CN204971277U - Can realize health service robot of brain electric -examination survey - Google Patents
Can realize health service robot of brain electric -examination survey Download PDFInfo
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- CN204971277U CN204971277U CN201520641219.XU CN201520641219U CN204971277U CN 204971277 U CN204971277 U CN 204971277U CN 201520641219 U CN201520641219 U CN 201520641219U CN 204971277 U CN204971277 U CN 204971277U
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Abstract
The utility model discloses a can realize health service robot of brain electric -examination survey, including the robot, the main control unit, positioning controller, binocular vision capturing unit, human -computer interaction unit, environment sensing sensor unit, power supply unit and medical detecting element, medical treatment detecting element is including the brain electric detection means who is independent of the robot, the main control unit passes through the bus communication agreement and serial communication protocol links to each other with positioning controller, binocular vision capturing unit, human -computer interaction unit, environment sensing sensor unit and medical detecting element respectively, power supply unit is used for for the main control unit, positioning controller, binocular vision capturing unit, human -computer interaction unit and the power supply of environment sensing sensor unit. The utility model discloses a health service robot and brain electric detection means combine together, combine machine people mobility technology and medical detection technique, can very big degree improve brain electric detection means's the portable ability of removal.
Description
Technical field
This utility model relates to a kind of service robot, especially a kind of health service robot realizing brain electro-detection, belongs to service robot and vital sign parameter detection technique field.
Background technology
Along with the raising of people's living standard, the health perception of people strengthens day by day, the demand of zero load detection physiological parameter occurs thereupon whenever and wherever possible, in recent years, develop service robot rapidly and meet the ideal carrier of this demand just, the brain electric information of robot terminal collection user is utilized to be the future thrust of portable medical and tele-medicine, along with by brain electro-detection function transplanting on service robot, and the degree of depth integrates ripe wearable medical product, on the one hand can Real-Time Monitoring epilepsy, psychotic disorder, to the outer disease of brain as metabolism and endocrine regulation and poisoning etc. caused by central nervous system's change monitor, be user-friendly for self-health Evaluation, timely acquisition morbidity information, thus take treatment measure early, palliate the agonizing sufferings, reduce health hazard, or even life danger, simultaneously, sleep monitor can be carried out, by continuous print eeg signal acquisition, user can be helped to analyze the sleep state of oneself, thus provide foundation for the prevention of sleep disorder disease and sleep apnea syndrome and diagnosis and treatment.On the other hand, physiology and psychological fatigue can be monitored objectively, more directly reflect large idiophrenic activity, form the objective discrimination model of Alertness, realize the early warning of disease and risk factor.
Also there is not Novel medical product brain electro-detection be combined with service robot in the market.Vehicles Collected from Market there is a series of wearable EEG checking device, but the eeg collection system that major part all takes the multiple passages formed by multi-electrode to form, and be connected to electroencephalograph by equipment patchcord and show, the limitation of this connection makes electrode for encephalograms placement be difficult to complete independently, Real-Time Monitoring and the stability of brain electricity can be limited simultaneously largely, thus have influence on accuracy and the real-time of monitoring result.In conjunction with the health service robot of the realized brain electro-detection of wearable technology, health detection anywhere or anytime can be carried out for handicapped old man and child, and be simplified the operation further by the voice broadcast that is mutual, result of voice.
At present, brain electro-detection function is common in various monitor or monitor, for monitoring, health assessment provides a kind of objectively vital sign parameter, but, EEG checking device common on these markets adopts multi-lead brain electro-detection method mostly, not only volume is large, operation inconvenience, comfort level is poor, more can cause tension during detection, mental pressure and physiological stress is brought to tester, thus cause result distortion, and these checkout equipments concentrate on inside large hospital mostly, be unfavorable for the structure of Telemedicine System and the convenient index of portable medical, be difficult to promote in the family, also be difficult to realize user and doctor carries out remote interaction.
Utility model content
The purpose of this utility model is the defect in order to solve above-mentioned prior art, provide a kind of health service robot realizing brain electro-detection, this health service robot can realize brain electro-detection, has good man-machine interaction, is convenient to mobile, easy to use, that service time is long advantage.
The purpose of this utility model can reach by taking following technical scheme:
Realize a health service robot for brain electro-detection, comprise robot body, main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, Power supply unit and medical detecting unit;
Described main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and Power supply unit are arranged on robot body; Described medical detecting unit comprises the EEG checking device of machine-independent human body;
Described main control unit is connected with medical detecting unit with motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit with serial communication protocol respectively by bus communication protocol;
Described Power supply unit is used for powering for main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit and environment sensing sensor unit.
Preferably, described main control unit comprises central processing unit, universal peripheral interface module, memory module, communication interface modules, described central processing unit is received from motion control unit by universal peripheral interface module or communication interface modules, binocular vision capture unit, man-machine interaction unit, the data message of environment sensing sensor unit and medical detecting unit, integration process is carried out to data, then carry out judgement decision-making and store data in memory module, described central processing unit carries out the transmitting-receiving of instruction by communication interface modules, and then controlled motion control unit, binocular vision capture unit, man-machine interaction unit, the working method of environment sensing sensor unit and medical detecting unit.
Preferably, described motion control unit comprises motor drive module, light-coupled isolation module, group of motors and speed measuring coder; The pwm control signal that described motor drive module sends for receiving main control unit, drive motors group is rotated, and is isolated by light-coupled isolation module between described motor drive module and main control unit; Described speed measuring coder is connected with group of motors, for positional information and the rotary speed information of Real-time Feedback group of motors, realizes the closed loop control of group of motors position and rotating speed; Described group of motors is used for the head rotation of control machine human body, waist rotates, mechanical arm action and bobbin movement.
Preferably, described binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, for realizing the navigation and localization function of robot, and the planning of optimal path.
Preferably, described man-machine interaction unit comprises touch control display module and voice interaction module, described touch control display module is used for the state display of video interactive and motion control unit, binocular vision capture unit, environment sensing sensor unit and medical detecting unit, is also connected with outside mobile terminal by wireless signal; Described voice interaction module comprises voice recognition unit, phonetic synthesis unit, voice alerting unit, and described voice recognition unit is for identifying the phonetic order from user; The speech data that described phonetic synthesis unit is used for identifying processes, and synthesis machine code, sends to main control unit to carry out decision-making; The control instruction that described voice alerting unit sends over for receiving main control unit, carries out voice message to user, realizes the interactive function between user and robot.
Preferably, described environment sensing sensor unit comprises photoswitch, gyro sensor, touch sensor, infrared sensor and ultrasonic sensor; Described photoswitch, touch sensor, infrared sensor, ultrasonic sensor collaborative work, carry out the identification of barrier and hide; Described gyro sensor carries out attitude deciphering to robot body; Described environment sensing sensor unit adopts multi-sensor information fusion technology to process the data that perception is returned, and carries out feedback control by main control unit.
Preferably, described Power supply unit comprises charging base, charge in batteries interface, accumulator, voltage transformation module; Described charge in batteries interface, accumulator and voltage transformation module integration are in robot body, and described charging base is fixed on indoor; At machine man-hour, the voltage transitions that accumulator provides by described voltage transformation module becomes main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit and the voltage required for environment sensing sensor unit, when accumulator electric-quantity is lower than the threshold value set, robot automatically returns to charging base place by environment sensing sensor unit and charges.
Preferably, described EEG checking device comprises medicated cap, brain electric transducer, integrated simulation front end, mixed signal microcontroller, bluetooth module, input module, indicating lamp module and power module; Described brain electric transducer is placed in inside medicated cap, contacts with the forehead of user, and is connected with integrated simulation front end; Described integrated simulation front end is connected with mixed signal microcontroller by SPI; Described bluetooth module is connected with mixed signal microcontroller by UART, and this bluetooth module is used for being connected with external equipment; Described power module is used for for brain electric transducer, integrated simulation front end, mixed signal microcontroller, bluetooth module and indicating lamp module are powered; Described input module and indicating lamp module are connected with mixed signal microcontroller respectively, described input module is the switch of EEG checking device, described indicating lamp module is for showing the connection status of EEG checking device and main control unit, and the brain electro-detection functional status of EEG checking device;
Described bluetooth module comprises main control module, RF core module, universal peripheral interface module and sensor interface module; The signal that described main control module transmits for receiving, storing mixed signal microcontroller, and when signal demand outwards transmits, signal is imported into RF core module, this main control module comprises master controller, JTAG, ROM, flash memory and the SRAM that wire is connected; Described RF core module is used for when signal demand outwards transmits, receive the signal that main control module imports into, and signal is outwards transmitted by antenna, this RF core module comprises the connected association's controller of wire, digital phase-locked loop, DSP modem, SRAM, ROM and amplifier, and described amplifier connects with antenna; Described universal peripheral interface module comprises the I that wire is connected
2c, UART and SPI; Described sensor interface module comprises sensor controller, ADC and the comparator that wire is connected; Described main control module is connected with sensor interface module with RF core module, universal peripheral interface module respectively by wire.
Preferably, described integrated simulation front end is used for carrying out filtering, automatic gain, AD conversion to the EEG signals that brain electric transducer collects; Described mixed signal microcontroller is used for adopting LMS adaptive algorithm to eliminate Hz noise to the signal after integrated simulation front-end processing, the method of threshold filtering, reconstruction signal is adopted to eliminate eye electricity artefact, modulus maximum is adopted to eliminate Muscle artifacts, adopt wavelet Based on Denoising Algorithm stress release treatment, adopt orthogonal wavelet transformation algorithm to eliminate the interference of brain electric pulse, and adopt movement compensating algorithm to remove the motion artifact produced in motor process further.
Preferably, the operating system of described robot body adopts robot operating system of increasing income, under it is mounted in the ubuntu system of linux kernel, communicated with main control unit by serial ports, and then the working method of controlled motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detecting unit.
This utility model has following beneficial effect relative to prior art:
1, health service robot of the present utility model combines with EEG checking device, in conjunction with robot mobile technology and medical detection technique, largely can improve the Mobile portable performance of EEG checking device, facilitate user and carry out medical treatment detection whenever and wherever possible, for user brings better medical treatment to experience.
2, binocular vision capture unit of the present utility model adopts the Kinect somatosensory sensor of Microsoft, overcome the limitation of traditional environment modeling and analysis aspect, Kinect somatosensory sensor can effectively set up 3D steric environment by three photographic head, thus improves the decision-making judgement of main control unit.
3, Power supply unit of the present utility model adopts the mode of fixing charging base and charge in batteries interface, automatically route can be identified by environment sensing sensor unit when accumulator electric-quantity is too low time, get back to charging base place to charge, this automatic charging mode eliminates the time and efforts of user effort in robot charging link.
4, the operating system of health service robot of the present utility model adopts the ubuntu operating system of carrying linux kernel, the robot operating system ROS that increases income runs in ubuntu system, the storehouse using ROS to carry and tool kit collection, computer vision algorithms make and navigator fix and path planning algorithm can be simplified, effectively can improve development efficiency, shorten the construction cycle of system.
5, power module of the present utility model respectively: robot body adopts large-capacity battery to power, EEG checking device adopts low capacity lithium battery power supply, ensure that relatively independent, lasting power supply performance, compared with prior art, when machine man-hour, the voltage transitions that accumulator provides by voltage transformation module becomes the voltage required for each functional unit, when accumulator electric-quantity is too low, robot body can automatically return to fixing charging base place by environment sensing sensor unit and charge; Wearable EEG checking device utilizes lithium battery power supply, the module of low-power consumption, makes the steady operation which ensure that the long period.
6, EEG checking device of the present utility model is based on health service robot and wearable device, overcome multichannel that traditional EEG checking device formed by multi-electrode to connect and gather brain electricity and the use limitation brought, and brain electro-detection anywhere or anytime can be realized by mobile robot, mobile convenient, result is accurate, and power consumption is extremely low.
7, EEG checking device of the present utility model comprises brain electric transducer, brain electric transducer is placed in inside medicated cap, contact with the forehead of user, be connected with wearable device with audio interface adapter by shielded cable, compared with prior art, breach the constraint of the multichannel connection collection brain electricity that multi-electrode is formed, easy to use, compact, is convenient to Real-Time Monitoring.
8, the bluetooth module in EEG checking device of the present utility model, adopt super low-power consumption bluetooth module BLE, is furnished with autonomous super low-power consumption sensor controller, can the duty of the autonomous wearable EEG checking device of perception, can automatic identification sensor duty, thus automatically enter sleep state and reduce power consumption, and wakeup time is short, stand-by time is long, can be good at meeting job requirement.
9, EEG checking device of the present utility model adopts bluetooth module testing result can be sent to the processor of medical detecting unit, and then reduce the computational burden of main control unit, realize this utility model and other are from the information interaction between global manufacturer's distinct device, calculate health parameters further, more can be provided powerful support for for remote medical monitor and distance medical diagnosis provide by outside mobile terminal, volume and the travelling performance of armarium greatly can be reduced by Bluetooth technology and robot mobile technology, thus bring better to user, more accurately, more practical medical treatment is experienced.
10, EEG checking device of the present utility model adopts integrated simulation front end, make signal processing efficiency higher, stability obviously strengthens, overcome in the past in checkout gear test set complicated, need to use a large amount of electronic component, be not easy to the shortcoming realizing portability, in addition, prior art midbrain electricity harvester collects after EEG signals with the downward Primary Transmit of the mode of analog voltage signal, until A/D conversion place just realizes digitized, in this process, pickup electrode is vulnerable to extraneous interference and introduces noise, by adopting integrated simulation front end, overcome this defect, greatly improve the accuracy of measurement result.
Accompanying drawing explanation
Fig. 1 is the composition structured flowchart of health service robot of the present utility model.
Fig. 2 is the schematic diagram of the function of motion control unit of the present utility model.
Fig. 3 is the relation schematic diagram of man-machine interaction unit of the present utility model and EEG checking device, outside mobile terminal.
Fig. 4 is the composition structured flowchart of EEG checking device of the present utility model.
Fig. 5 is the composition structured flowchart of bluetooth module in EEG checking device of the present utility model.
Fig. 6 is that the health service robot of the present embodiment starts workflow diagram.
Fig. 7 is mixed signal microcontroller workflow diagram in the EEG checking device of the present embodiment.
Detailed description of the invention
Embodiment 1:
Below in conjunction with embodiment and accompanying drawing, this utility model is described in further detail, but embodiment of the present utility model is not limited thereto.
As shown in Figure 1, the health service robot of the present embodiment comprises robot body, main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, Power supply unit and medical detecting unit, and described main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and Power supply unit are arranged on robot body; Described medical detecting unit comprises the EEG checking device of machine-independent human body; Described main control unit is connected with medical detecting unit with motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit with serial communication protocol respectively by bus communication protocol; Wherein, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detecting unit are the functional unit of top layer.
The underlying operating system (software processes platform) of described robot body adopts the robot operating system (RobotOperatingSystem that increases income, ROS), it comprise that hardware abstraction describes, bsp driver management, the execution of common functions, Message Transmission between program, program distribution package management, distributed process framework and support code storehouse system combined; Under robot operating system of increasing income is mounted in ubuntu (Wu Bantu) system of linux kernel, communicated with main control unit by serial ports, and then the working method of controlled motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detecting unit.
Described main control unit comprises central processing unit (CPU), universal peripheral interface module, memory module, communication interface modules, described central processing unit is received from motion control unit by universal peripheral interface module or communication interface modules, binocular vision capture unit, man-machine interaction unit, the data message of environment sensing sensor unit and medical detecting unit, integration process is carried out to data, described Data Integration process comprises filtering algorithm, neural network algorithm, FUZZY ALGORITHMS FOR CONTROL, then carry out judgement decision-making and store data in memory module, described central processing unit carries out the transmitting-receiving of instruction by communication interface modules, and then controlled motion control unit, binocular vision capture unit, man-machine interaction unit, the working method of environment sensing sensor unit and medical detecting unit, described communication interface modules comprises I
2c (Inter-IntegratedCircuit), CAN (ControllerAreaNetwork, controller local area network) bus and UART (UniversalAsynchronousReceiver/Transmitter, universal asynchronous receiving-transmitting transmitter) and SPI (SerialPeripheralInterface, Serial Peripheral Interface (SPI)) serial communication modular, to meet the communication interface requirement between different function units, described central processing unit can communicate with operating system, completes the functional requirement of motor control, navigation and localization, man-machine interaction, data communication.
As shown in Figure 2, described motion control unit comprises motor drive module, light-coupled isolation module, group of motors and speed measuring coder; PWM (the PulseWidthModulation that described motor drive module sends for receiving main control unit, pulse width modulation) control signal, drive motors group is rotated, and isolated by light-coupled isolation module between described motor drive module and main control unit, protection main control unit is not by the impact of electric moter voltage fluctuation; Described speed measuring coder is connected with group of motors, for positional information and the rotary speed information of Real-time Feedback group of motors, realizes the closed loop control of group of motors position and rotating speed; Described group of motors can be made up of servomotor, direct current generator, motor, high-torque steering wheel, rotates, mechanical arm action and bobbin movement for the head rotation of control machine human body, waist.
Described binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, this Kinect somatosensory sensor is used for setting up 3D steric environment by three photographic head, and pass through image identifying and processing, realize the navigation and localization function of robot, and the planning of optimal path, thus improve the decision-making judgement of main control unit.
As shown in Figure 3, described man-machine interaction unit comprises touch control display module 1 and voice interaction module 2, described touch control display module 1 is panel computer, before this panel computer is placed in the breast of robot body 3, for video interactive and motion control unit, binocular vision capture unit, the state display of environment sensing sensor unit and medical detecting unit, the selection service that it is personalized for user provides, user carries out alternately by touch control display module 1 with robot, and interaction results is fed back to touch control display module 1, touch control display module 1 is also connected with outside mobile terminal 4 by wireless signal (data channel can select cellular network/WLAN/bluetooth), can also be connected with the bluetooth module of EEG checking device 5, can the higher eeg data for the treatment of and analysis computation complexity in touch control display module 1, described voice interaction module 2 comprises voice recognition unit, phonetic synthesis unit, voice alerting unit, and described voice recognition unit is for identifying the phonetic order from user, the speech data that described phonetic synthesis unit is used for identifying processes, and synthesis machine code (can by each functional unit identification of top layer), sends to main control unit to carry out decision-making, described voice alerting unit can adopt voice prompting device, for receiving the control instruction that main control unit sends over, carrying out voice message to user, realizing the interactive function between user and robot,
Described touch control display module 1 provides visualization interface, be convenient to user and carry out interactive interface control, be the interactive interface that user and medical worker set up tele-medicine by the camera function of touch control display module 1, there is provided simultaneously and take pictures, make a video recording, make video recording and audio-visual broadcasting entertainment service, and can keep with outside mobile terminal 4 that high in the clouds is synchronous and personalized function is self-defined, and the transmission-receiving function of note, mail can be provided, be convenient to for user provides good interactive experience; The report of physiologic information can be taken medicine, be carried out to described voice alerting unit by reminding user, and carry out the voice broadcast of the prompting of the suggestion after data analysis, MP3 amusement function can be provided for user simultaneously, described voice recognition unit can identify user speech, controls correlation function provide service function by voice processing technology.
Described environment sensing sensor unit comprises photoswitch, gyro sensor, touch sensor, infrared sensor and ultrasonic sensor; Described photoswitch, touch sensor, infrared sensor, ultrasonic sensor collaborative work, carry out the identification of barrier and hide; Described gyro sensor carries out attitude deciphering to robot body; Described environment sensing sensor unit adopts multi-sensor information fusion technology to process the data that perception is returned, and carries out feedback control by main control unit.
Described Power supply unit is used for powering for main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit and environment sensing sensor unit, and it comprises charging base, charge in batteries interface, accumulator, voltage transformation module; Described charge in batteries interface, accumulator and voltage transformation module integration are in robot body, and described charging base is fixed on indoor; At machine man-hour, the voltage transitions that accumulator provides by described voltage transformation module becomes main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit and the voltage required for environment sensing sensor unit, when accumulator electric-quantity is lower than the threshold value set, namely, when accumulator electric-quantity is too low, robot automatically returns to charging base place by environment sensing sensor unit and charges.
As shown in Figure 4, described EEG checking device is low-power consumption, high accuracy, adopt the wearable device singly leading and detect, it comprises medicated cap (not shown), brain electric transducer, integrated simulation front end, mixed signal microcontroller, bluetooth module, input module (i.e. button), indicating lamp module and power module; Described brain electric transducer is placed in inside medicated cap, contacts with the forehead of user, and is connected with integrated simulation front end; Described integrated simulation front end is connected with mixed signal microcontroller by SPI; Described bluetooth module is connected with mixed signal microcontroller by UART, and this bluetooth module is used for being connected with external equipment; Described power module is used for for brain electric transducer, integrated simulation front end, mixed signal microcontroller, bluetooth module and indicating lamp module are powered; Described input module and indicating lamp module are connected with mixed signal microcontroller respectively, described input module is the switch of EEG checking device, described indicating lamp module is for showing the connection status of EEG checking device and main control unit, and the brain electro-detection functional status of EEG checking device.
The ADS1291 chip of TI company is selected in described integrated simulation front end, carries out pretreatment, namely carries out filtering, automatic gain, AD conversion, transfer data to mixed signal microcontroller by SPI for the EEG signals collected brain electric transducer.
MSP430FR5739 microcontroller selected by described mixed signal microcontroller, this microcontroller is super low-power consumption type, for doing further process to the pretreated signal in integrated simulation front end, namely LMS (LeastMeanSquare is adopted, lowest mean square) adaptive algorithm elimination Hz noise, adopt threshold filtering, the method of reconstruction signal eliminates eye electricity artefact, modulus maximum is adopted to eliminate Muscle artifacts, adopt wavelet Based on Denoising Algorithm stress release treatment, orthogonal wavelet transformation algorithm is adopted to eliminate the interference of brain electric pulse, and adopt movement compensating algorithm to remove the motion artifact produced in motor process further.
As shown in Figure 5, described bluetooth module adopts low-power consumption bluetooth standard V4.0 equipment, and can ensure high-speed transfer, can solve again the excessive problem of power consumption, it comprises main control module, RF core module, universal peripheral interface module and sensor interface module; The signal that described main control module transmits for receiving, storing mixed signal microcontroller, and when signal demand outwards transmits, signal is imported into RF core module, this main control module comprises master controller, the JTAG (JointTestActionGroup that wire is connected, joint test working group), ROM (Read-OnlyMemory, read only memory), flash memory and SRAM (StaticRandomAccessMemory, static RAM); Described RF core module is used for when signal demand outwards transmits, receive the signal that main control module imports into, and signal is outwards transmitted by antenna, this RF core module comprises the connected association's controller of wire, digital phase-locked loop, DSP modem, SRAM, ROM and amplifier, and described amplifier connects with antenna; Described universal peripheral interface module comprises wire connected I2C, UART and low-power consumption SPI; Described sensor interface module comprises sensor controller, ADC (AnalogtoDigitalConverter, analog-digital converter) and the low power consumption comparator that wire is connected; Described main control module is connected with sensor interface module with RF core module, universal peripheral interface module respectively by wire.
The EEG signals utilizing the EEG checking device of the present embodiment to collect can calculate other health parameters further by the processor of medical detecting unit, and is sent to by bluetooth module the touch control display module (i.e. panel computer) result being sent it back robot body front and shows; Meanwhile, also testing result and the health parameters calculated can be sent to outside mobile terminal, be sent to remote medical monitor center and hospital by the wireless network of outside mobile terminal, realize long distance monitoring and tele-medicine.
As shown in Figure 6, the health service robot startup workflow of the present embodiment is as follows:
Pass through phonetic order, panel computer operation interface or utilize outside mobile terminal send guidance command start the machine people work after, can the work of fast wake-up EEG checking device by pressing button on EEG checking device, system initialization, brain electro-detection function is opened, after brain electro-detection function is opened, if meet timing condition, the EEG signals of integrated simulation front end to the collection of brain electric transducer carries out filtering, automatic gain, AD conversion, otherwise return and continue to perform collection, signal after process enters mixed signal microcontroller and stores, computing, operation result can be sent to bluetooth module and carry out data transmission, now control system ends task.
As shown in Figure 7, in the EEG checking device of the present embodiment, mixed signal microcontroller workflow is as follows:
After receiving the digital signal from integrated simulation front end, mixed signal microcontroller adopts LMS adaptive algorithm to eliminate Hz noise to the pretreated signal in integrated simulation front end successively, the method of threshold filtering, reconstruction signal is adopted to eliminate eye electricity artefact, modulus maximum is adopted to eliminate Muscle artifacts, adopt wavelet Based on Denoising Algorithm stress release treatment, adopt orthogonal wavelet transformation algorithm to eliminate the interference of brain electric pulse, and adopt movement compensating algorithm to remove the motion artifact produced in motor process further; If mixed signal microcontroller cannot complete the computing that wherein some complexity is higher, then data are sent to the panel computer of robot body front, the CPU of panel computer is utilized to carry out the after-treatment of data, complete the data analysis of EEG signals further, to singly lead electroencephalogram and correlation analysis result is presented on panel computer, and by voice interaction module real-time broadcasting analysis result, immediately system finishing task, otherwise continue the digital signal receiving integrated simulation front end delivery.
Mobile terminal in above-described embodiment can be smart mobile phone, PDA handheld terminal etc.
In sum, health service robot of the present utility model combines with EEG checking device, in conjunction with robot mobile technology and medical detection technique, largely can improve the Mobile portable performance of EEG checking device, facilitate user and carry out medical treatment detection whenever and wherever possible, for user brings better medical treatment to experience.
The above; be only this utility model patent preferred embodiment; but the protection domain of this utility model patent is not limited thereto; anyly be familiar with those skilled in the art in the scope disclosed in this utility model patent; be equal to according to the technical scheme of this utility model patent and utility model design thereof and replaced or change, all belonged to the protection domain of this utility model patent.
Claims (9)
1. one kind can realize the health service robot of brain electro-detection, comprise robot body, it is characterized in that: also comprise main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, Power supply unit and medical detecting unit;
Described main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit and environment sensing sensor unit are arranged on robot body; Described medical detecting unit comprises the EEG checking device of machine-independent human body;
Described main control unit is connected with medical detecting unit with motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit with serial communication protocol respectively by bus communication protocol;
Described Power supply unit is used for powering for main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit and environment sensing sensor unit.
2. a kind of health service robot realizing brain electro-detection according to claim 1, is characterized in that: described main control unit comprises central processing unit, universal peripheral interface module, memory module, communication interface modules, described central processing unit is received from motion control unit by universal peripheral interface module or communication interface modules, binocular vision capture unit, man-machine interaction unit, the data message of environment sensing sensor unit and medical detecting unit, integration process is carried out to data, then carry out judgement decision-making and store data in memory module, described central processing unit carries out the transmitting-receiving of instruction by communication interface modules, and then controlled motion control unit, binocular vision capture unit, man-machine interaction unit, the working method of environment sensing sensor unit and medical detecting unit.
3. a kind of health service robot realizing brain electro-detection according to claim 1, is characterized in that: described motion control unit comprises motor drive module, light-coupled isolation module, group of motors and speed measuring coder; The pwm control signal that described motor drive module sends for receiving main control unit, drive motors group is rotated, and is isolated by light-coupled isolation module between described motor drive module and main control unit; Described speed measuring coder is connected with group of motors, for positional information and the rotary speed information of Real-time Feedback group of motors, realizes the closed loop control of group of motors position and rotating speed; Described group of motors is used for the head rotation of control machine human body, waist rotates, mechanical arm action and bobbin movement.
4. a kind of health service robot realizing brain electro-detection according to claim 1, it is characterized in that: described binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, for realizing the navigation and localization function of robot body, and the planning of optimal path.
5. a kind of health service robot realizing brain electro-detection according to claim 1, it is characterized in that: described man-machine interaction unit comprises touch control display module and voice interaction module, described touch control display module is used for the state display of video interactive and motion control unit, binocular vision capture unit, environment sensing sensor unit and medical detecting unit, is also connected with outside mobile terminal by wireless signal; Described voice interaction module comprises voice recognition unit, phonetic synthesis unit, voice alerting unit, and described voice recognition unit is for identifying the phonetic order from user; The speech data that described phonetic synthesis unit is used for identifying processes, and synthesis machine code, sends to main control unit to carry out decision-making; The control instruction that described voice alerting unit sends over for receiving main control unit, carries out voice message to user, realizes the interactive function between user and robot body.
6. a kind of health service robot realizing brain electro-detection according to claim 1, is characterized in that: described environment sensing sensor unit comprises photoswitch, gyro sensor, touch sensor, infrared sensor and ultrasonic sensor; Described photoswitch, touch sensor, infrared sensor, ultrasonic sensor collaborative work, carry out the identification of barrier and hide; Described gyro sensor carries out attitude deciphering to robot body; Described environment sensing sensor unit adopts multi-sensor information fusion technology to process the data that perception is returned, and carries out feedback control by main control unit.
7. a kind of health service robot realizing brain electro-detection according to claim 1, is characterized in that: described Power supply unit comprises charging base, charge in batteries interface, accumulator, voltage transformation module; Described charge in batteries interface, accumulator and voltage transformation module integration are in robot body, and described charging base is fixed on indoor; When robot body works, the voltage transitions that accumulator provides by described voltage transformation module becomes main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit and the voltage required for environment sensing sensor unit, when accumulator electric-quantity is lower than the threshold value set, robot body automatically returns to charging base place by environment sensing sensor unit and charges.
8. a kind of health service robot realizing brain electro-detection according to claim 1, is characterized in that: described EEG checking device comprises medicated cap, brain electric transducer, integrated simulation front end, mixed signal microcontroller, bluetooth module, input module, indicating lamp module and power module; Described brain electric transducer is placed in inside medicated cap, contacts with the forehead of user, and is connected with integrated simulation front end; Described integrated simulation front end is connected with mixed signal microcontroller by SPI; Described bluetooth module is connected with mixed signal microcontroller by UART, and this bluetooth module is used for being connected with external equipment; Described power module is used for for brain electric transducer, integrated simulation front end, mixed signal microcontroller, bluetooth module and indicating lamp module are powered; Described input module and indicating lamp module are connected with mixed signal microcontroller respectively, described input module is the switch of EEG checking device, described indicating lamp module is for showing the connection status of EEG checking device and main control unit, and the brain electro-detection functional status of EEG checking device.
9. a kind of health service robot realizing brain electro-detection according to claim 8, is characterized in that: described bluetooth module comprises main control module, RF core module, universal peripheral interface module and sensor interface module; The signal that described main control module transmits for receiving, storing mixed signal microcontroller, and when signal demand outwards transmits, signal is imported into RF core module, this main control module comprises master controller, JTAG, ROM, flash memory and the SRAM that wire is connected; Described RF core module is used for when signal demand outwards transmits, receive the signal that main control module imports into, and signal is outwards transmitted by antenna, this RF core module comprises the connected association's controller of wire, digital phase-locked loop, DSP modem, SRAM, ROM and amplifier, and described amplifier connects with antenna; Described universal peripheral interface module comprises the I that wire is connected
2c, UART and SPI; Described sensor interface module comprises sensor controller, ADC and the comparator that wire is connected; Described main control module is connected with sensor interface module with RF core module, universal peripheral interface module respectively by wire.
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| CN105078450A (en) * | 2015-08-24 | 2015-11-25 | 华南理工大学 | Health service robot capable of achieving electroencephalogram detection |
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