5. Conclusion

The author proposes a design and research on the motion control system of intelligent toy robot based on speech recognition and sensors, aiming at the defects of hearing-impaired children in interaction and interpersonal communication, and provides a system that can realize real-time interaction between hearing-impaired children and intelligent toys. Through the virtual and real fusion of AR technology, the purpose of superimposing virtual objects or images in the real environment is realized, to provide a realistic virtual interaction scene for hearing-impaired children, combine the motion control method to realize the motion control of hearing-impaired children on smart toys, and improve the interaction effect; it enables hearing-impaired children to stimulate their interest in smart toys during the interaction process, eliminate their self-enclosed and repressed emotions, and gradually improve hearing-impaired children’s interaction and interpersonal skills. Through the experimental test, it can be seen that the system has high communication synchronization performance and good communication stability and can realize effective control of intelligent toys, with high control precision; at the same time, it can effectively guarantee the fluency of the presented dynamic images and enhance the real experience of hearing-impaired children.



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*Source: 4311745-2023-02-14.xml*