CN103612252B - Towards the intelligent remote social supplemental treatment machine people of autistic children belong - Google Patents
Towards the intelligent remote social supplemental treatment machine people of autistic children belong Download PDFInfo
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Abstract
The invention belongs to Long-distance Control and artificial intelligence field, relate to a kind of intelligent recovering aid Therapy robot device carrying out real-time Sociality training for autistic children belong.This device comprises head movement driver (1), arm motion driver (2), equipment carrier (3), MS master-slave wheel undercarriage (4) and shell module (7).Adopt multi-joint associating type of drive, improve robot to the coordinated drive ability of each movable joint solves the problem of delay interaction effect, by PWM double-direction control technology, reach the gesture stability of robot any direction precision, and automatically dodge the limb motion path planning function of obstacle, for the ubiquitous emotion of infant, in interactive process by between the implemented in many forms human and computer people such as voice, image, touch-control, induction intelligence affective interaction and realize safe and reliable household long-range rehabilitation pattern.
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, about there are 3,500 ten thousand autistic patients in the current whole world, and ill ratio is up to 94:1.According to China Disabled Federation's conservative estimation in 2009, China's Autism children of 0 to 15 year old has 1,500,000, and the Autism children of more than 0 to 20 year old has 5,000,000, and its incidence of disease is in 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, present stage, autistic training method generally adopted man-to-man behavior to rescue to play with simple rehabilitation.Cycle of training long (most infant needs to participate in training all the life), medical expense is high, medical personnel are rare, medical institutions' level is very different, and supplemental treatment instrument is simple and crude etc., and significant problem highlights day by day.
For above outstanding problem, the information science means that control, artificial intelligence etc. are advanced combine with supplemental treatment, develop towards autistic children belong long-range social supplemental treatment machine people its be intended to develop the social contact ability of autistic children belong, for the education of infant and treatment provide 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, the rehabilitation being autistic children belong by the social supplemental treatment of hommization possessing cognitive emotional ability brings dawn.
Summary of the invention
In order to the social contact ability of autistic children belong in time, effectively can be improved, provide advanced rehabilitation instrument to infant.An object of the present invention, is to provide a kind of supplemental treatment machine people device, is driven, keeps away barrier and the control technology such as path planning, Intelligent information fusion, realize the social supplemental treatment pattern based on diversification interactive means by multi-joint; Meanwhile, provide the network security technologys such as Network Isolation management, self-adapting data filtration, to realize autonomous filtration for threat information in Wide Area Network and Initiative Defense function, thus provide safely powerful guarantee for privacy and robot system; And provide the mood based on expression cognition and brain electricity analytical to catch and affection computation technology, to realize for the coordination of infant emotion trait, synchronous human-computer interaction, thus effectively cultivate social interaction and the emotional exchange technical ability of autistic children belong.
Concrete scheme is as follows:
A kind of remote assistant 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), the head movement driver (1) of this robot device is equipped on equipment carrier (3) top; Arm driver (2) is equipped on equipment carrier (3) both sides respectively; Chassis (4) is installed on carrier (3) bottom.
Preferably, described head movement driver (1) is two groups, mutually vertical coupled between two groups, often organize head movement driver (1) and comprise 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) DC MOTOR CONTROL plate are equipped with, photoelectric sensor (105) and microswitch (106) are uniformly distributed in the outward flange of semi-circumference in DC MOTOR CONTROL plate (104) side with 30 degree of angles, are wherein 180 degree of angles between 2 microswitches (106).
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 often organize arm driver (2) and comprise 4 stepwise motion joints (107), 1 piece of arm motor control panel (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 stepwise motion joint (107) is made up of stepper motor and decelerator thereof; Shoulder joint is formed by two stepwise motion joints (107) are vertical coupled, and two stepwise motion joints (107) control rotary freedom respectively and swing 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 drive (1), and folding bracket (113) is for installing touch interactive screen, and rectangular clapboard (115) is for laying arm motor control panel (120) and industrial control computer (8); Described head movement driver (1) and arm driver (2) for physical transfer basis, carry out information interaction by ModBus agreement and industrial control computer (8) with RS485 bus.
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) and head movement driver (1) common DC motor control driving mechanism (104).
Preferably, described shell module (7) is made up of hard PVC material, shell module (7) is equipped with flexible touch sensor (124) 5 altogether, wherein, 1, the crown, ear 2, shoulder 2, simultaneously shell module (7) is equipped with 11 groups of ultrasonic distance-measuring sensors (125), wherein, anterior 4 groups, 3 groups, rear portion, each 2 groups of both sides.
Preferably, described rectangular clapboard (115) is also provided with multisensor and controls and information feedback module (5), network security module (6),
Wherein, described multisensor controls and information feedback module (5) is sensor information transmitting-receiving control module, information exchange is carried out with each sensor, and with RS485 bus for physical transfer basis, carry out information interaction by ModBus agreement and computer motherboard (8), described sensor is flexible touch sensor and ultrasonic distance-measuring sensor;
Described network security module (6) is made up 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 remote assistant Therapy robot device comprises video acquisition module, voice interaction 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) being installed on drawing and pulling type framework (114) top, for expressing one's feelings to infant and the collection of micro-expression; Voice interaction module comprise be installed on drawing and pulling type framework (114) top 1 built-in wireless microphone (126), robot head and 3 loudspeakers (127), speech recognition and synthesis units behind; LED output module (128) comprises LED and the LED control circuit thereof of robot head and hand; LCD display module (129) and TC touch-control module (130) are be installed on the LCD display in head movement driver (1) respectively, and are installed on the touch interactive screen on folding bracket (113).
Towards an intelligent social system for autistic children belong, comprise above-mentioned remote assistant Therapy robot device, Sociality training subsystem (9), intelligent mood analyzing subsystem (10), scale assessment and database subsystem (11); Described video acquisition module, voice interaction module, LED output module (128), LCD display (129) and TC touch-control (130) module carry 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 is resolved in intelligent mood analyzing subsystem by Bluetooth wireless transmission.
Advantage of the present invention and good effect are:
1) carry out information interaction by RS485-ModBus protocol conversion module and industrial control computer to achieve multi-joint and combine type of drive, the movable joint driving force making robot real-time; Introducing F_Direction reference vector reduces the deviation between random node and optimal path, thus it is consuming time effectively to shorten path planning, improves real-time and the accuracy of robot motion; In conjunction with scan picture technology, realize the limb motion path planning function automatically can dodging obstacle; By the mode that PWM double-direction control technology combines with sensor and time-delay calculation, control limb action speed and calculate movement angle and distance, realize the gesture stability of robot any direction precision, make robot can complete interactive command real-time and accurately 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, CCD make a video recording first-class image acquisition device, the much information output equipments such as LED, LCD are housed, for the social mood interaction behavior in interactive process provides intelligentized basis simultaneously; I/O equipment of all categories controls respectively by multisensor and information feedback module coordinated management, each module carry is in RS485 bus, and directly communicated with control centre by RS485-ModBus protocol conversion module, this distributed information fusion makes system possess efficient telecommunication management ability, enhances fault-tolerant ability simultaneously, is 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, considerably increase the approach of affective interaction, be that the effect of interactive training brings active influence while improving infant participation interest; High-speed industrial video camera is combined, for the judgement of infant emotional state and supplemental treatment phasic results provides reliable engineering and physiology foundation with brain electricity monitoring technique with analytical technology to expression and micro-Expression Recognition; By mood branching algorithm, realize personalized human-computer interaction process, training infant produces the sociability of shifting one's love; Adopt based on the Information Administration Mode of large database, be beneficial to safety management and Data acquisition, and illness analysis, also can be treatment in the future and reference and foundation are provided.
4) system possesses autonomous training and treats two kinds of patterns with remote interaction, autonomous training mode can make infant carry out Sociality training whenever and wherever possible under the environment such as family, treatment and amusement are organically combined together, remote interaction Therapeutic mode can make infant stay indoors just can to enjoy the rehabilitation of doctor to be instructed, and doctor also can understand in time, grasp infant rehabilitation progress while providing online medical treatment; Under autonomous training mode, training data to remote server one-way transmission, both can ensure real-time communication by Secure isolation module, also can realize the function that hardware intercepts extranet information threat; Under remote interaction Therapeutic mode, the safe operation that robot system adopts the self-adapting data filter algorithm based on association rule mining effectively to shield outer net dangerous information, stops privacy leakage, ensures interactive system; The proposition of this Therapeutic mode can effective save medical resources, carrying out of 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 catenation principle figure.
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 catenation principle figure of the present invention.
The top view on Tu6Shi robot of the present invention " convex " 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 design figure of Tu9Shi robot of the present invention.
Figure 10 is the enclosures effects figure of robot of the present invention.
Figure 11 is robot device's control/communication core circuit electrical catenation principle figure of the present invention.
Figure 12 is robot network's security control core of the present invention electrical connection schematic diagram.
Figure 13 is the main body control flow chart of the long-range social supplemental treatment of intelligent robot of the present invention.
Detailed description of the invention
Be described further below in conjunction with accompanying drawing and example.
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-computer intellectualization technology safe and reliable under providing a kind of remote mode, realize the real-time data acquisition process for autistic children belong, intelligent response and remote assistant treatment function, solve the problem that existing social supplemental treatment tool resources is deficient, emotional interaction degree is not enough, telesecurity is limited.
As shown in Figure 2, the head movement driver (1) of this robot has two groups, mutually vertical coupled, often organize head movement driver (1) comprise separate clutch (101), decelerator (102), direct current generator (103) and control driving mechanism (104), wherein often organize head movement driver (1) and be responsible for one degree of freedom, one group of nodding action 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 that annular 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) side with 30 degree of angle equal difference, be wherein 180 degree of angles between 2 microswitches (106), 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, i.e. DC MOTOR CONTROL plate (104), its control circuit as shown in Figure 3, calculate with sensor and time delay the mode combined by PWM double-direction control and control direct current generator rotational angle, such as, in each 30 °, control time delay (angular speed × time delay) by direct current generator (103) control rotational angle, and the microswitch (106) by having limit function to arrange head rotation maximum angle physics spacing, realize the accurate location of motor movement angle.
As shown in Figure 4, the arm driver (2) of this robot produces action by shoulder joint, elbow joint, wrist joint three motion coordinated drive, arm driver (2) is installed on carrier (3) left and right sides respectively, often organizes arm driver (2) and comprises 4 stepwise motion joints (107), 1 piece of arm motor control panel (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 stepwise motion joint (107) is made up of stepper motor and decelerator thereof; Elbow joint and wrist joint comprise a stepwise motion joint (107) respectively, shoulder joint is formed by two stepwise motion joints (107) are vertical coupled, two stepwise motion joints (107) control two frees degree respectively, a rotary freedom, one swings up and down the free degree, 360 degree of Omnidirectional rotations of arm can be realized and 180 degree swing up and down function.Arm driver (2) adopts TB6560AHQ chip as core controller, i.e. arm motor control panel (120), its control circuit as shown in Figure 5, the stepwise motion joint (107) of rotary freedom is responsible for by Omnidirectional rotation axle and other 3 stepwise motion joints (107) (stepwise motion joint (107) of being responsible in shoulder joint swinging up and down in shoulder joint, and correspond respectively to elbow joint and carpal two stepwise motion joints (107)) Collaborative Control, robot arm can point to any direction flexibly, the control command assigned of completion system real-time and accurately, departure is less than 0.5 degree.In addition, respectively add one piece of 3,000,000 pixel COMS camera (118) in robot both sides and real time image collection is carried out to arm pose and surrounding environment, uploaded in real time by usb communication interface, set up the path planning that has most that three-dimensional system of coordinate carries out arm action realization to calculate, and introduce F_Direction reference vector to reduce the deviation of random node and optimal path, thus it is consuming time to shorten path planning, improve real-time and the accuracy of this robot motion, realize barrier avoiding function simultaneously, effectively avoid being accidentally injured by the move personnel that cause of robot limb, make the interaction of infant and robot safer.
As shown in Figure 6, this robot adopts the design of " convex " font MS master-slave wheel undercarriage domain, and MS master-slave wheel undercarriage (4) comprises 2 main drive wheels (116), 1 omnidirectional's driven pulley (117) and " convex " shape chassis carrier (122)." convex " shape chassis carrier has battery installation position (123).Main drive wheel (116) passes through independently DC motor Driver, and share core controller with head movement driver (1), i.e. DC MOTOR CONTROL plate (104) (Fig. 2), direct current generator is driven to rotate by PWM double-direction control, movement velocity is adjustable flexibly, can complete the quick acting response of the multiple speed grade such as change/speed change, straight/curvilinear motion.
The head movement driver (1) of this robot is equipped on carrier (3) top; Arm driver (2) is equipped on carrier both sides respectively; Chassis (4) is installed on carrier (3) bottom.As shown in Figure 7, described equipment carrier (3) 2 pieces of comprising 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) for equipment carrier (3) structure chart of robot of the present invention.Wherein, stand type support (112) is for securement head motion drive, and folding bracket (113) is for installing touch interactive screen.The folding bracket (113) installing touch interactive screen adopts three accordion structure designs, as shown in Figure 8, Omnidirectional rotation axle is installed in each folding position, namely 3 360 degree of Omnidirectional rotation axles are comprised, 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 upper and lower two slide rails installing the realization of two pieces of dividing plates (115) additional, the three-dimensional in space is applied, 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 (i.e. arm motor control panel (120)), multisensor controls 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 motor control panel (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.Formed basis robot overall mechanical design as shown in Figure 9 with this, Figure 10 is the robot device's design sketch after its mounting casing.Described shell module (7) is made up of hard PVC material, has cartoon profile.This module is equipped with flexible touch sensor (124) 5 altogether, and wherein, 1, the crown, ear 2, shoulder 2, be equipped with 11 groups of ultrasonic distance-measuring sensors (125) simultaneously, wherein, anterior 4 groups, 3 groups, rear portion, each 2 groups of both sides.
The head movement driver (1) of robot and arm driver (2) carry realize multi-joint and combine driving on RS485 bus, carry out information interaction by RS485-ModBus protocol conversion module and industrial control computer (8), improve robot to the driving force of each movable joint with this and solve the problem of delay interaction effect.Described device by path planning with keep away barrier technique and be applied in the motion control of robot, introduce F_Direction reference vector to reduce the deviation of random node and optimal path simultaneously, thus it is consuming time effectively to shorten path planning, improve real-time and the accuracy of this device motion.The joint of head of robot and chassis driving wheel adopt DC motor Driver, the mode combined with sensor and time-delay calculation by PWM double-direction control technology, measuring and calculating movement angle and distance; Arm joint adopts driving stepper motor, by image processing techniques and above-mentioned path planning with keep away barrier technique and combine, departure is less than 0.5 degree, realize the gesture stability of robot any direction and automatically can dodge the limb motion path planning function of obstacle, this function not only increases the motion controllability of device, also effectively can avoid move the personnel's accidental injury caused by robot limb simultaneously, make the interaction of infant and robot safer.
The transmitting-receiving control module that in the present invention, multisensor controls and information feedback module (5) is all the sensors information, to be controlled by multisensor and information feedback module (5) and each sensor carry out information exchange, carry out information interaction by RS485-ModBus protocol conversion module and industrial control computer (8), described sensor is flexible touch sensor (124) and ultrasonic distance-measuring sensor (125).
Network security module (6) is made up of Physical isolation gap module and software filtering module two parts.Physical isolation gap module is made up of 4 6N137 photoelectric isolated chips and 2 arm processors.Under autonomous training mode, 4 switching rates can realize up to the 6N137 photoelectric isolated chip of 10Mb/s the function that hardware intercepts extranet information interference while safeguards system training information uploading speed; A slice arm processor is used for the communication of security module and robot system and information controls, and another sheet arm processor, for Data Format Transform and data buffer storage, completes information transmission and the communication control function of outer net according to Ethernet protocol specification packing data.Under remote interaction Therapeutic mode, high frequency item collection is extracted from the network security data storehouse dynamically updated, set up data correlation rule by different level, genetic algorithm is adopted to adjust relevant parameter in real time, the derivative correlation rule made new advances, thus 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 micro-expression acquisition module carry out expression collection by F-033BL type CCD high-speed industrial video camera (119) being installed on drawing and pulling type frame roof to infant, the resolution ratio of video camera is 656 × 494, frame per second is up to 58 frames/second, therefore, micro-expression key frame can be captured while Real-time Collection infant facial expression image.Gather video and will be transferred to intelligent mood analyzing subsystem in real time by 1394a interface, by the true emotional change procedure of infant can be known after the image procossing such as feature extraction, expression cognition more exactly clearly, make robot produce appropriate affective interaction behavior, and objectively analyze foundation for autistic children belong sentiment analysis and social training planning provide.
2) non-intrusion type eeg monitoring module is 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 emotion judgment result of comprehensive generation infant, for the supplemental treatment of autistic children belong and the specialized guidance of doctor provide reliable Physiological Bases.
3) 5 flexible touch sensor are distributed in the crown of robot device, ear and shoulder (real needs can be answered to increase and decrease arbitrarily), flexible touch sensor is based on rolled metallic grid, bottom fine lines strip metal is adopted 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 that infant provides more abundant touch experience, make the anthropomorphic effect of robot more true to nature, in interactive training process, enhance interactive perception ability, the affinity of training can be improved.
4) 11 groups of ultrasonic distance-measuring sensors are distributed in bobbin movement mechanism of robot outer edge, and by judging the distance of robot peripheral obstacle to the range data analysis of parallel acquisition, error is less than 0.5 centimetre.Interaction for infant provides suitable operating distance, guarantees that expression and micro-expression acquisition module collect the face-image of mutual person with optimum position, simultaneously by the detection of Environment Obstacles thing, realizes the preventing collision protection function of robot.
RS232-RS485 involved in the present invention changes and the employing of RS485-ModBus protocol conversion module take STM32F103RC as the control of core/telecommunication circuit design, as shown in figure 11.Wherein, STM32F103RC is 64 pin microcontrollers of employing 32 Thumb2 reduced instruction collecting systems, is one of the embedded chip integrating high-performance, low-power consumption, hard real-time in the market.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 data acquisition of one-to-many completely, equipment controls, the demand of protocol conversion and real-time Communication for Power.Distributed apparatus adopts the control mode of bus type; its transfer rate reaches as high as 10Mbit/s; allow connection 128 transceivers; drastically increase the device extension ability of robot device; circuit design has signal protection circuit; make system have good lightning protection, antisurge and overcurrent protection function, make system more stable.
Arq mode and treat Internet Transmission pattern two kinds of network security control modes based on the remote interaction of the self-adapting data filter algorithm of association rule mining on the autonomous training network that this robot adopts photoelectric isolated chip to combine with pair arm processor to carry out isolated management to LAN to wide area network; improve the protective capability to privacy and robot system safety with this, realize safe and reliable household long-range rehabilitation pattern.Under autonomous training mode, as shown in figure 12,4 switching rates can realize up to the 6N137 photoelectric isolated chip of 10Mb/s the function that hardware intercepts extranet information interference while safeguards system training information uploading speed, can upload onto the server in real time hold and make system not be subject to outer net virus attack under autonomous training mode with these Support Training data; The high-speed cache that two panels ARM946E-S treatment tool is distributed for dynamic, the command, control, communications, and information being respectively used to security module and robot system controls, and the conversion of LAN and Ethernet data host-host protocol, guarantee that data are packed according to Ethernet protocol specification and complete information transmission and the communication control function of outer net.Under remote interaction Therapeutic mode, high frequency item collection is extracted in the network security data storehouse dynamically updated, set up data correlation rule by different level, genetic algorithm is adopted to adjust relevant parameter in real time, the derivative correlation rule made new advances, thus effectively shield outer net dangerous information by adaptive data filtering algorithm, ensure the safe operation of interactive system.
The main body control flow process of the long-range social supplemental treatment of intelligent robot of the present invention as shown in figure 13.Towards the agile type industrial control computer (carrying Windows 7 operating system) that the control centre of the intelligent social system of autistic children belong produces for North China industry control, be provided with Sociality training, intelligent mood analysis and scale assessment and database three subsystems, its attached I/O structure comprises: video acquisition module, brain wave acquisition module, signer-independent sign language recognition 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 direct and that infant is mutual foreground; The facial expression image that the analysis of intelligence mood is then gathered by foreground carries out mapping based on the emotional state of continuous state space, the mood branching algorithm applied in three dimensions based on mental capacity and probability theory in conjunction with brain electricity analytical result carries out affection computation, and result is converted into control instruction and 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 interaction, facial expression image, EEG signals and intelligent mood analysis result, also can realize ABC, ASSQ, CARS, social reaction scale, kirschner table five kind of scale fill 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.
Particularly, the hardware device of Sociality training subsystem comprises video acquisition module, voice interaction module, LED output module (128), LCD show (129) and TC touch-control (130) module.Video acquisition module to be expressed one's feelings to infant by 1 CCD high-speed industrial video camera (119) being installed on drawing and pulling type frame roof and micro-expression gathers and image information is transferred in real time intelligent mood analyzing subsystem.Voice interaction module comprise be installed on drawing and pulling type frame roof 1 built-in wireless microphone (126), robot head earphone position and 3 loudspeakers (127), speech recognition and synthesis units behind.Phonetic synthesis unit is equipped with male voice, female voice, children's sound three kinds of acoustic patterns available, and possesses surround sound audio; LED output module (128) mainly comprises colorful LED light and its control circuit of head and hand, attracts the attention of infant with this, has coordinated common concern to wait related system function.LCD display module (129) and TC touch-control module (130) are the cores of interactive operation, be installed on the LCD display in head movement driver (1) respectively, and the touch interactive screen be installed on folding bracket (113), LCD display module adopts 5.7 cun of (4:3) industrial grade high definition liquid crystal displays, TC touch-control part adopts 7 cun of (16:9) industrial grade high definition touch-screens, and safeguards system possesses image quality, good reaction speed can working in comparatively under rugged environment clearly.Hardware device involved by each module all turns RS485 change-over panel carry on RS485 bus, by RS485-ModBus protocol conversion module and Sociality training subsystem communication by RS232.
Intelligence mood analyzing subsystem adopts the brain electric information of non-intrusion type brain electricity monitoring module Real-time Collection infant, and is resolved it in intelligent mood analyzing subsystem by Bluetooth wireless transmission, and the supplemental treatment for autistic children belong provides reliable foundation.Simultaneously, the facial expression image transmitted by Sociality training subsystem carries out mapping based on the emotional state of continuous state space, the mood branching algorithm applied in three dimensions based on mental capacity and probability theory in conjunction with brain electricity analytical result carries out affection computation, and result is converted into control instruction (detailed process is facial expression image pretreatment → 3D gradient projection (micro-expression key frame catches) → Gabor characteristic extraction → LBP Feature Dimension Reduction → classify based on the arest neighbors of gradient-magnitude weighting), finally control instruction is assigned to remote assistant 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, using SQL Server 2012 as data management platform, can be divided into infant information management, medical worker's information management, scale assessment, interactive information record four modules.Infant information management module mainly manages the essential information such as name, age, sex of infant; Medical worker's information management module is mainly used in arranging access rights according to different stage, available protecting privacy; Scale evaluation module possess ABC, ASSQ, CARS, social reaction scale, kirschner table five kind of scale fill 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; Interactive information module after infant logs in reaction time of its interactive training, deadline, the correct and multinomial process data such as error rate, repetition training number of times all by synchronous input database, allow medical worker fully understand and grasp the problem that infant embodies in the training process, to teach targetedly and to treat.The Sociality training subsystem of robot of the present invention is provided with common concern, expression study, expression test, expression are imitated, expression picture mosaic, the cognitive six kinds of training modes of scene.To be specifically described according to its training mode below:
1) jointly injection-molded is closed.Robot voice guide, 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 sends, detected by real-time face pose, judge whether infant completes and jointly pay close attention to training, next direction guide is carried out if complete, if do not complete, strengthen guide dynamics, carry out pose judgement again, until jointly to have 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 the final performance of action submit to database unified management.
2) expression mode of learning.Expression study part is prefixed the expression picture of six kinds of basic emotion states, and infant can be selected as required by class study or incidental learning.The emotional state that expression contains by LCD display and TC Touch Screen simultaneous display expression picture, and is told about by voice and text prompt by robot, progressively improves the cognitive athymia problem of infant.Meanwhile, the expression that database synchronization record infant learnt, and expression video data corresponding in learning process, for the specialized guidance of special education and doctor provides research foundation.
3) expression test pattern.According to expression learning data, this module in the mode arranging the outpost of the tax office for infant provides the expression test exercise question of suitable difficulty, 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 allow infant when non-selected correct repeat twice selection again, arrange voice, LED and LCD cartoon expression based to reward and Encourage the mechanism simultaneously, after often having inscribed LCD screen repeat show correct option, help infant consolidate learn expression.The information such as the time of exercise question shown in this test process, each selection result, response all can synchronously stored in database.In addition, the mutation analysis emotional change of Real-Time Monitoring infant expression and EEG signals in learning process, the adjustment 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 will provide voice guidance and explain the expression picture coordinating LCD screen to show for children, help infant to complete the imitation of expression.Completed extraction and the analysis of infant expressive features by intelligent mood analyzing subsystem, judge the imitation compatible degree of this expression, and giving to give further action director while infant is encouraged, improve the expression ability to express of infant.Imitating in the process of carrying out, data are by synchronized upload in database, so that medical worker understands the training progress of patient in time, the setting for successive treatment scheme provides practical foundation.
5) expression picture mosaic.According to the current studying progress of infant, this module will screen expression picture, and form the training method of single-candidate picture mosaic and difference picture mosaic two kinds of forms.Infant pulls picture by TC Touch Screen, is combined as expression required in voice message.If picture mosaic is unsuccessful first, then display is encouraged picture by LCD screen, and voice message infant is had again; If second time picture mosaic is still unsuccessful, then system guides infant to watch the correct expression full figure that shows in short-term of LCD screen in the form of speech, and allows infant picture mosaic again.When infant correctly completes picture mosaic, system judges its tensity by according to the EEG signals of current children, and selects the intense strain of rewarding music alleviation infant intelligently.
6) scene is cognitive.Picture is classified according to the scene complexity of picture by this module, and arranges alternative, four altogether and select one, six to select one or three kinds of multiple-choice question types of expressing one's feelings, and according to infant studying progress, system will consider scene difficulty and question type difficulty unlocks the different outpost of the tax office.Infant is explained by the content of voice for picture and self sees that the expression Emotional Picture corresponded is selected in the impression of the heart after picture, simultaneity factor gives correct mood by camera and eeg monitoring module real-time analysis infant heart emotional change and guides and select to instruct, make the emotional state of the cognitive scene of infant, incorporate suitable the shifting one's love of scene generation, progressively break away from lonely inner world to help infant and be tending towards normal cognitive emotional state.
Claims (9)
1. a remote assistant 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), the head movement driver (1) of this robot device is equipped on equipment carrier (3) top; Arm driver (2) is equipped on equipment carrier (3) both sides respectively; Chassis (4) is installed on carrier (3) bottom; Described shell module (7) is made up of hard PVC material, shell module (7) is equipped with flexible touch sensor (124) 5 altogether, wherein, 1, the crown, ear 2, shoulder 2, shell module (7) is equipped with 11 groups of ultrasonic distance-measuring sensors (125) simultaneously, wherein, anterior 4 groups, 3 groups, rear portion, each 2 groups of both sides.
2. require described remote assistant Therapy robot device according to right 1, it is characterized in that: described head movement driver (1) is two groups, mutually vertical coupled between two groups, often organize head movement driver (1) and comprise 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) DC MOTOR CONTROL plate are equipped with, photoelectric sensor (105) and microswitch (106) are uniformly distributed in the outward flange of semi-circumference in DC MOTOR CONTROL plate (104) side with 30 degree of angles, are wherein 180 degree of angles between 2 microswitches (106).
3. require described remote assistant Therapy robot device according to right 1, 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 often organize arm driver (2) and comprise 4 stepwise motion joints (107), 1 piece of arm motor control panel (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. require described remote assistant Therapy robot device according to right 3, it is characterized in that: each stepwise motion joint (107) is made up of stepper motor and decelerator thereof; Shoulder joint is formed by two stepwise motion joints (107) are vertical coupled, and two stepwise motion joints (107) control rotary freedom respectively and swing up and down the free degree.
5. require described remote assistant Therapy robot device according to right 1, 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 drive (1), folding bracket (113) is for installing touch interactive screen, and rectangular clapboard (115) is for laying arm motor control panel (120) and industrial control computer (8); Described head movement driver (1) and arm driver (2) for physical transfer basis, carry out information interaction by ModBus agreement and industrial control computer (8) with RS485 bus.
6. require described remote assistant Therapy robot device according to right 1, 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) and head movement driver (1) common DC motor control driving mechanism (104).
7. require described remote assistant Therapy robot device according to right 1, it is characterized in that: described rectangular clapboard (115) is also provided with multisensor and controls and information feedback module (5), network security module (6), wherein, described multisensor controls and information feedback module (5) is sensor information transmitting-receiving control module, information exchange is carried out with each sensor, and with RS485 bus for physical transfer basis, information interaction is carried out by ModBus agreement and computer motherboard (8), described sensor is flexible touch sensor and ultrasonic distance-measuring sensor,
Described network security module (6) is made up 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.
8. require described remote assistant Therapy robot device according to right 1, it is characterized in that: described remote assistant Therapy robot device comprises video acquisition module, voice interaction 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) being installed on drawing and pulling type framework (114) top, for expressing one's feelings to infant and the collection of micro-expression; Voice interaction module comprise be installed on drawing and pulling type framework (114) top 1 built-in wireless microphone (126), robot head and 3 loudspeakers (127), speech recognition and synthesis units behind; LED output module (128) comprises LED and the LED control circuit thereof of robot head and hand; LCD display module (129) and TC touch-control module (130) are be installed on the LCD display in head movement driver (1) respectively, and are installed on the touch interactive screen on folding bracket (113).
9. towards an intelligent social system for autistic children belong, it is characterized in that: comprise remote assistant Therapy robot device as claimed in claim 8, Sociality training subsystem (9), intelligent mood analyzing subsystem (10), scale assessment and database subsystem (11); Described video acquisition module, voice interaction module, LED output module (128), LCD display (129) and TC touch-control (130) module carry 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 is resolved in intelligent mood analyzing subsystem by Bluetooth wireless transmission.
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