CN108037832A - A kind of intelligent operating system and apply its artificial intelligence equipment - Google Patents
A kind of intelligent operating system and apply its artificial intelligence equipment Download PDFInfo
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- CN108037832A CN108037832A CN201711380726.2A CN201711380726A CN108037832A CN 108037832 A CN108037832 A CN 108037832A CN 201711380726 A CN201711380726 A CN 201711380726A CN 108037832 A CN108037832 A CN 108037832A
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/70—Multimodal biometrics, e.g. combining information from different biometric modalities
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Abstract
The present invention relates to field of artificial intelligence, more particularly, to a kind of intelligent operating system.The intelligent operating system includes executing agency and control mechanism；The control mechanism is used to control the executing agency to be acted, and the control mechanism includes：Controller, identification system and brain wave detecting system；The present invention has used face recognition technology and brain wave technology, when being controlled to executing agency, identification is carried out to user by face recognition technology, it could only be operated by the user of identification, in identification can Real time dynamic display go out face coloured image, good experience sense is brought to user, and the position of flexible modulation image acquisition units can also be carried out according to physical location, to reach optimal acquisition position.Meanwhile user controls executing agency to be acted using brain wave, whole process is more intelligent easy, easy to operate, is completed without professional, use scope is extensive, very easy to use.
Description
Technical field
The present invention relates to field of artificial intelligence, more particularly, to a kind of intelligent operating system and applies its people
Work smart machine.
Background technology
At present, living things feature recognition and image capture technology refer to one kind that authentication is carried out using human body biological characteristics
Technology, is sampled biological characteristic, extracts its unique feature and passes through computer and optics, acoustics, biology sensor and life
The high-tech means such as thing Principle of Statistics, which are intimately associated, converts it into digital code, utilizes the intrinsic physiological property of human body and row
It is characterized to carry out the identification of personal identification.At present, in correlation technique, executive component is controlled using brain wave technology
When, it is a blank in identification.Once if identification, these executive components can by anyone come into
Row operation, lacks specific aim, especially in the future to necessarily on a large scale after, it is particularly important that its identification is even more, be to ensure peace
The important means of full property.
The content of the invention
It is an object of the invention to provide a kind of intelligent operating system and its artificial intelligence equipment is applied, to solve
Problems of the prior art.
To achieve these goals, the present invention uses following technical scheme：
The present invention provides a kind of intelligent operating system, including：
Executing agency；
Control mechanism, for controlling the executing agency to be acted, wherein, the control mechanism includes：Controller, body
Part identifying system and brain wave detecting system；
Wherein, the identification system includes：Three-dimensional activity stent, image acquisition units, recognition of face processing unit,
Image guidance unit and display unit；The three-dimensional activity stent is arranged in the executing agency, for driving described image
Collecting unit is moved freely；Described image collecting unit includes the main camera device being integrated in one and secondary camera device,
The main camera device is used to gather face black white image, and the pair camera device is used to gather face coloured image；The people
Face identifying processing unit is connected with the main camera device, for the face monochrome image information to the main camera device collection
Differentiated and feed back to controller；The display unit is connected with the secondary camera device, for showing the secondary shooting dress
Put gathered face coloured image；Described image guidance unit is connected with the display unit, in the display unit
Upper generation recognition of face posting, the recognition of face posting are used to guide gathered person to adjust the three-dimensional activity branch
Frame；
Wherein, the brain wave detecting system includes：Brain wave excitation module, brain wave detection module, the life of frequency spectrum pattern
Into module, frequency analysis module, brain wave memory module and action memory module；The brain wave excitation module is used to aid in people
Brain inspires the brain wave of different-waveband；The brain wave detection module is used to detect eeg signal；The frequency spectrum pattern life
It is used for the detection signal generation brain wave frequency spectrum pattern according to the brain wave detection module into module；The frequency analysis module
Brain wave frequency spectrum pattern for prestoring in the brain wave frequency spectrum pattern to being generated and the brain wave memory module carries out pair
Than analysis, and analysis result being fed back into controller, the controller corresponds to the action command data of read action memory module,
And instructed according to action command data to executing agency's sending action.
Further, the three-dimensional activity stent includes：Orthogonal X-axis moving arm, Y-axis moving arm and Z axis movement
Arm；The X-axis moving arm detachably is arranged in the executing agency, and the Y-axis moving arm is slidably mounted on the X
On axis moving arm, the length direction for moving along the x-axis arm moves；The Z axis moving arm is slidably mounted on the Y-axis and moves
On swing arm, for being moved along the length direction of the Y-axis moving arm, described image collecting unit is slidably mounted on the Z
Axis moving arm, for being moved along the length direction of Z axis moving arm.
Further, the main camera device and secondary camera device are passed through by connecting seat integrally connected, the connecting seat
Magnetic part is removable installed on the three-dimensional activity stent.
Further, the main camera device includes：Main camera and infrared transmission filtering apparatus；The infrared transmission filter
Electro-optical device is arranged at before the main camera, for filtering out visible ray so that the main camera collection face artwork master
Picture, the main camera are connected with the recognition of face processing unit；
The pair camera device includes：Secondary camera and IR cut filter device；The IR cut filter device is set
It is placed in before the secondary camera, for filtering out infrared light so that the pair camera collection face coloured image, the pair
Camera is connected with the display unit；
The main camera is with being additionally provided with enhancing light source behind secondary camera, the enhancing light source is by multiple infrared hairs
Optical diode is formed.
Further, described image guidance unit includes：Posting generation module, image detecting module and control module；
The posting generation module is connected with the display unit, for generating the recognition of face of a rectangle on the display unit
Posting, and store the coordinate data of recognition of face posting；Described image detecting module is connected with the display unit, is used for
The face coloured image shown on the display unit is detected to generate human face detection locking frame, and stores face and detects locking frame
Coordinate data；The control module is connected with the posting generation module, described image detecting module, is known for comparing face
The coordinate data of other posting and human face detection locking frame；
Described image guidance unit further includes：Voice cue module, the voice cue module connect with the control module
Connect.
Further, the executing agency includes mechanical arm, is provided with the mechanical arm and is removably secured set,
The fixing sleeve includes：Transparent fixing piece, double arc connectors and magnetic regulation ring；
The transparent fixing piece and the mechanical arm integrally connected, the transparent fixing piece is provided with accommodating chamber, described
Multiple mounting holes and air hole are provided with transparent fixing piece；
Double arc connectors include：First arcuate zone, the second arcuate zone, left connection base portion and right connection base portion, institute
The first end for stating the first arcuate zone and the second arcuate zone is all connected to left connection base portion, first arcuate zone and the second arcuate zone
Second end be all connected to right connection base portion, first arcuate zone and the second arcuate zone are installed on by transparent fixing piece respectively
On the mounting hole of the transparent fixing piece, first arcuate zone and the second arcuate zone are arranged at intervals, and between the two in
Between connect band fix, the middle part circular arc of first arcuate zone and the second arcuate zone is respectively provided with the side to the mechanical wrist structure
To the trend of extension；
The ear of the magnetism regulation ring both sides is hinged with left connection base portion, right connection base portion respectively, the magnetism
One end of regulation ring is provided with metal tape, and the other end of the magnetism regulation ring is provided with the magnetism for locking the metal tape
Detain, be provided with multiple spliced eyes on the metal tape, the magnetic clasp is inserted into the spliced eye.
Further, a fan unit, two fan units are each installed on the apparent surface of the transparent fixing piece
Convection current can be internally formed in the transparent fixing piece；
Fluorescence wire coating is distributed with the surface of the transparent fixing piece.
Further, pro-skin coating is also provided with the inside of the magnetic regulation ring, which includes：First
Structure sheaf, enhancement layer and the second structure sheaf, first structure layer, enhancement layer and the second structure sheaf are cascading from inside to outside,
Wherein, the enhancement layer is screw type wire structure.
The present invention provides a kind of artificial intelligence equipment, it includes the intelligent operating system.
Using above-mentioned technical proposal, the present invention has the advantages that：
The present invention has used face recognition technology and brain wave technology, when being controlled to executing agency, passes through face
Identification technology carries out identification to user, could only be operated by the user of identification, the energy in identification
Enough Real time dynamic displays go out face coloured image, good experience sense are brought to user, and can also be carried out according to physical location
The position of flexible modulation image acquisition units, to reach optimal acquisition position.Meanwhile user is performed using brain wave to control
Mechanism is acted, and whole process is more intelligent easy, easy to operate, is completed without professional, and use scope is extensive, uses
It is very convenient.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in describing below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
Put, other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is the structure diagram of intelligent operating system provided in an embodiment of the present invention；
Fig. 2 is the structure diagram of fixing sleeve provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of face recognition technology provided in an embodiment of the present invention.
Icon：1- finger unit assemblies；2- palm sections；3- wrist units；The small arm units of 4-；5- fixing sleeves；6- first
Arcuate zone；The transparent fixing pieces of 7-；The second arcuate zones of 8-；9- ventilation parts；10- magnetism regulation rings；11- ears；The right linkers of 12-
Portion.
Embodiment
Technical scheme is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's all other embodiments obtained without making creative work, belong to the scope of protection of the invention.
The embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
Embodiment one
The present embodiment one provides a kind of intelligent operating system, including：
Executing agency, including：Various mechanical arms or other action executing elements；
Control mechanism, for controlling the executing agency to be acted, wherein, the control mechanism includes：Controller (control
Device processed can be arranged in executing agency, may also be arranged on other wear structures), identification system (identification system
May be provided in executing agency) and brain wave detecting system (can be independent wearable device, it is connected with controller signals)；
Wherein, the identification system includes：Three-dimensional activity stent, image acquisition units, recognition of face processing unit,
Image guidance unit and display unit；The three-dimensional activity stent is arranged in the executing agency, for driving described image
Collecting unit is moved freely；Described image collecting unit includes the main camera device being integrated in one and secondary camera device,
The main camera device is used to gather face black white image, and the pair camera device is used to gather face coloured image；The people
Face identifying processing unit is connected with the main camera device, for the face monochrome image information to the main camera device collection
Differentiated and feed back to controller；The display unit is connected with the secondary camera device, for showing the secondary shooting dress
Put gathered face coloured image；Described image guidance unit is connected with the display unit, in the display unit
Upper generation recognition of face posting, the recognition of face posting are used to guide gathered person to adjust the three-dimensional activity branch
Frame；As it can be seen that the present embodiment has used face recognition technology, energy Real time dynamic display goes out face coloured image, is brought to user good
Good experience sense, and the position of flexible modulation image acquisition units can also be carried out according to physical location, to reach optimal acquisition
Position.
In addition, the identification system further includes：Fingerprint recognition system, fingerprint recognition system make together with recognition of face
With, such as：Fingerprint recognition system includes fingerprint mould module and preventing atomization module, and line mould module is connected with controller, preventing atomization mould
Block refers to for opponent to be blowed, to eliminate the sweat on finger.
In the present embodiment, as a kind of further technical solution, the three-dimensional activity stent includes：Orthogonal X
Axis moving arm, Y-axis moving arm and Z axis moving arm；The X-axis moving arm may be disposed in executing agency, and the Y-axis moving arm can
It is slidably mounted on the X-axis moving arm, the length direction for moving along the x-axis arm moves；The Z axis moving arm is slidably
Ground is installed on the Y-axis moving arm, and for being moved along the length direction of the Y-axis moving arm, described image collecting unit can
The Z axis moving arm is slidably mounted to, for being moved along the length direction of Z axis moving arm.Certainly, this three-dimensional activity stent
Form have very much, motor and lead screw gear can be used to drive, can also be manual.
In the present embodiment, as a kind of further technical solution, the three-dimensional activity stent includes：Longitudinal extension bar,
Rotary sleeve, transversal stretching bar and hinged seat；The longitudinal extension bar can stretch along its own length direction, certainly, should
Longitudinal extension bar is arranged in executing agency；The rotary sleeve is installed on the outside of the longitudinal extension bar, can be along level side
To being rotated；The transversal stretching bar is installed vertically on the rotary sleeve, and the transversal stretching bar can be along its own length
Degree direction is stretched, and the hinged seat peace turns on the transversal stretching bar, can vertically be rotated.
In the present embodiment, as a kind of further technical solution, the main camera device and secondary camera device pass through company
Joint chair integrally connected, the connecting seat are removable installed on the three-dimensional activity stent by magnetic part, convenient dismounting,
Such as：Magnetic part can be raised with magnet, is set on three-dimensional activity stent fluted, and iron coating is scribbled in the inside of groove.
In addition, anti-static device is also provided with connecting seat, such as：Metal wire-drawing structure.In addition, in connecting seat
On be also provided with loudspeaker, which can be connected with voice cue module below.In addition it is also possible on connecting seat
A negative ion generating device is added, for discharging anion.In addition, can be with compass etc. on connecting seat.
In the present embodiment, as a kind of further technical solution, the main camera device includes：Main camera and infrared
Transmit filtering apparatus；The infrared transmission filtering apparatus is arranged at before the main camera, for filtering out visible ray so that
The main camera collection face black white image, the main camera are connected with the recognition of face processing unit.
In the present embodiment, as a kind of further technical solution, the pair camera device includes：Secondary camera and infrared
Light cutoff filter device；The IR cut filter device is arranged at before the secondary camera, for filtering out infrared light so that
The pair camera collection face coloured image, the pair camera are connected with the display unit.
In the present embodiment, as a kind of further technical solution, the main camera behind secondary camera with also setting
Enhancing light source is equipped with, the enhancing light source is made of multiple infrared light-emitting diodes.
In the present embodiment, as a kind of further technical solution, described image guidance unit includes：Posting generates mould
Block, image detecting module and control module；The posting generation module is connected with the display unit, in the display
The recognition of face posting of a rectangle is generated on unit, and stores the coordinate data of recognition of face posting；Described image is detected
Module is connected with the display unit, for detecting the face coloured image shown on the display unit to generate human face detection
Frame is locked, and stores the coordinate data that face detects locking frame；The control module and the posting generation module, described image
Detecting module connects, for comparing the coordinate data of recognition of face posting and human face detection locking frame.
In the present embodiment, as a kind of further technical solution, described image guidance unit further includes：Voice prompt mould
Block, the voice cue module are connected with the control module.
In the present embodiment, before executing agency starts, identification system is added, so as to ensure that the safety of equipment
Property；After controller recognizes correct identity, controller is able to normal use, could be with following brain wave detecting system
Carrying out communication connection, (that is, after by identification, controller controls the part automatic start of brain wave, at this time, Cai Nengyu
Brain wave detecting system establishes signal control).
In the present embodiment, the brain wave detecting system includes：Brain wave excitation module, brain wave detection module, frequency spectrum
Pattern gen-eration module, frequency analysis module, brain wave memory module and action memory module；The brain wave excitation module is used for
Auxiliary human brain inspires the brain wave of different-waveband；The brain wave detection module is used to detect eeg signal；The frequency spectrum
Pattern gen-eration module is used for the detection signal generation brain wave frequency spectrum pattern according to the brain wave detection module；The frequency point
Analysis module is used in the brain wave frequency spectrum pattern to being generated and the brain wave memory module brain wave frequency spectrum pattern to prestore
Compare and analyze, and by analysis result feed back to controller (certainly, by identification after, controller can connect
By the analysis result of the frequency analysis module), the controller corresponds to the action command data of read action memory module, and
Instructed according to action command data to executing agency's sending action.
As it can be seen that the present invention has used face recognition technology and brain wave technology, when being controlled to executing agency, pass through
Face recognition technology carries out identification to user, could only be operated by the user of identification, in identification
When can Real time dynamic display go out face coloured image, good experience sense is brought to user, and can also be according to physical location
The position of flexible modulation image acquisition units is carried out, to reach optimal acquisition position.Meanwhile user is controlled using brain wave
Executing agency is acted, and whole process is more intelligent easy, easy to operate, is completed without professional, and use scope is extensive,
It is very easy to use.
Preferably, in the present embodiment, for brain wave excitation module, which includes：Vision mould
Block, sound module, the one of which of vibration module and warming module or any several combinations.Wherein, above-mentioned modules can
To be correspondingly arranged in intelligent operating system, can also be provided separately within miscellaneous part.
Preferably, vision module can be connected with controller, and vision module is connected with multiple sudden strains of a muscle flickered with different frequency
Bright lamp bead, by the change of lamp bead flicker frequency to stimulate brain to produce the brain wave of corresponding wave band.Such as：Controller prompt with
The related visual stimulus of the actions menu of equipment；After the prompting of visual stimulus, multiple events are measured, according to respectively
In the multiple electrodes that the face of user loads and the current potential between at least one reference electrode of the ear periphery loading of user
Difference, measures the timing to prompt visual stimulus as multiple events of starting point；From the multiple event correlations electricity measured
Position extracts below 4-6Hz and includes the brain wave data of predetermined time interval respectively, and combines the brain wave data extracted
And it is used as brain wave characteristic；The more pre-prepd reference data and brain wave for discriminating whether to want selection operation menu
Characteristic；And according to above-mentioned comparative result, to perform operation corresponding with the actions menu of equipment.In addition, sound module
It is connected with controller, sound module prestores the audio file of different wave spectrum frequencies.Preferably, vibration module connects with controller
Connect, vibration module produces the brain wave of corresponding wave band by effect of vibration with brain.Warming module is connected with controller, warming mould
Block stimulates the brain wave of the corresponding wave band of brain generation by temperature change.
In the present embodiment, brain wave detection module can use current acquiring brain waves equipment, can also use other
Specific collecting device, is illustrated with following one of which acquiring brain waves equipment.The wearable EEG measuring device
Including the dry electrode of some EEG measurings, an amplification filter module, an analog-to-digital conversion module and a bluetooth serial ports module；It is some described
The brain electric analoging signal measured is transmitted to the amplification filter module by the dry electrode of EEG measuring by conducting wire, is filtered through amplification
Brain electric analoging signal afterwards is transmitted to the analog-to-digital conversion module, and is converted to brain electricity digital signal waiting for transmission, brain electricity numeral
Signal can be exported into controller；The controller also can be through the bluetooth serial ports module transfer to mobile network's terminal.
Mobile network's terminal uses one kind in mobile phone, tablet computer and laptop.
Embodiment two
The present embodiment provides a kind of specific mechanical arm, the mechanical arm on the basis of above-described embodiment two enterprising one
The optimization of step.Certainly, embodiment one and two identical parts of implementation repeat no more, both differences introduced below.
Wherein, the executing agency includes mechanical arm.It is provided with the mechanical arm and is removably secured set 5, institute
Stating fixing sleeve 5 includes：Transparent fixing piece 7, double arc connectors and magnetic regulation ring 10；
The transparent fixing piece 7 and the mechanical arm integrally connected, the transparent fixing piece 7 are provided with accommodating chamber, institute
State and multiple mounting holes and air hole are provided with transparent fixing piece 7；
Double arc connectors include：First arcuate zone 6, the second arcuate zone 8, left connection base portion and right connection base portion
12, the first end of 6 and second arcuate zone 8 of the first arcuate zone is all connected to left connection base portion, first arcuate zone 6 and
The second end of two arcuate zones 8 is all connected to right connection base portion 12, and 6 and second arcuate zone 8 of the first arcuate zone is respectively by saturating
Bright fixing piece 7 is installed on the mounting hole of the transparent fixing piece 7 (certainly, to be also provided with the transparent fixing piece 7
Ventilation part 9), 6 and second arcuate zone 8 of the first arcuate zone is arranged at intervals, and is fixed between the two by middle connect band, institute
The middle part circular arc for stating the first arcuate zone 6 and the second arcuate zone 8 is respectively provided with the trend extended to the direction of the mechanical wrist structure；
The ear 11 of 10 both sides of the magnetism regulation ring is hinged with left connection base portion, right connection base portion 12 respectively, institute
The one end for stating magnetic regulation ring 10 is provided with metal tape, and the other end of the magnetism regulation ring 10 is provided with for locking the gold
Belong to the magnetic clasp of band, be provided with multiple spliced eyes on the metal tape, the magnetic clasp is inserted into the spliced eye.
Further, a fan unit, two fan units are each installed on the apparent surface of the transparent fixing piece 7
Convection current can be internally formed in the transparent fixing piece；Fluorescence wire coating is distributed with the surface of the transparent fixing piece.
Further, the inner side of the magnetic regulation ring 10 is also provided with skin friendly pro-skin coating, the pro-skin
Coating includes：First structure layer, enhancement layer and the second structure sheaf, first structure layer, enhancement layer and the second structure sheaf are from inside to outside
It is cascading, wherein, the enhancement layer is screw type wire structure.
The present embodiment is with a kind of specific structure example explanation.
The mechanical arm includes：Small arm unit 4, wrist unit 3, palm section 2 and finger unit assembly 1.It is specific and
Speech, small arm unit 4 are rotatablely connected with wrist unit 3, and wrist unit 3, which corresponds to, is connected with a wrist driving unit, and wrist driving is single
Member drives wrist unit 3 to be turned round by wrist STATEMENT OF FEDERALLY SPONSORED, and the left-right rotation for simulating human hand wrist acts；Palm section
2 are rotatablely connected with wrist unit 3, and palm section 2 corresponds to and is connected with a palm driving unit, and palm driving unit is joined by palm
Moving part drives palm section 2 to be overturn, and action is spun upside down for simulate human hand palm；Finger unit assembly 1 include according to
Secondary five finger units being arranged in palm section 2 (including are arranged in order the thumb list being arranged in the palm section 2
Member, forefinger unit, middle finger unit, nameless unit and little finger unit), each finger unit, which corresponds to, is connected with a finger drive
Moving cell, finger actuation unit drive corresponding finger unit to be stretched and bent by finger STATEMENT OF FEDERALLY SPONSORED；It is worth explanation
It is that above-mentioned each driving unit includes but is not limited to steering engine, micromachine etc. driving device.
Identification system includes：Three-dimensional activity stent, image acquisition units, recognition of face processing unit, image guiding
Unit and display unit；The three-dimensional activity stent is arranged on small arm unit 4, for driving described image collecting unit to carry out
Move freely；Described image collecting unit includes the main camera device being integrated in one and secondary camera device, the main shooting dress
Put for gathering face black white image, the pair camera device is used to gather face coloured image；The recognition of face processing is single
It is first to be connected with the main camera device, for the face monochrome image information of the main camera device collection differentiate and instead
Feed controller；The display unit is connected with the secondary camera device, the people gathered for showing the secondary camera device
Face coloured image；Described image guidance unit is connected with the display unit, is known for generating face on the display unit
Other posting, the recognition of face posting are used to guide gathered person to adjust the three-dimensional activity stent；
Brain wave detecting system includes：Brain wave detection module, the frequency spectrum pattern generation mould being electrically connected with the controller respectively
Block, frequency analysis module and brain wave excitation module；Brain wave excitation module is used for the brain for aiding in human brain to inspire different-waveband
Electric wave；Brain wave detection module is used to detect eeg signal；Frequency spectrum pattern gen-eration module is used for according to brain wave detection module
Detection signal generation brain wave frequency spectrum pattern；Frequency analysis module is used for the brain wave frequency spectrum pattern that is generated and prestores
Brain wave frequency spectrum pattern compares and analyzes, and analysis result is fed back to controller；Controller is according to frequency analysis module
Feedback result is instructed to wrist driving unit, palm driving unit and finger actuation unit sending action respectively；Wrist driving is single
The action command that member, palm driving unit and finger actuation unit are sent according to controller is acted accordingly.Further,
The brain wave detecting system further includes：Prestore the brain wave memory module of a variety of brain wave frequency spectrum patterns and prestore a variety of dynamic
Make the action memory module of director data, the brain wave frequency spectrum pattern that each of which prestores and a kind of action command data are one by one
It is corresponding；Frequency analysis module is used in the brain wave frequency spectrum pattern to being generated and brain wave memory module the brain wave frequency to prestore
Spectrogram case compares and analyzes, and analysis result is fed back to controller, and controller corresponds to the action of read action memory module
Director data, and according to action command data sending action command.
The sensor detecting device includes：Nine axle sensors that are electrically connected with the controller respectively, visual sensor, ranging pass
Sensor, touch sensor and virtual fingertip force sensor；Nine axle sensors are respectively arranged at the joint part of each finger unit,
Nine axle sensors are used to the three-dimensional acceleration detected, three-dimensional angular velocity and Three-Dimensional Magnetic vector feeding back to controller, and so-called nine
Axle sensor, is the combination of three kinds of three-axis sensors in fact：Three axis acceleration sensors, three-axis gyroscope and three axle electronic compass.
Such as：General combining form has：The combination of three-axis gyroscope, three axis accelerometer, three axis magnetometers；Six-axle acceleration senses
Device, three-axis gyroscope combination.Six axis gyroscopes, three axis accelerometer combination.Visual sensor is arranged at the centre of the palm of palm section 2
Position, visual sensor by the visual signature information of non-contacting mode detection object and feed back to control using infrared ray
Device.Visual sensor can liken into the eyes of manipulator, it can detect thing using infrared ray by non-contacting mode
The visual characteristic information of some of body feeds back to machine, such as the intelligent operation system picked that by the color of article classify
System is exactly to have used visual sensor；Distance measuring sensor, touch sensor and virtual fingertip force sensor may be contained within finger unit
Pad of finger；Distance measuring sensor is used to by the range information of detection object and feed back to controller, its can with detection object away from
Device of disembarking is how far, if reaches working region, detection signal is sent to controller control intelligence when detecting that object reaches
Type operating system is operated；Touch sensor is used to detect the pressure value on pad of finger surface and feeds back to controller, tactile
The size of bearing capacity when sensor can be captured with inspecting manipuator, particularly three-dimensional force sensor, which is resistance-strain
Formula force snesor, can detect the power on tri- directions of X, Y, Z at the same time, can effectively adjust the position of finger, arm, to close
Suitable dynamics picks up object；Virtual fingertip force sensor is used to detect the frictional force type between pad of finger and object and feed back
To controller, whether virtual fingertip force sensor can have a slip and judge to be by detecting between intelligent operating system and object
It is no to capture successfully.Detect this slip can be static friction or dynamic friction by the frictional force between inspecting manipuator and object come
Judge, when being changed into not sliding from slip, the sensor friction angle detecting to power have a big change, and work as
When finger further increases pressure, the power that force snesor detects on direction will not change.Capture frangible
It can also be completed, object will not be caused to damage in a manner of grasp force by a small margin equal increments during article.What deserves to be explained is
Above-mentioned each sensor characteristics can be increased and decreased according to actual needs, be not restricted herein.
In the following, its operation principle once is described for said structure.
Such as：Brain wave excitation module auxiliary user inspire different-waveband brain wave (four wave bands can be divided into,
That is δ (1-3Hz), θ (4-7Hz), α (8-13Hz), β (14-30Hz), by taking α wave bands as an example.When brain wave detection module detects
When there is the brain wave of α wave bands to user, frequency spectrum pattern gen-eration module is according to the detection signal generation of brain wave detection module
Brain wave frequency spectrum pattern (brain wave of α wave bands)；Frequency analysis module is to the brain wave frequency spectrum pattern generated and the brain to prestore
Electric wave frequency spectrum pattern (certainly, every kind of frequency spectrum pattern to prestore corresponds to a kind of specific action command) compares and analyzes, and works as inspection
When the frequency spectrum pattern of survey is consistent with the frequency spectrum pattern wherein to prestore, then controller can be according to corresponding to the specific frequency spectrum pattern
Action command control wrist driving unit, palm driving unit and finger actuation unit, such as：The action of crawl.Intelligent
When operating system carries out grasping movement, signal feedback can be carried out to the posture of intelligent operating system by each sensor,
So as to it is better understood by the action situation of intelligent operating system.Certainly, if there is the information and intelligence of sensor detection
When the predetermined action of energy type operating system is inconsistent, restart at this point it is possible to which a key resets.It is of course also possible to according to sensing
The information of device detection, is corrected by controller.
In the present embodiment, do not limit to for each structure of mechanical part, implementation process can be carried out according to being actually needed
Flexibly set, illustrated with following several specific embodiments.
The first, each STATEMENT OF FEDERALLY SPONSORED uses traction rope in mechanical part, i.e. each driving unit is driven each by traction rope
A executive component is acted.
Specifically, (finger tip, the first finger belly, the second finger belly, the 3rd refer to by four fractions for forefinger unit and middle finger unit
Tripe) composition, it is hinged in each joint part, and traction rope is equipped with the coiling of joint part, traction rope is by corresponding to
Driving unit be controlled so that various pieces are bent and are stretched；Thumb unit, nameless unit and small thumb
Refer to unit by five fractions (finger tip, the first finger belly, the second finger belly, the 3rd finger belly, refer to root) composition, similarly, in each pass
Section position is also hinged, and traction rope is equipped with the coiling of joint part, and traction rope is carried out by corresponding driving unit
Control, so that various pieces are bent and stretched；Palm section 2 can be made of palm main body and palm back of the body backplate, its mesh
Be for beauty；Wrist unit 3 can be rotated and (is made of two fractions), there is threading pore etc. among wrist.
The operation principle of this intelligent operating system with traction rope is：It is each with program, manipulation in controller in arm
Driving unit (such as：Steering engine) work, each servos control two (long and thin, indefatigable) traction rope, this two tractions
Rope is passed through and fixed along the coiling in each joint, is controlled the bending of an exclusive finger and is stretched.
Second, in mechanical part each STATEMENT OF FEDERALLY SPONSORED can also use gear assembly and with the matched biography of gear assembly
Lever, its concrete form do not limit to.
Specifically, finger unit includes：First knuckle, second knuckle and third knuckle；Wherein, first knuckle passes through first
Finger joint connection structure is rotatablely connected with second knuckle；Second knuckle is rotated by second knuckle connection structure and third knuckle to be connected
Connect；Third knuckle is rotatablely connected by referring to root connection structure with the palm structure, wherein, finger actuation unit passes through gear set
Part (ring gear) is connected with referring to root connection structure, and third knuckle is driven under the drive of finger actuation unit relative to palm section
2 are rotated.In the present embodiment, ring gear is rotated to drive third knuckle to be rotated relative to palm section 2；Third knuckle moves
Make, the action of second knuckle connection structure is driven, so as to drive second knuckle to be rotated relative to third knuckle；Second knuckle acts,
The action of first knuckle connection structure is driven, so as to drive first knuckle to be rotated relative to second knuckle；Hereby it is achieved that finger unit
Bending and stretching action；Each finger joint linkage, transmission efficiency, flexure operation are sensitive.Certainly, in addition, finger unit
Each joint part can also be connected respectively a finger actuation unit, realize each finger joint independent control.This area
Technical staff can be according to actual needs flexible design.
Mechanical part in the present embodiment can use integral molding structure made of flexible material by 3D printing equipment.
The manipulator made of 3D printing technique, without the follow-up process that is linked and packed, is not only able to realize the bionical of human hands
Movement, and by using flexible material, realize environment-friendly function.
For flexible material, there can be multiple choices, be illustrated with a kind of material therein：The flexible material
For resin material, the tensile strength and bending modulus of the resin material are 30-40MPa.Preferably, the resin material bag
Include the component of following parts by weight：The rubber and 20-40 parts of silica gel of PLA, 20-40 part of 25-30 parts ABS, 20-30 part.
Preferably, the resin material is made of the component of following parts by weight：25 parts of ABS, 25 parts of PLA, 25 parts of rubber and
25 parts of silica gel.After the resin material mixing of mentioned component composition, its tensile strength and bending modulus are under conditions of 35MPa
The manipulator sense of touch to be formed is printed by 3D printing equipment can imitate human hands.
There is different pliabilitys in order to realize the finger belly of finger interior and refer to the back of the body, further limited in the technical program
The density for the flexible material filled in finger unit at finger belly is less than in finger unit close to referring to the flexibility filled at the back of the body
The density of material.The restriction of the structure realizes the biomimetic features of the difference of pliability of the finger belly of finger unit with referring to the back of the body.Refer to
The flexible material filled at tripe and the shape for referring to the flexible material filled by place are different with density, and cause is passed to 3D printing making
The entity structure of the finger belly formed afterwards is more soft than the corresponding construction for referring to back portion, therefore can reach the bionical effect of simulation human hand
Fruit.
The manipulator to be completed by 3D printing, it is possible to achieve it is relatively soft and rich in bullet to refer to the relatively hard, finger belly of the back of the body
Property bionical effect, so as to improve contact performance when finger and object contact.By experimental results demonstrate unit volume stand under load
Deflection is that the flexibility at the finger belly position of 0.15-2mm is more than finger of the unit volume stand under load deflection less than 0.15mm by position,
Therefore, finger finger belly part is different from the pliability for referring to back portion, can reach the bionical effect of simulation human hand.
In addition, in the present embodiment, which further includes：Bionics skin layer；Bionics skin layer uses flexible substrates material
The bed of material, the surface of flexible base material layer are coated with anti-static coating, several elasticity are distributed with flexible base material layer should
Become sensor, elastic strain sensor is connected by netted outlet line with controller respectively；Bionics skin layer is divided into palm and touches
Sense layer and multiple finger allodynia layers, palm tactile layer are coated in palm section 2, and finger allodynia layer is coated on finger unit assembly
On 1.
Preferably, the link position between the palm tactile layer and finger allodynia layer is provided with void region or pleat line
The bendable portion of shape, the finger allodynia layer itself have multiple fingerstall portions, and the connection position between each fingerstall portion installs
It is equipped with the bendable portion of void region or pleat line shape.
Certainly, for bionics skin layer, it is simultaneously confined to said structure, can also flexibly be set according to being actually needed
Put.Such as：Any one following or several combinations can be superimposed with flexible base material layer, such as：Metal wire-drawing layer,
Fluoresent coating, graphene layer, carbon nanotube layer, antiultraviolet adhesive layer, erosion resistant coating, flame-retardant layer.
What deserves to be explained is above-mentioned all parts component in direct contact with the skin can also further increase pro-skin painting
Layer, such as：Skin friendly coating is also provided with the inside of magnetic regulation ring, including：First structure layer (internal layer), enhancing
Layer (intermediate layer) and the second structure sheaf (outer layer), first structure layer, enhancement layer and the second structure sheaf stack gradually set from inside to outside
Put.Through this structure, the desired characteristic of the bending degree of magnetic regulation ring can be set.Preferably, as first structure
Layer, the constituent material of the second structure sheaf, can use polyamide-based resin, polyesters polyamide-based resin, polyethers polyamide
Resin, polyurethane, ABS resin, polyester elastomer resin, polyurethane elastomer resins, fluorine-type resin (PFA, PTFE, ETFE etc.)
In any one.Especially by the constituent material that ABS resin or nylon are used as to first structure layer, the second structure sheaf,
So as to assign appropriate intensity.Preferably, which can be pre-buried metal mesh.Preferably, metal mesh is formed
Shape of a mesh is not specially limited, can be made for example circular, approximate rectangle, approximate ellipsoidal.In addition, the enhancement layer
It can also be screw type wire structure, the intensity of adjustment conduit is easy to according to the spiral helicine number of turns.
As a kind of further technical solution, the centre of the palm position of palm section 2 is provided with heating unit.Such as：It is described
The centre of the palm position of palm section 2 is coated with graphene heating layer, and the graphene heating layer is connected with the controller.Alternatively,
The centre of the palm position of palm section 2 is provided with ultrasonic wave heating unit, can equally carry out heating use.
In addition, in the present embodiment, further it can also be improved and expand.Such as：Connected on the small arm unit 4
There is muscle electric induction patch, the muscle electric induction patch is connected with the controller.Such as：Set on the small arm unit 4
There are lighting device and device of solar generating, the device of solar generating is connected with the controller, the controller and institute
State lighting device connection.It is, of course, also possible to increase such as：Pulse detection module, compass module, alarm module etc., herein
No longer illustrate one by one.
Embodiment three
The present embodiment additionally provides a kind of artificial intelligence equipment, it includes the intelligent operating system.This is intelligent
Operating system is described in detail in above example one, embodiment two, and details are not described herein again.Certainly, the artificial smart machine
Including but not limited to mechanical arm.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe is described in detail the present invention with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its according to
Can so modify to the technical solution described in foregoing embodiments, either to which part or all technical characteristic into
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (9)
- A kind of 1. intelligent operating system, it is characterised in that including：Executing agency；Control mechanism, for controlling the executing agency to be acted, wherein, the control mechanism includes：Controller, identity are known Other system and brain wave detecting system；Wherein, the identification system includes：Three-dimensional activity stent, image acquisition units, recognition of face processing unit, image Guidance unit and display unit；The three-dimensional activity stent is arranged in the executing agency, for driving described image to gather Unit is moved freely；Described image collecting unit includes the main camera device being integrated in one and secondary camera device, described Main camera device is used to gather face black white image, and the pair camera device is used to gather face coloured image；The face is known Other processing unit is connected with the main camera device, for being carried out to the face monochrome image information of the main camera device collection Differentiate and feed back to controller；The display unit is connected with the secondary camera device, for showing the secondary camera device institute The face coloured image of collection；Described image guidance unit is connected with the display unit, for raw on the display unit Into recognition of face posting, the recognition of face posting is used to guide gathered person to adjust the three-dimensional activity stent；Wherein, the brain wave detecting system includes：Brain wave excitation module, brain wave detection module, frequency spectrum pattern generation mould Block, frequency analysis module, brain wave memory module and action memory module；The brain wave excitation module is used to aid in human brain to swash Send the brain wave of different-waveband；The brain wave detection module is used to detect eeg signal；The frequency spectrum pattern generation mould Block is used for the detection signal generation brain wave frequency spectrum pattern according to the brain wave detection module；The frequency analysis module is used for The brain wave frequency spectrum pattern generated is carried out to score with the brain wave frequency spectrum pattern to prestore in the brain wave memory module Analysis, and analysis result is fed back into controller, the controller corresponds to the action command data of read action memory module, and root Instructed according to action command data to executing agency's sending action.
- 2. intelligent operating system according to claim 1, it is characterised in thatThe three-dimensional activity stent includes：Orthogonal X-axis moving arm, Y-axis moving arm and Z axis moving arm；The X-axis movement Arm detachably is arranged in the executing agency, and the Y-axis moving arm is slidably mounted on the X-axis moving arm, is used Moved in the length direction for moving along the x-axis arm；The Z axis moving arm is slidably mounted on the Y-axis moving arm, for edge The length direction movement of the Y-axis moving arm, described image collecting unit are slidably mounted on the Z axis moving arm, are used for Moved along the length direction of Z axis moving arm.
- 3. intelligent operating system according to claim 1, it is characterised in thatThe main camera device and secondary camera device are detachable by magnetic part by connecting seat integrally connected, the connecting seat Ground is arranged on the three-dimensional activity stent.
- 4. intelligent operating system according to claim 3, it is characterised in thatThe main camera device includes：Main camera and infrared transmission filtering apparatus；The infrared transmission filtering apparatus is arranged at Before the main camera, for filtering out visible ray so that the main camera collection face black white image, the main shooting Head is connected with the recognition of face processing unit；The pair camera device includes：Secondary camera and IR cut filter device；The IR cut filter device is arranged at Before the pair camera, for filtering out infrared light so that the pair camera collection face coloured image, the secondary shooting Head is connected with the display unit；The main camera is with being additionally provided with enhancing light source behind secondary camera, the enhancing light source is by multiple infraluminescences two Pole pipe is formed.
- 5. intelligent operating system according to claim 1, it is characterised in thatDescribed image guidance unit includes：Posting generation module, image detecting module and control module；The posting generation Module is connected with the display unit, for generating the recognition of face posting of a rectangle on the display unit, and is stored The coordinate data of recognition of face posting；Described image detecting module is connected with the display unit, for detecting the display The face coloured image shown on unit stores the coordinate data that face detects locking frame to generate human face detection locking frame；Institute Control module is stated to be connected with the posting generation module, described image detecting module, for compare recognition of face posting and Human face detection locks the coordinate data of frame；Described image guidance unit further includes：Voice cue module, the voice cue module are connected with the control module.
- 6. intelligent operating system according to claim 1, it is characterised in thatThe executing agency includes mechanical arm, is provided with the mechanical arm and is removably secured set, the fixing sleeve bag Include：Transparent fixing piece, double arc connectors and magnetic regulation ring；The transparent fixing piece and the mechanical arm integrally connected, the transparent fixing piece is provided with accommodating chamber, described transparent Multiple mounting holes and air hole are provided with fixing piece；Double arc connectors include：First arcuate zone, the second arcuate zone, left connection base portion and right connection base portion, described the The first end of one arcuate zone and the second arcuate zone is all connected to left connection base portion, and the of first arcuate zone and the second arcuate zone Two ends are all connected to right connection base portion, and first arcuate zone and the second arcuate zone are installed on described by transparent fixing piece respectively On the mounting hole of transparent fixing piece, first arcuate zone and the second arcuate zone are arranged at intervals, and are connected between the two by centre Tape splicing is fixed, and the middle part circular arc of first arcuate zone and the second arcuate zone, which is respectively provided with to the direction of the mechanical wrist structure, to be prolonged The trend stretched；The ear of the magnetism regulation ring both sides is hinged with left connection base portion, right connection base portion respectively, the magnetic adjusting One end of ring is provided with metal tape, and the other end of the magnetism regulation ring is provided with the magnetic clasp for locking the metal tape, Multiple spliced eyes are provided with the metal tape, the magnetic clasp is inserted into the spliced eye.
- 7. intelligent operating system according to claim 6, it is characterised in thatOne fan unit is each installed, two fan units can be described transparent solid on the apparent surface of the transparent fixing piece That determines part is internally formed convection current；Fluorescence wire coating is distributed with the surface of the transparent fixing piece.
- 8. intelligent operating system according to claim 6, it is characterised in thatPro-skin coating is also provided with the inside of the magnetism regulation ring, which includes：First structure layer, enhancement layer With the second structure sheaf, first structure layer, enhancement layer and the second structure sheaf are cascading from inside to outside, wherein, the enhancing Layer is screw type wire structure.
- 9. a kind of artificial intelligence equipment, it is characterised in that including the intelligent behaviour as any one of according to claim 1-8 Make system.
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| CN111805554A (en) * | 2020-07-08 | 2020-10-23 | 达闼机器人有限公司 | Robot and shell thereof |
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| JP2005202720A (en) * | 2004-01-16 | 2005-07-28 | Masanobu Suga | Counseling support server and program |
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