CN103612252A - Intelligent remote social adjuvant therapy robot for autism children - Google Patents
Intelligent remote social adjuvant therapy robot for autism children Download PDFInfo
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Abstract
The invention belongs to the field of remote control and artificial intelligence and relates to an intelligent adjuvant therapy robot device for performing real-time social capability training for autism children. The device comprises a head movement driver (1), an arm movement driver (2), a device loader (3), a driving-driven wheel type chassis (4) and a casing module (7). A multi-joint combined driving mode is adopted, the collaborated driving capability of the robot for every movement joint is improved, the problem that time delay affects the interaction effect is solved, precise posture control of the robot in the random direction is achieved, a limb movement path planning function for automatically avoiding obstacles is achieved, and intelligent emotion interaction between a human and the robot and a safe and reliable family remote rehabilitation therapy model are achieved in various modes such as voice, images, touch and induction in the man-machine interactive process in response to emotion cognitive disorder which occurs universally in child patients.
Description
Technical field
The invention belongs to Long-distance Control and artificial intelligence field, relate to a kind of intelligent recovering aid Therapy robot device and system thereof of carrying out real-time Sociality training for autistic children belong.
Technical background
According to incompletely statistics, approximately there are 3,500 ten thousand autistic patients in the whole world at present, and ill ratio is up to 94:1.According to China Disabled Federation's conservative estimation in 2009, China 0 to the Autism children of 15 years old has 1,500,000, and 0 has 5,000,000 to more than 20 years old Autism children, and its incidence of disease is ascendant trend year by year.Because the autism cause of disease is not bright, therefore there is no effective methods for the treatment of.Except pharmaceutical intervention, the man-to-man behavior of the general employing of autistic training method of present stage is rescued and simple rehabilitation game.Cycle of training long (most infants need the lifelong training that participates in), medical expense is high, medical personnel are rare, medical institutions' level is very different, and auxiliary curing instrument is simple and crude etc., and significant problem highlights day by day.
For above outstanding problem, the advanced persons' such as control, artificial intelligence information science means are combined with auxiliary curing, towards the long-range social auxiliary curing machine people of autistic children belong, it is intended to develop the social contact ability of autistic children belong in exploitation, for education and the treatment of infant provides new instrument.Robot is as comprehensive, a believable interaction systems, be applied in school and home education, for the autistic children belong service of doctor, teacher, the head of a family and specific demand, by possessing the rehabilitation that the social auxiliary curing of hommization of cognitive emotion ability is autistic children belong, bring dawn.
Summary of the invention
In order in time, effectively to improve the social contact ability of autistic children belong, to infant, provide advanced rehabilitation instrument.One of object of the present invention, is to provide a kind of auxiliary curing machine people device, is driven, kept away the control technologys such as barrier and path planning, Intelligent information fusion by multi-joint, realizes the social auxiliary curing pattern based on diversification interactive means; Meanwhile, provide the network security technologys such as Network Isolation management, self-adapting data filtration, to realize autonomous filtration and the Initiative Defense function for threat information in Wide Area Network, thereby provide safely powerful guarantee for privacy and robot system; And provide the mood based on expression cognition and brain electricity analytical to catch and emotion computing technique, to realize for the coordination of infant emotion trait, synchronous human-computer interaction, thereby effectively cultivate social interaction and the emotion communication skill of autistic children belong.
Concrete scheme is as follows:
A kind of long-range auxiliary Therapy robot device, comprise head movement driver (1), arm motion driver (2), equipment carrier (3), MS master-slave wheel undercarriage (4) and shell module (7), this robot device's head movement driver (1) is equipped on equipment carrier (3) top; Arm driver (2) is equipped on respectively equipment carrier (3) both sides; Chassis (4) is installed on carrier (3) bottom.
Preferably, described head movement driver (1) is two groups, mutually vertical coupled between two groups, every group of head movement driver (1) comprises clutch (101), decelerator (102), direct current generator (103) and DC MOTOR CONTROL driving mechanism (104) thereof; Described DC MOTOR CONTROL driving mechanism is annular DC MOTOR CONTROL plate, 5 photoelectric sensors (105) and 2 microswitches (106) are housed on DC MOTOR CONTROL plate, photoelectric sensor (105) and microswitch (106) are uniformly distributed in the outward flange of semi-circumference in DC MOTOR CONTROL plate (104) one sides with 30 degree angles, wherein between 2 microswitches (106), be 180 degree angles.
Preferably, described arm driver (2) is for being installed on the device of motor coordinated drive more than two groups of carrier (3) left and right sides; Wherein every group of arm driver (2) comprises 4 step-by-step movement movable joints (107), 1 block of arm Electric Machine Control plate (120), 1 shoulder joint support (108), 1 large arm support (109), 1 forearm bracket (110), 1 hand supports (111), 1 3,000,000 pixel COMS camera (118).
Preferably, each step-by-step movement movable joint (107) consists of stepper motor and decelerator thereof; Shoulder joint is by the vertical coupled formation of two step-by-step movement movable joints (107), and two step-by-step movement movable joints (107) are controlled respectively rotary freedom and swung up and down the free degree.
Preferably, described equipment carrier (3) comprise in 1 stand type support (112), 1 folding bracket (113), 1 drawing and pulling type framework (114) and drawing and pulling type framework can pull rectangular clapboard (115); Described stand type support (112) is for securement head motion driver (1), and folding bracket (113) is for touch interactive screen is installed, and rectangular clapboard (115) is for laying arm Electric Machine Control plate (120) and industrial control computer (8); Described head movement driver (1) and arm driver (2) be take RS485 bus as physical transfer basis, by ModBus agreement and industrial control computer (8), carry out information interaction.
Preferably, described MS master-slave wheel undercarriage (4) comprises 2 main drive wheels (116), 1 omnidirectional's driven pulley (117) and a chassis carrier (122); Described main drive wheel (116) is controlled driving mechanism (104) with head movement driver (1) common DC motor.
Preferably, described shell module (7) is made by hard PVC material, shell module (7) is equipped with (124) 5 of flexible touch sensors altogether, wherein, 2 of the crown 1 Ge, ears, 2 of shoulders, simultaneously shell module (7) is equipped with 11 groups of ultrasonic distance-measuring sensors (125), wherein, and anterior 4 groups, 3 groups, rear portion, each 2 groups of both sides.
Preferably, multisensor control and information feedback module (5), network security module (6) are also installed on described rectangular clapboard (115),
Wherein, described multisensor is controlled and information feedback module (5) is sensor information transmitting-receiving control module, carry out information exchange with each sensor, and take RS485 bus as physical transfer basis, by ModBus agreement and computer motherboard (8), carry out information interaction, described sensor is flexible touch sensor and ultrasonic distance-measuring sensor;
Described network security module (6) consists of Physical isolation gap module and data filtering module two parts; Wherein, Physical isolation gap module comprises 4 6N317 photoelectric isolated chips, 2 arm processors.
Preferably, described long-range auxiliary Therapy robot device comprises that video acquisition module, interactive voice module, LED output module (128), LCD show (129) and TC touch-control (130) module; Wherein video acquisition module comprises 1 the CCD high-speed industrial video camera (119) that is installed on drawing and pulling type framework (114) top, for infant being expressed one's feelings and micro-expression collection; Interactive voice module comprises 1 built-in wireless microphone (126), robot head and 3 loudspeakers (127), speech recognition and the synthesis unit behind that is installed on drawing and pulling type framework (114) top; LED output module (128) comprises LED lamp and the LED control circuit thereof of robot head and hand; LCD display module (129) and TC touch-control module (130) are respectively the LCD displays being installed on head movement driver (1), and are installed on the touch interactive screen on folding bracket (113).
Towards an intelligent social system for autistic children belong, comprise above-mentioned long-range auxiliary Therapy robot device, Sociality training subsystem (9), intelligent mood analyzing subsystem (10), scale assessment and database subsystem (11); Described video acquisition module, interactive voice module, LED output module (128), LCD show that (129) and TC touch-control (130) module carry are on RS485 bus, by ModBus agreement and Sociality training subsystem communication; Intelligence mood analyzing subsystem adopts the brain electric information of non-intrusion type brain electricity monitoring module Real-time Collection infant, and resolves in intelligent mood analyzing subsystem by Bluetooth wireless transmission.
Advantage of the present invention and good effect are:
1) by RS485-ModBus protocol conversion module and industrial control computer, carrying out information interaction has realized multi-joint and combines type of drive ，Shi robot and possess real-time movable joint driving force; Introduce F_Direction reference vector and reduced the deviation between random node and optimal path, thereby it is consuming time effectively to have shortened path planning, has improved robot motion's real-time and accuracy; In conjunction with realtime graphic treatment technology, realization can be dodged the limb motion path planning function of obstacle automatically; The mode combining with sensor and time-delay calculation by the two-way control technology of PWM, control limb action speed and calculate movement angle and distance, realizing the attitude of robot any direction precision controls, make robot can complete real-time and accurately interactive command in interactive process, effectively improve interaction success rate.
2) this device is mounted with the multiple sensing devices such as flexible touch sensor, ultrasonic distance-measuring sensor, photoelectric sensor, COMS camera, the CCD first-class image acquisition device of making a video recording, the much information output equipments such as LED, LCD are housed simultaneously, for the social mood interaction behavior in interactive process provides intelligentized basis; I/O equipment of all categories by multisensor, controls respectively and information feedback module is coordinated and managed, each module carry is in RS485 bus, and directly communicate by letter with control centre by RS485-ModBus protocol conversion module, this distributed information fusion makes system possess efficient telecommunication management ability, has strengthened fault-tolerant ability simultaneously, has been convenient to cutting out and upgrading of equipment.
3), according to medical expert's suggestion, the stepped six kinds of progressive training modes of design difficulty, for the infant of all ages and classes and degree provides effective therapeutic scheme; Adopt the comprehensive sociability interactive trainings of carrying out of multiple means such as multisensor, voice, image, TC touch-control, greatly increased the approach of affective interaction, be that the effect of interactive training has been brought active influence when improving infant participation interest; High-speed industrial video camera is combined to expression and micro-Expression Recognition and analytical technology and the electric monitoring technique of brain, for the judgement of infant emotional state and auxiliary curing phasic results provides reliable engineering and physiology foundation; By mood branching algorithm, realize personalized human-computer interaction process, training infant produces the sociability of shifting one's love; The Information Administration Mode of employing based on large database, is beneficial to safety management and Data acquisition, and illness analysis, also can be treatment in the future reference and foundation are provided.
4) system possesses autonomous training and two kinds of patterns of remote interaction treatment, autonomous training mode can make infant under the environment such as family, carry out Sociality training whenever and wherever possible, treatment and amusement are organically combined together, remote interaction treatment pattern can make the home-confined rehabilitation that just can enjoy doctor of infant instruct, and doctor also can understand in time, grasp infant rehabilitation progress when online medical treatment is provided; Under autonomous training mode, training data to remote server one-way transmission, both can ensure real-time communication by safe isolation module, also can realize hardware and intercept the function that outer net information threatens; Under remote interaction treatment pattern, robot system adopts the self-adapting data filter algorithm based on association rule mining effectively to shield outer net dangerous information, stops the safe operation that privacy is revealed, ensured interactive system; The effective save medical resources of proposition of this treatment pattern, the carrying out of the household long-range rehabilitation of making greater efforts to promote.
Accompanying drawing explanation
Graph of a relation between each functional module of Tu1Shi robot of the present invention.
The head mechanical construction drawing of Tu2Shi robot of the present invention.
Fig. 3 is robot head of the present invention and bobbin movement control core circuit electrical connection schematic diagram.
Fig. 4 is the stereogram of robot arm frame for movement of the present invention.
Fig. 5 is robot arm motion control core circuit electrical connection schematic diagram of the present invention.
The top view on Tu6Shi robot of the present invention " protruding " font chassis.
Fig. 7 is the structure chart of robot device's carrier of the present invention.
The structure chart of the collapsible touch-screen support of Tu8Shi robot of the present invention.
The overall mechanical construction drawing of Tu9Shi robot of the present invention.
Figure 10 is the shell design sketch of robot of the present invention.
Figure 11 is robot device's control/communication core circuit electrical connection schematic diagram of the present invention.
Figure 12 is robot network's security control core electrical connection schematic diagram of the present invention.
Figure 13 is the main body control flow chart of the long-range social auxiliary curing of intelligent robot of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and example, be described further.
Graph of a relation between each functional module of Tu1Shi robot of the present invention.The present invention is by application Multi-stage module formula managerial structure, human-machine intelligence's interaction technique safe and reliable under a kind of remote mode is provided, realization is processed for the real-time data acquisition of autistic children belong, intelligent response and long-range auxiliary curing function, solved existing social auxiliary curing instrument scarcity of resources, emotional interaction degree deficiency, the limited problem of telesecurity.
As shown in Figure 2, the head movement driver (1) of this robot has two groups, mutually vertical coupled, every group of head movement driver (1) comprises separate clutch (101), decelerator (102), direct current generator (103) and controls driving mechanism (104), wherein every group of head movement driver (1) is responsible for one degree of freedom, one group of nodding action of being responsible for robot, is responsible for head shaking movement for one group.The control driving mechanism (104) of direct current generator is DC MOTOR CONTROL plate, it is annular and is vertically embedded in decelerator (102) outside, photoelectric sensor (105) and microswitch (106) are uniformly distributed in the outward flange of semi-circumference in control panel (104) one sides with 30 degree angle equal difference, wherein between 2 microswitches (106), be 180 degree angles, microswitch (106) is to control panel (104) distance of center circle from being 5 centimetres, and photoelectric sensor (105) is to control panel (104) distance of center circle from being 6 centimetres.Head movement driver (1) adopts STC12C5A16AD chip as core controller, be DC MOTOR CONTROL plate (104), its control circuit as shown in Figure 3, by the two-way control of PWM, calculate with sensor and time delay the mode combining and control direct current generator rotational angle, for example, in each 30 °, by direct current generator (103), control time delay (angular speed * time delay) and control rotational angle, and can by having the microswitch (106) of limit function, that head rotation maximum angle physics is set is spacing, the accurate location of realizing motor movement angle.
As shown in Figure 4, the arm driver (2) of this robot produces action by shoulder joint, elbow joint, three motion coordinated drive of wrist joint, arm driver (2) is installed on respectively carrier (3) left and right sides, and every group of arm driver (2) comprises 4 step-by-step movement movable joints (107), 1 block of arm Electric Machine Control plate (120), 1 shoulder joint support (108), 1 large arm support (109), 1 forearm bracket (110), 1 hand supports (111), 1 3,000,000 pixel COMS camera (118).Wherein, each step-by-step movement movable joint (107) consists of stepper motor and decelerator thereof; Elbow joint and wrist joint comprise respectively a step-by-step movement movable joint (107), shoulder joint is by the vertical coupled formation of two step-by-step movement movable joints (107), two step-by-step movement movable joints (107) are controlled respectively two frees degree, a rotary freedom, one swings up and down the free degree, and 360 degree Omnidirectional rotations and 180 degree that can realize arm swing up and down function.Arm driver (2) adopts TB6560AHQ chip as core controller, it is arm Electric Machine Control plate (120), its control circuit as shown in Figure 5, the step-by-step movement movable joint (107) of being responsible for rotary freedom in shoulder joint (is responsible for the step-by-step movement movable joint (107) that swings up and down by Omnidirectional rotation axle and other 3 step-by-step movement movable joints (107) in shoulder joint, and correspond respectively to elbow joint and carpal two step-by-step movement movable joints (107)) Collaborative Control, robot arm can point to any direction flexibly, the control command that completion system is assigned real-time and accurately, departure is less than 0.5 degree.In addition, in robot both sides, respectively add one piece of 3,000,000 pixel COMS camera (118) arm pose and surrounding environment are carried out to real time image collection, by usb communication interface, upload in real time, setting up the path planning that has most that three-dimensional system of coordinate carries out arm action realization calculates, and introduce F_Direction reference vector with the deviation of reduction random node and optimal path, thereby it is consuming time to shorten path planning, this robot motion's real-time and accuracy have been improved, realize barrier avoiding function simultaneously, effectively avoid the personnel that caused by robot limb motion to accidentally injure, make the reciprocal process of infant and robot safer.
，Gai robot adopts the design of " protruding " font MS master-slave wheel undercarriage domain as shown in Figure 6, and MS master-slave wheel undercarriage (4) comprises 2 main drive wheels (116), 1 omnidirectional's driven pulley (117) and " protruding " shape chassis carrier (122).On the carrier of " protruding " shape chassis, there is battery installation position (123).Main drive wheel (116) drives by direct current generator independently, and share core controller with head movement driver (1), be DC MOTOR CONTROL plate (104) (Fig. 2), by the two-way control of PWM, drive direct current generator to rotate, movement velocity is adjustable flexibly, can complete the quick acting response of change/speed change, straight/multiple speed grades such as curvilinear motion.
The head movement driver (1) of this robot is equipped on carrier (3) top; Arm driver (2) is equipped on respectively carrier both sides; Chassis (4) is installed on carrier (3) bottom.As shown in Figure 7, described equipment carrier (3) comprises that 2 in 1 stand type support (112), 1 folding bracket (113), 1 drawing and pulling type framework (114) and drawing and pulling type framework (114) can pull rectangular clapboard (115) to equipment carrier (3) structure chart of robot of the present invention.Wherein, stand type support (112) is for securement head motion driver, and folding bracket (113) is for installing touch interactive screen.The folding bracket (113) that touch interactive screen is installed adopts three accordion structure designs, as shown in Figure 8, in each folding position, install Omnidirectional rotation axle, comprise 3 360 degree Omnidirectional rotation axles, touch-screen can be adjusted to suitable height and angle operates, make the design hommization more of interactive device, also can reach the object of saving storage space simultaneously, the inside of carrier (3) adopts drawing and pulling type frame structure---drawing and pulling type framework (114), by installing two dividing plates (115) on upper and lower two slide rails additional, realize the three-dimensional application to space, drawing and pulling type framework (114) is for installing arm driver and supporting whole robot device, upper strata rectangular clapboard (115) is for laying industrial control computer (8), lower floor's rectangular clapboard (115) is for laying arm drive plate (being arm Electric Machine Control plate (120)), multisensor is controlled and information feedback module (5), network security module (6), be arranged on each control panel on rectangular clapboard (115), comprise industrial control computer (8), arm Electric Machine Control plate (120), multisensor controller information feedback module (5), network security module (6), employing insulated column is erected, be convenient to repair and maintenance and the HardwareUpgring of system.With this, form this overall frame for movement of robot as shown in Figure 9, Figure 10 is the robot device's design sketch after its mounting casing.Described shell module (7) is made by hard PVC material, has cartoon profile.This module is equipped with (124) 5 of flexible touch sensors altogether, and wherein, 2 of the crown 1 Ge, ears, 2 of shoulders are equipped with 11 groups of ultrasonic distance-measuring sensors (125) simultaneously, wherein, and each 2 groups of anterior 4 groups, 3 groups, rear portion, both sides.
The head movement driver (1) of robot and arm driver (2) carry are realized multi-joint and are combined driving on RS485 bus, by RS485-ModBus protocol conversion module and industrial control computer (8), carry out information interaction, with this, improve robot to the driving force of each movable joint and solved the problem of the mutual effect of delay.Described device by path planning with keep away barrier technique and be applied in the motion control of robot, introduce F_Direction reference vector with the deviation of reduction random node and optimal path simultaneously, thereby it is consuming time effectively to have shortened path planning, improved real-time and the accuracy of this device motion.The joint of head of robot and chassis driving wheel adopt direct current generator to drive, the mode combining with sensor and time-delay calculation by the two-way control technology of PWM, measuring and calculating movement angle and distance; Arm joint adopts stepper motor to drive, by image processing techniques and above-mentioned path planning with keep away barrier technique and combine, departure is less than 0.5 degree, realizing the attitude of robot any direction controls and can automatically dodge the limb motion path planning function of obstacle, this function has not only improved the motion controllability of device, also can effectively avoid the personnel that caused by robot limb motion to accidentally injure, make the reciprocal process of infant and robot safer simultaneously.
In the present invention, multisensor control and information feedback module (5) are the transmitting-receiving control module of all the sensors information, by multisensor, controlled and information feedback module (5) and each sensor carry out information exchange, by RS485-ModBus protocol conversion module and industrial control computer (8), carry out information interaction, described sensor is flexible touch sensor (124) and ultrasonic distance-measuring sensor (125).
Network security module (6) consists of Physical isolation gap module and software filtering module two parts.Physical isolation gap module is comprised of 4 6N137 photoelectric isolated chips and 2 arm processors.Under autonomous training mode, 4 switching rates can realize hardware up to the 6N137 photoelectric isolated chip of 10Mb/s and intercept the function that outer net information is disturbed in safeguards system training information uploading speed; A slice arm processor for security module and robot system communicate by letter and information is controlled, another sheet arm processor is used for Data Format Transform and data buffer storage, according to Ethernet protocol standard packing data and complete communication and the communication control function of outer net.Under remote interaction treatment pattern, from the network security database dynamically updating, extract high frequency item collection, set up by different level data correlation rule, adopt genetic algorithm to adjust in real time relevant parameter, the derivative correlation rule making new advances, thereby realize adaptive data filtering function, ensure the safe operation of interactive system, and then realize safe and reliable household long-range rehabilitation pattern.
The present invention carries out collection analysis to multi-sensor information, specifically comprises:
1) expression and the micro-expression acquisition module F-033BL type CCD high-speed industrial video camera (119) by being installed on drawing and pulling type frame roof is to the infant collection of expressing one's feelings, the resolution ratio of video camera is 656 * 494, frame per second is up to 58 frame/seconds, therefore, can in Real-time Collection infant facial expression image, capture micro-expression key frame.The video that gathers by 1394a interface, will be transferred in real time intelligent mood analyzing subsystem, after processing by images such as feature extraction, expression cognitions, can know more exactly the true emotional change process of infant clearly, make robot produce appropriate affective interaction behavior, and provide objective analysis foundation for autistic children belong sentiment analysis and social training planning.
2) non-intrusion type eeg monitoring module can be by the brain electric information of noninvasive method Real-time Collection infant, and it is resolved in intelligent mood analyzing subsystem by Bluetooth wireless transmission, compare with expression and micro-facial expression image result, the comprehensive emotion judgment result that produces infant, for the auxiliary curing of autistic children belong and doctor's specialized guidance provide reliable Physiological Bases.
3) 5 flexible touch sensors are distributed in robot device's the crown, ear and shoulder (can answer real needs to increase and decrease arbitrarily), flexible touch sensor be take rolled metallic grid as basis, adopt bottom fine lines strip metal to realize the curved surface application of narrow limit arc, the features such as it is slim, light weight are beneficial to the installation of robot fairing ace, this sensor is experienced for infant provides abundanter touch, make the anthropomorphic effect of robot more true to nature, in interactive training process, strengthen interactive perception ability, can improve the affinity of training.
4) 11 groups of ultrasonic distance-measuring sensors are distributed in bobbin movement mechanism of robot outer edge, by the range data analysis of parallel acquisition being judged to the distance of robot peripheral obstacle, error are less than 0.5 centimetre.For the reciprocal process of infant provides suitable operating distance, guarantee that expression and micro-expression acquisition module collect mutual person's face-image with optimum position, simultaneously by the detection of Environment Obstacles thing, realize the preventing collision protection function of robot.
The design of the control that in the present invention, related RS232-RS485 changes and the employing of RS485-ModBus protocol conversion module is core with STM32F103RC/telecommunication circuit, as shown in figure 11.Wherein, STM32F103RC, for adopting 64 pin microcontrollers of 32 Thumb2 reduced instruction collecting systems, is one of embedded chip integrating in the market high-performance, low-power consumption, hard real-time.This microcontroller has Cortex-M3 kernel, the built-in high-speed memory up to 256K byte, and its I/O reversal rate can reach 18MHz, can meet the demand of data acquisition, equipment control, protocol conversion and the real-time Communication for Power of one-to-many completely.Distributed apparatus adopts the control mode of bus type; its transfer rate reaches as high as 10Mbit/s; allow to connect 128 transceivers; greatly improved robot device's device extension ability; circuit design has signal protection circuit; make system there is good lightning protection, antisurge and overcurrent protection function, make system more stable.
This robot adopts photoelectric isolated chip to combine with two arm processors wide area network is carried out to LAN the remote interaction of arq mode on the autonomous training network of isolated management and the self-adapting data filter algorithm based on association rule mining to treat two kinds of network security control modes of Internet Transmission pattern; with this, improve the protective capability to privacy and robot system safety, realize safe and reliable household long-range rehabilitation pattern.Under autonomous training mode, as shown in figure 12,4 switching rates can realize hardware up to the 6N137 photoelectric isolated chip of 10Mb/s and intercept the function that outer net information is disturbed in safeguards system training information uploading speed, with these Support Training data, can upload onto the server in real time and hold and make system not be subject to outer net virus attack under autonomous training mode; Two ARM946E-S processors possess the high-speed cache that capable of dynamic distributes, the command, control, communications, and information that is respectively used to security module and robot system is controlled, and the conversion of LAN and Ethernet data host-host protocol, guarantee that data pack according to Ethernet protocol standard and complete communication and the communication control function of outer net.Under remote interaction treatment pattern, in the network security database dynamically updating, extract high frequency item collection, set up by different level data correlation rule, adopt genetic algorithm to adjust in real time relevant parameter, the derivative correlation rule making new advances, thereby by adaptive data filtering algorithm, effectively shield outer net dangerous information, ensure the safe operation of interactive system.
The main body control flow process of the long-range social auxiliary curing of intelligent robot of the present invention as shown in figure 13.Control centre towards the intelligent social system of autistic children belong is the agile type industrial control computer (carrying Windows 7 operating systems) that North China industry control is produced, be provided with Sociality training, intelligent mood analysis and scale assessment and three subsystems of database, its attached I/O structure comprises: video acquisition module, brain wave acquisition module, unspecified person sound identification module, voice synthetic module, the multi-functional output module of LED, LCD image display and TC touch-control interactive module etc.
Sociality training subsystem is foreground direct and that infant is mutual; The emotional state that the facial expression image that the analysis of intelligence mood gathers by foreground carries out based on continuous state space is shone upon, the mood branching algorithm of applying in three dimensions based on mental capacity and probability theory in conjunction with brain electricity analytical result carries out emotion calculating, and result is converted into control instruction assigns to Sociality training subsystem, make it produce the interaction response of hommization; Scale assessment and database subsystem not only can complete the filing memory function of process data in reciprocal process, facial expression image, EEG signals and intelligent mood analysis result, that also can realize ABC, ASSQ, CARS, social reaction scale, Ke Shi table five kind of scale fills in function online, for third party's assessment result of managing medical worker and the head of a family, for data mining in the future, curative effect evaluation etc. provide effective foundation.
Particularly, the hardware device of Sociality training subsystem comprises that video acquisition module, interactive voice module, LED output module (128), LCD show (129) and TC touch-control (130) module.Video acquisition module is by being installed on 1 CCD high-speed industrial video camera (119) of drawing and pulling type frame roof infant is expressed one's feelings and micro-expression collection image information is transferred to intelligent mood analyzing subsystem in real time.Interactive voice module comprises 1 built-in wireless microphone (126), robot head earphone position and 3 loudspeakers (127), speech recognition and the synthesis unit behind that is installed on drawing and pulling type frame roof.Phonetic synthesis unit is equipped with male voice, female voice, three kinds of acoustic patterns of children's sound available, and possesses surround sound audio; LED output module (128) mainly comprises the colorful LED light of head and hand and its control circuit, and the attention that attracts infant with this, has coordinated the related system functions such as common concern.LCD display module (129) and TC touch-control module (130) are the cores of interactive operation, it is respectively the LCD display being installed on head movement driver (1), and be installed on the touch interactive screen on folding bracket (113), LCD display module adopts 5.7 cun of (4:3) industrial grade high definition liquid crystal displays, TC touch-control partly adopts 7 cun of (16:9) industrial grade high definition touch-screens, and safeguards system possesses image quality clearly, good reaction speed and can work in comparatively under rugged environment.The related hardware device of each module all turns RS485 change-over panel carry on RS485 bus by RS232, by RS485-ModBus protocol conversion module and Sociality training subsystem communication.
Intelligence mood analyzing subsystem adopts the brain electric information of non-intrusion type brain electricity monitoring module Real-time Collection infant, and it is resolved in intelligent mood analyzing subsystem by Bluetooth wireless transmission, for the auxiliary curing of autistic children belong provides reliable foundation.Simultaneously, the facial expression image that Sociality training subsystem is transmitted carries out the emotional state mapping based on continuous state space, the mood branching algorithm of applying in three dimensions based on mental capacity and probability theory in conjunction with brain electricity analytical result carries out emotion calculating, and result is converted into control instruction (detailed process is the arest neighbors classification of facial expression image pretreatment → 3D gradient projection (micro-expression key frame catch) → Gabor feature extraction → LBP Feature Dimension Reduction → based on the weighting of gradient magnitude), finally control instruction is assigned to long-range auxiliary Therapy robot device, realize the response of mutual expression and action, complete personalized human-computer interaction process, training infant produces the sociability of shifting one's love.
Scale assessment and database subsystem are usingd SQL Server 2012 as data management platform, can be divided into infant information management, medical worker's information management, scale assessment, four modules of interactive information record.Infant information management module mainly manages essential informations such as the name of infant, age, sexes; Medical worker's information management module is mainly used in, according to different stage, access rights are set, and effectively protects privacy; What scale evaluation module possessed ABC, ASSQ, CARS, social reaction scale, Ke Shi table five kind of scale fills in function online, for managing third party's assessment result of medical worker and the head of a family, for data mining in the future, curative effect evaluation etc. provide effective foundation; The multinomial process datas such as the reaction time of interactive information module its interactive training after infant login, deadline, correct and error rate, repetition training number of times are all by synchronous input database, allow medical worker fully understand and grasp the problem that infant embodies in training process, to teach targetedly and treat.The Sociality training subsystem of robot of the present invention is provided with common concern, expression is learnt, expressed one's feelings and test, express one's feelings and imitate, express one's feelings picture mosaic, six kinds of training modes of scene cognition.According to its training mode, be specifically described below:
1) jointly close injection-molded.Robot possesses voice and guides, voice+arm action synchronously guides, voice+arm action+LED flashes synchronous guide, voice+arm+headwork+LED flashes the multiple guidance modes such as synchronous guide, after voice guide is sent, by real-time people's face pose, detect, judge whether infant completes common concern training, if complete, carry out next direction guide, if do not complete, strengthen guide dynamics, carry out again pose judgement, until jointly paid close attention to or multiple guidance mode exhausts, and simultaneously by the infant response time, guide number of repetition, the performance of action after each guide, the data such as final performance of moving are submitted to database unified management.
2) expression mode of learning.Expression study part the is preset expression picture of six kinds of basic emotion states, infant can be selected as required by class study or incidental learning.Robot passes through LCD display and TC Touch Screen simultaneous display expression picture, and tells about by voice and text prompt the emotional state that expression contains, and progressively improves the cognitive athymia problem of infant.Meanwhile, database synchronization records the expression that infant was learnt, and corresponding expression video data in learning process, for special education and doctor's specialized guidance provides research foundation.
3) expression test pattern.According to expression learning data, this module be take mode that the outpost of the tax office is set provides the expression test exercise question of suitable difficulty as infant, test form concrete under same difficulty is divided into: expression picture one-out-three, find correct eye expression, find correct lip expression, for improving infant learning interest, enhancing memory, this test allows infant to repeat twice selection correct in the situation that non-selected again, voice, LED lamp and LCD cartoon expression based are set simultaneously rewards and Encourage the mechanism, after every topic completes, at LCD screen, repeat to show correct option, help infant to consolidate the expression of learning.In this test process, the information such as time of shown exercise question, each selection result, response all can synchronously deposit in database.In addition, the mutation analysis emotional change of Real-Time Monitoring infant expression and EEG signals in learning process, the adjusting difficulty of test of intelligence, improves the man-computer relation in training process in time, for test study provides active influence.
4) expression imitation model.According to the expression kind of expression study, this module, by the expression picture that provides voice guidance to coordinate LCD screen display to show with explanation for children, helps infant to complete the imitation of expression.By intelligent mood analyzing subsystem, complete extraction and the analysis of infant expressive features, judge the imitation compatible degree of this expression, and giving when infant is encouraged to give further action director, improve the expression ability to express of infant.In the process of carrying out in imitation, data will synchronously upload in database, so that medical worker understands patient's training progress in time, for the setting of successive treatment scheme provides practical foundation.
5) expression picture mosaic.According to the current studying progress of infant, this module will be screened expression picture, and form the training method of single-candidate picture mosaic and two kinds of forms of difference picture mosaic.Infant can pull picture by TC Touch Screen, is combined as desired expression in voice message.If picture mosaic is unsuccessful first, LCD screen will show encouragement picture, and voice message infant is had again; If picture mosaic is for the second time still unsuccessful, the correct expression full figure that system watches LCD screen to show in short-term with the form guiding infant of voice, and allow infant picture mosaic again.When infant correctly completes picture mosaic, system will judge its tensity according to current children's EEG signals, and selects intelligently to reward the intense strain that music is alleviated infant.
6) scene is cognitive.This module is classified picture according to the scene complexity of picture, and altogether alternative is set, four selects one, six to select one or three kinds of expression multiple-choice question types, and according to infant studying progress, system will consider scene difficulty and the different outposts of the tax office of question type difficulty release.The expression Emotional Picture that the heart impression selection after picture is answered in contrast can be explained and self see to infant for the content of picture by voice, simultaneity factor is given correct mood guiding and is selected guidance by camera and eeg monitoring module real-time analysis infant heart emotional change, make the cognitive scene of infant emotional state, incorporate scene and produce suitable shifting one's love, to help infant progressively to break away from lonely inner world, be tending towards normal cognitive emotional state.
Claims (10)
1. a long-range auxiliary Therapy robot device, it is characterized in that: described robot device comprises head movement driver (1), arm motion driver (2), equipment carrier (3), MS master-slave wheel undercarriage (4) and shell module (7), this robot device's head movement driver (1) is equipped on equipment carrier (3) top; Arm driver (2) is equipped on respectively equipment carrier (3) both sides; Chassis (4) is installed on carrier (3) bottom.
2. according to right 1, require described long-range auxiliary Therapy robot device, it is characterized in that: described head movement driver (1) is two groups, mutually vertical coupled between two groups, every group of head movement driver (1) comprises clutch (101), decelerator (102), direct current generator (103) and DC MOTOR CONTROL driving mechanism (104) thereof; Described DC MOTOR CONTROL driving mechanism is annular DC MOTOR CONTROL plate, 5 photoelectric sensors (105) and 2 microswitches (106) are housed on DC MOTOR CONTROL plate, photoelectric sensor (105) and microswitch (106) are uniformly distributed in the outward flange of semi-circumference in DC MOTOR CONTROL plate (104) one sides with 30 degree angles, wherein between 2 microswitches (106), be 180 degree angles.
3. according to right 1, require described long-range auxiliary Therapy robot device, it is characterized in that: described arm driver (2) is for being installed on the device of motor coordinated drive more than two groups of carrier (3) left and right sides; Wherein every group of arm driver (2) comprises 4 step-by-step movement movable joints (107), 1 block of arm Electric Machine Control plate (120), 1 shoulder joint support (108), 1 large arm support (109), 1 forearm bracket (110), 1 hand supports (111), 1 3,000,000 pixel COMS camera (118).
4. according to right 3, require described long-range auxiliary Therapy robot device, it is characterized in that: each step-by-step movement movable joint (107) consists of stepper motor and decelerator thereof; Shoulder joint is by the vertical coupled formation of two step-by-step movement movable joints (107), and two step-by-step movement movable joints (107) are controlled respectively rotary freedom and swung up and down the free degree.
5. according to right 1, require described long-range auxiliary Therapy robot device, it is characterized in that: described equipment carrier (3) comprise in 1 stand type support (112), 1 folding bracket (113), 1 drawing and pulling type framework (114) and drawing and pulling type framework can pull rectangular clapboard (115); Described stand type support (112) is for securement head motion driver (1), and folding bracket (113) is for touch interactive screen is installed, and rectangular clapboard (115) is for laying arm Electric Machine Control plate (120) and industrial control computer (8); Described head movement driver (1) and arm driver (2) be take RS485 bus as physical transfer basis, by ModBus agreement and industrial control computer (8), carry out information interaction.
6. according to right 1, require described long-range auxiliary Therapy robot device, it is characterized in that: described MS master-slave wheel undercarriage (4) comprises 2 main drive wheels (116), 1 omnidirectional's driven pulley (117) and a chassis carrier (122); Described main drive wheel (116) is controlled driving mechanism (104) with head movement driver (1) common DC motor.
7. according to right 1, require described long-range auxiliary Therapy robot device, it is characterized in that: described shell module (7) is made by hard PVC material, shell module (7) is equipped with (124) 5 of flexible touch sensors altogether, wherein, 2 of the crown 1 Ge, ears, 2 of shoulders, simultaneously shell module (7) is equipped with 11 groups of ultrasonic distance-measuring sensors (125), wherein, and anterior 4 groups, 3 groups, rear portion, each 2 groups of both sides.
8. according to right 7, require described long-range auxiliary Therapy robot device, it is characterized in that: multisensor control and information feedback module (5), network security module (6) are also installed on described rectangular clapboard (115), wherein, described multisensor is controlled and information feedback module (5) is sensor information transmitting-receiving control module, carry out information exchange with each sensor, and take RS485 bus as physical transfer basis, by ModBus agreement and computer motherboard (8), carry out information interaction, described sensor is flexible touch sensor and ultrasonic distance-measuring sensor; Described network security module (6) consists of Physical isolation gap module and data filtering module two parts; Wherein, Physical isolation gap module comprises 4 6N317 photoelectric isolated chips, 2 arm processors.
9. according to right 1, require described long-range auxiliary Therapy robot device, it is characterized in that: described long-range auxiliary Therapy robot device comprises that video acquisition module, interactive voice module, LED output module (128), LCD show (129) and TC touch-control (130) module; Wherein video acquisition module comprises 1 the CCD high-speed industrial video camera (119) that is installed on drawing and pulling type framework (114) top, for infant being expressed one's feelings and micro-expression collection; Interactive voice module comprises 1 built-in wireless microphone (126), robot head and 3 loudspeakers (127), speech recognition and the synthesis unit behind that is installed on drawing and pulling type framework (114) top; LED output module (128) comprises LED lamp and the LED control circuit thereof of robot head and hand; LCD display module (129) and TC touch-control module (130) are respectively the LCD displays being installed on head movement driver (1), and are installed on the touch interactive screen on folding bracket (113).
10. towards an intelligent social system for autistic children belong, it is characterized in that: comprise long-range auxiliary Therapy robot device as claimed in claim 9, Sociality training subsystem (9), intelligent mood analyzing subsystem (10), scale assessment and database subsystem (11); Described video acquisition module, interactive voice module, LED output module (128), LCD show that (129) and TC touch-control (130) module carry are on RS485 bus, by ModBus agreement and Sociality training subsystem communication; Intelligence mood analyzing subsystem adopts the brain electric information of non-intrusion type brain electricity monitoring module Real-time Collection infant, and resolves in intelligent mood analyzing subsystem by Bluetooth wireless transmission.
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