CN109986573A - A kind of intelligent robot of autism children adjuvant treatment - Google Patents
A kind of intelligent robot of autism children adjuvant treatment Download PDFInfo
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- CN109986573A CN109986573A CN201910184940.3A CN201910184940A CN109986573A CN 109986573 A CN109986573 A CN 109986573A CN 201910184940 A CN201910184940 A CN 201910184940A CN 109986573 A CN109986573 A CN 109986573A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
- B25J11/004—Playing a music instrument
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The present invention provides a kind of intelligent robots of autism children adjuvant treatment, comprising: visual identity module: searching route is searched using original place, walked about and rotated lookup and realizes 360 degree of full visual field search;Color of object identification is carried out based on YUV color space;Target following is realized in central region algorithm always using target；Intelligent answer module: using the method for cloud speech recognition, NAO robot uploads to the cloud web and goes to identify, then does corresponding Research of Question Analysis, answer retrieval process to the identification text come is returned by the voice question sentence of acquisition user；It identifies the mood of autism children, executes corresponding movement；It identifies the voice of autism children, executes corresponding movement.The beneficial effects of the present invention are: intelligent robot of the invention constructs the various music libraries of the abundant in content of autism children, type；Autism children dialogue ability is strengthened in intelligence chat, to significantly improve the therapeutic effect of autism of children.
Description
Technical field
The present invention relates to the intelligent robots that robot field more particularly to a kind of autism children assist in the treatment of.
Background technique
Self-closing disease has become the public health problem for needing urgently to pay close attention to, and brings huge economy to society and family
And mental burden.The United Nations's report claims, and existing 35,000,000 people of self-closing disease patient in the whole world, 40% is children, every 20 minutes will be absurd fantastic
A raw autism children.
Robot comes across the sixties in last century, 1976 at the beginning of robot is born, with regard to someone it used in self-closing
Felt free to try in the intervention training of disease children: wei r carries out intervention training to an autism children with robot,
Achieve good result.
In recent years, some researchers both domestic and external have carried out significant exploration to robot therapeutic intervention self-closing disease.?
The research of Dautenhahn et al. thinks that robot can build one kind to autism children when exchanging with autism children
Predictable environment, and this safety and stable environment are highly beneficial to the mood for stablizing autism children, in the environment
It is suitble to develop the social skill of autism children.Discovery self-closing disease patient is in the hand for imitating robot and people for other researchs
It to be more than the imitation to people to the imitation speed of robot motion, autism children is seen anti-when ball is grabbed by robot when movement
Autism children and robot should be allowed to play game, autism children energy product together than significant reaction when seeing that people grabs ball faster
Pole is interacted with robot.This shows under the intervention of robot, and autism children, which can be formed, certain receives wish and expression
Wish, in autism children and robot contacts and associating with people, autism children is also more willing to receive the former.Nankai is big
Researcher has chosen the eye movement test that 20 autism childrens have carried out human-computer interaction social activity scene, finds self-closing disease youngster
Virgin and normal child shows identical attention mode to human-computer interaction social activity scene, i.e. robot can trigger self-closing disease youngster
Virgin normal attention mode.These researchs all show great potential and advantage of the robot in rehabilitation intervention.It is domestic at present
Intervene the research of autism children about robot outside, it is common mainly have under several directions: 1., imitate, training some technical ability
2., cause behavior 3. provides feedback and encouragement.
Although intelligent robot has a very wide range of applications, range and promising development prospect, also have very
More shortcomings, 1) barrier detour ability is poor, and the selection of partial robotic's sensor and algorithm are not in place, by anti-after being stranded
Multiple to hit to attempt outlet, presentation is a unordered route.2) more easy to damage, since each component itself is accurate careful, chain
Connect it is exquisite various, even if a slight mistake always has an impact to entire mechanical movement situation.3) it can identify simultaneously in the market
Voice, facial expression, the robot of body language are fewer, and there is very big defect.
Summary of the invention
The present invention provides a kind of intelligent robots of autism children adjuvant treatment, including, NAO robot, the intelligence
Robot further include:
Visual identity module: searching route is searched using original place, walked about and rotated lookup and realizes 360 degree of full visual field search；
Color of object identification is carried out based on YUV color space；Target following is realized in central region algorithm always using target；
Intelligent answer module: using the method for cloud speech recognition, NAO robot passes through the voice question sentence for obtaining user,
It uploads to the cloud web to go to identify, then do corresponding Research of Question Analysis, answer retrieval process to the identification text come is returned；
The intelligent robot identifies the mood of autism children, executes corresponding movement；The intelligent robot passes through voice
Identification module identifies the voice of autism children, executes corresponding movement.
As a further improvement of the present invention, in visual identity module, sensation target detection and tracking are carried out, firstly,
Analysis comparison has been carried out to acquired image under RGB, H I S, YUV tri- kind color space, has selected to be illuminated by the light influence minimum
YUV color space, reduce influence of the acquired image of robot by illumination variation；Secondly, to acquired image into
Row image segmentation extracts required target image, and carries out denoising to target image, removes dry in image
Disturb noise；Profile and coordinate information required for finally extracting target positioning and tracking.
As a further improvement of the present invention, in the visual identity module, to the camera model of NAO robot
It is analyzed, the inside and outside parameter of video camera is demarcated, and then construct the monocular ranging model for NAO robot；
The Different Strategies that robot should use under design different situations so that robot efficiently can accurately trace into target, and
And write required movement during tracking of NAO robot.
As a further improvement of the present invention, using Choregraphe software programming NAO robot during tracking
Required movement.
As a further improvement of the present invention, speech recognition module has invoked the voice of Iflytek limited liability company
Identification and semantic understanding function.
As a further improvement of the present invention, which has music, dialogue function, music function
Can: music is played, carries out controlling news using Orff musicotherapy；Dialogue function: exchanging with autism children, overcomes social activity
It is frightened.
As a further improvement of the present invention, which has greeting, handshake function, greets, function of shaking hands
Can: according to specific movement, the habit of training autism children greeting.
As a further improvement of the present invention, which has the function of game and dancing, game function: passing through
Role play completes the substitution of social role, forms social and communication skill；Dancing function: autism children and NAO robot are total
Dance.
As a further improvement of the present invention, which is equipped with communication module, uses communication module and other machines
Device people interacts.
As a further improvement of the present invention, the communication module includes infrared module, wi f i module.
The beneficial effects of the present invention are: intelligent robot of the invention constructs abundant in content, the type of autism children
The music libraries of multiplicity；Based on autism children facial expression, intelligence chooses the personal music for being suitble to autism children；Music with
Dancing, which combines, promotes autism children sensing capability；It is accustomed to using the daily exchange of scene game interaction culture autism children；Intelligence
It can chat and strengthen autism children dialogue ability, to significantly improve the therapeutic effect of autism of children.
Detailed description of the invention
Fig. 1 is module frame figure of the invention.
Fig. 2 is Course Exercise flow chart of the invention.
Specific embodiment
The invention discloses a kind of intelligent robot of autism children adjuvant treatment, the present invention is based on current main-stream
Robot NAO hardware system, the intelligent robot towards autism children developing intellectual resource music and interaction.
NAO robot of the present invention is developed based on Choregraphe software, and the people of autism children rehabilitation is helped
Work intelligent robot, it is main that Choregraphe software is relied on to write robot, realize dialogue, movement, video triggering
Etc. functions, thus realize follow certain Social behaviors and standardize interact and link up with autism children cordiality.NAO machine simultaneously
People possesses favorable shape, and body language is interesting, increases cordial feeling, has attraction to autism children, can drop
The social phobia sense of low autism children, the effective tool intervened as autism children social skill of being potential.
There are three the advantages of aspect for intelligent robot tool: first is that intelligent robot is more patient than people, while can be with
Save human resources；Second is that: have motor function, rich and varied interactive scene of game can be founded, such as: with it is self-closing
Disease children carry out the interactive game of role playing and dancing, become the partner of autism children social interaction, rather than passively
Toy；Third is that providing sense organ reward in real time, autism children is made to obtain sense of accomplishment in interaction.
Intelligent robot of the invention realize assist diagnosis, improve expression in the eyes annotation and initiative interaction, in turn, imitate, feelings
The modes such as thread identifies, common attention and more people are interactive.Play the part of various rolls in autism children intervention: rehabilitation teacher, response are played
Have etc., the effectively movement of guidance autism children execution social interaction and language performance and adjusting autism children is with other people
Social interaction behavior.
Following table is running environment of the invention:
The intelligent robot includes:
Visual identity module: Nao can capture transmission image, and video differentiates color, perceive object, and recognition of face is led to
Cross computer or network implementations file download, action control, real-time Transmission image etc..It is entirely autonomous, can have obstacle
Walking route oneself is looked in the room of object, when electricity is low, moreover it is possible to which oneself goes to charge to recharging base.For current
Most widely used novel anthropomorphic robot NAO platform, and the Target Recognition Algorithms principle of its official website publication, propose a kind of improvement
Recognition methods, reduce influence of the illumination to target identification, shorten robot identification, positioning and tracking whole process closed loop behaviour
Make the reaction time of process.Wherein searching route, which is searched using original place, walked about and rotated, searches the full view of 360 degree of trilogy realization
Open country search；Color of object identification is carried out based on YUV color space；Target following is real in central region algorithm always using target
It is existing；The distance calculation formula of hardware parameter design head the joint vertical drift angle and target of forth generation NAO robot is analyzed simultaneously,
It is quickly positioned for target.
Sound recognition module: sonar sensor enables it to accurately and stably identify, adapts to various environment.Industry neck is provided
First wide-angle pickup technology, provides better voice capture ability, provides more outstanding noise removal algorithm, allows man-machine friendship
It is mutually more smoothly.
Voice input module: world-leading, independent intellectual property right intelligent human-machine interaction technology, it is powerful, accurate
Chinese natural language comprehensive treatment capability.Accurately voice awakening technology provides the feelings of contactless dialogue interaction capabilities exquisiteness
Feel identification technology, is adapted to user emotion service scenarios.To speaker's sound Sources Detection, and actively it is adapted to best angle and captures face
It actively initiates user and greets service.
Multiple interactive voice synthesis, feature identification, sound positioning and various fast-response probes enable it to become really more
The interactive robot of weight.Infrared and Wi-Fi is equipped with to enable it to interact with other robot.Big data OA operation analysis is flat
Platform provide most worthy user demand instant analysis access data, for service strategy adjust provided with marketing strategy it is powerful
It supports.
System design:
Intelligent Answer System designs there are many kinds of the implementations of question answering system, some are some things based on database
Based on search engine.Question answering system based on database needs to construct a huge knowledge base, this part workload is huge
Big and cumbersome.
Question answering system based on search engine is then that the cumbersome process of construction of knowledge base is omitted, mainly in working set
In the understanding of question sentence, the extraction and sequence of answer.With the gradually networking of information, many information can be from internet
Upper acquisition.Related content, analyzing web page structure are crawled from Web different web sites entrance, then does corresponding information extraction, further
Data, data cleansing, resolution are arranged, entity fusion generates structural knowledge library.It is with the CS knowledge base of such comparatively perfect
Basis, while intelligent Answer System iAskNao is constructed using humanoid robot NAO as hardware platform.Main research emphasis is
Construct structural knowledge library, the Web of knowledge base is visualized and analysis and calculating to question sentence query.
The process of conventional construction question answering system generally comprises: Research of Question Analysis, information retrieval, answer extracting.Intelligent answer system
System emphasis is the build process of system, it is main include crawled by Web page, information extraction, data preparation, knowledge base
Building, Web visualize and build on NAO the question answering system under fusion different scenes, will finally work accordingly all
Fusion is on hardware platform NAO.NAO robot itself comes with the engine of speech recognition, but have the disadvantage that be belong to it is slotting
Enter identification, limits the form of question sentence in this way, be unable to satisfy the diversified problem form of user.Based on this, using making
With the method for cloud speech recognition, NAO robot uploads to the cloud web and goes to identify by the voice question sentence of acquisition user, then
Language is carried to returning to the identification text come and being a series of processing, such customer service NAO such as corresponding Research of Question Analysis, answer retrieval
The problem of sound identifies so that the form of question sentence is more diversified, has established for the expansion of the question sentence of later period question answering system very heavy
The basis wanted.
Sensation target detection and tracking:
Study Nao robot vision algorithm on the basis of, the primary study target detection of human emulated robot with
Track algorithm, in conjunction with robot vision-based detection and track algorithm.First, to being collected under RGB, H I S, YUV tri- kind color space
Image carried out analysis comparison, having selected to be illuminated by the light influences the smallest YUV color space, reduces the acquired figure of robot
As being influenced by illumination variation.Secondly, image segmentation is carried out to acquired image, extracts required target image,
And denoising is carried out to target image, removes the interference noise in image.It finally extracts needed for target positioning and tracking
The information such as the profile and coordinate wanted.On the basis of vision algorithm determines, the positioning of NAO robotic vision, crawl are devised
Experiment, verifies robotic vision algorithm.First, the camera model of NAO robot is analyzed, according to
It can only use the characteristics of camera simultaneously, be demarcated to the inside and outside parameter of video camera, and then construct and be directed to
The monocular ranging model of NAO robot.Secondly, devise the Different Strategies that robot should use under different situations so that machine
Device people efficiently can accurately trace into target, and using Choregraphe software programming robot during tracking
Required key operations.Finally, the entire tracking system frame of NAO robot is provided, and devises NAO robot
Tracking crawl experiment, proved after analyzing experimental result the Target Tracking System can in real time, be accurately tracked by target.
Speech recognition module: due to nao robot carry module for Chinese discrimination be not it is especially desirable,
And included dialogue drama is very little, so having write the module of a nao to replace included speech recognition module.The present invention
Speech recognition module have invoked the speech recognition and semantic understanding function of Iflytek limited liability company.Relative to system
Included module has, identification reaction speed faster advantage higher to Chinese recognition accuracy.
The intelligent robot has music, dialogue function, music playback function: music is played, using Orff sound
Happy cure carries out controlling news；Dialogue function: exchanging with autism children, overcomes social phobia.
The intelligent robot has greeting, handshake function, greets, handshake function: according to specific movement, training
The habit that autism children is greeted.
The intelligent robot has the function of game and dancing, game function: the generation of social role is completed by role play
Enter, forms social and communication skill；Dancing function: autism children is danced together with NAO robot.
In the intervention training of autism children, the content in three fields that can be generally related to, one leads for core competence
Domain, including Non-languae communication ability, ability to model, organizational capacity；Two be social contact ability field, including game capabilities, collection
Body mobility, community's social contact ability；Three be communication capability field, including basic communication ability, social interaction emotion energy
Power talks ability substantially.
Course Exercise process such as Fig. 2, it is however generally that, the design surrounding target of course on rehabilitation, content, method and process four
A step carries out.When carrying out rehabilitation training to autism children using NAO robot, it is contemplated that the spy of autism children
Point, in Course Exercise, content is carried out around the feature of three aspect of autism children: one hinders around the mood of autism children
Hinder, a part of project training course content: the mood inductive education based on robot.This partial content, which mainly passes through, to be allowed certainly
The atmosphere that disease children experience environment is closed, his personal interest is promoted, him is allowed preferably to be dissolved into classroom；Second is that around self-closing
The behavior disorder of disease children, the second part of project curriculum: the early stage behavior intervention of the autism children based on robot.
This partial content is the core competence field for determining its needs according to the different manifestations of each autism children and developing, then into
Row content design.Third is that the communication disorder of autism children is surrounded, the third part of project curriculum: oneself based on robot
Close the communication exchange training of disease children.This partial content determines that it needs to develop also according to the performance of each autism children
Communication capability field and social contact ability field content, carry out the design of particular content.
In the intervention training of autism children, the content in three fields that can be generally related to, one leads for core competence
Domain, including Non-languae communication ability, ability to model, organizational capacity；Two be social contact ability field, including game capabilities, collection
Body mobility, community's social contact ability；Three be communication capability field, including basic communication ability, social interaction emotion energy
Power talks ability substantially.
Course Exercise process such as Fig. 2, it is however generally that, the design surrounding target of course on rehabilitation, content, method and process four
A step carries out.When carrying out rehabilitation training to autism children using NAO robot, it is contemplated that the spy of autism children
Point, in Course Exercise, content is carried out around the feature of three aspect of autism children: one hinders around the mood of autism children
Hinder, a part of project training course content: the mood inductive education based on robot.This partial content, which mainly passes through, to be allowed certainly
The atmosphere that disease children experience environment is closed, his personal interest is promoted, him is allowed preferably to be dissolved into classroom；Second is that around self-closing
The behavior disorder of disease children, the second part of project curriculum: the early stage behavior intervention of the autism children based on robot.
This partial content is the core competence field for determining its needs according to the different manifestations of each autism children and developing, then into
Row content design.Third is that the communication disorder of autism children is surrounded, the third part of project curriculum: oneself based on robot
Close the communication exchange training of disease children.This partial content determines that it needs to develop also according to the performance of each autism children
Communication capability field and social contact ability field content, carry out the design of particular content.
Screen the basic standard of subject are as follows: 1, the age is in 8-14 one full year of life；2, it is diagnosed self-closing disease；3, eyes are without exception,
It is the sense of hearing, visually accessible；4, do not have autotomy, aggression；According to the above screening criteria, 6 are had chosen from Shenzhen
The autism children of certain rehabilitation institution is as subject.
In experiment due to the limitation of robot quantity and place size, 6 subjects are tested one by one, participate in attending class
Rehabilitation teacher, operator, course content it is consistent.
Experiment is that single factor test repetitive measuring experiment designs, and independent variable is whether robot participates in (including two levels: having
Robot and without machine people participate in).In both cases, it observes to be tested the annotation number to class offerings and watch attentively respectively and hold
The continuous time.Having experiment basic content when robot includes: 1, the self-introduction of robot；2, robot shows dancing to subject；
3, rehabilitation teacher executes movement according to password to machine human hair password, robot.When these three contents are presented in robot, pass through
Videograph subject is to machine person's development, fixation times and fixation time of the analysis subject to robot.There is no robot
Shi Ze is demonstrated by rehabilitation Shi Jinhang self-introduction, nautch, movement, and observation is tested the annotation number to rehabilitation teacher and watches attentively
Duration.It is about when every class 30 minutes.
Result of study: in current experimentation, when robot introduces self-closing disease rehabilitation training classroom, 6 subjects exist
There is very positive performance after seeing robot, each subject can be personal to machine by watching in first time
On.Although the number that each subject watches robot attentively is had nothing in common with each other, longer fixation time can be kept substantially, this
Point is accomplished something difficult and so deserve praise for autism children.Based on the above reaction, there is attraction in initial guess NAO robot to autism children
Power.
Fixation times of the autism children to robot:
By observation, we have recorded fixation times of 6 subjects when having robot and without robot, wherein nothing
Watch the number of rehabilitation teacher when robot attentively for subject；There is robot, to be tested to the number for watching robot attentively.As the result is shown:
Robot occur classroom in, have 5 be tested its fixation times all than only have teacher appearance classroom in it is more；1 subject exists
Whether there is or not fixation times in the classroom of robot not to change.Illustrate that self-closing disease has been transferred in the introducing of robot to a certain extent
The classroom enthusiasm of children.
Fixation time (total duration) of the autism children to robot:
Similarly, we have observed and recorded fixation time of 6 subjects when having robot and without robot, wherein have
Time of robot is watched attentively to be tested when robot, is tested the time for watching rehabilitation teacher attentively when no robot.Here we choose
Total time a length of fixation time in one class of subject.As the result is shown: in the classroom for having robot, there is 5 self-closing disease youngsters
Total time that child can watch attentively long the case where participating in than no robot, is long, 1 autism children fixation time without because
The addition of robot and increase.This also further illustrates, the introducing of robot, cause autism children note that transferring
Their classroom enthusiasm.
Result of study: generally speaking, the introducing of NAO robot brings and is tested completely new classroom experience, this is to subject
Language and behavior pattern generate comparable influence, facilitate autism children and overcome social phobia.Especially in the initial of preliminary experiment
Stage, subject 3,4,6 and NAO robot interact it is abnormal intimately and frequently the address subject so that rehabilitation teacher has to again and again
Excessive interaction.Generally speaking, the introducing of NAO robot is so that the fixation times and fixation time of subject have significantly
It is promoted, by experimental data, we are obtained, in the case where the presence or absence of NAO robot, fixation times, the fixation time of subject
All there is apparent difference, during having machine people participation, the realization of subject is more actively, actively.It can by this result
To find out: the addition of robot increases substantially the effect of entire rehabilitation course.
But we also noted that, and not all autism children all shows positive reaction.Some subjects are in reality
It still goes to pay close attention to oneself interested thing during testing, such as: loved toy, plant of green etc., to NAO robot
There is no too big interest.
Generally, the introducing of NAO robot has obvious mood transfer effect to part autism children,
Also improve the effect in classroom.
Operation instruction:
Choregraphe software is a programming software of Alder barlan company exploitation, can write program and NAO
Connection, implantation and downloading program, connect with Webots can with emulated executive (detecting the reliability of program, safety) and
The real time data of Monitor connecting detection robot.
Points for attention when with Choregraphe software programming program:
(1) whether Chinese or English, punctuation mark are all input (2) behavior pipes under English state to input content
Device is managed, shows existing program in robot, can also inculcate, lead to robot
Out and delete program；
(3) when inculcating program to robot, the version of software is had to as the version of robot；
(4) in the compiling procedure of program, save routine at any time is had to；
(5) in the robot free time, motor rigidity is unloaded, in order to avoid motor overheating.
Choregraphe connection robot:
1. the Chest button of long-pressing intelligent robot three seconds, booting；
2, start Choregraphe software, Choregraphe software is connected to robot.
Intelligent robot of the invention constructs the various music libraries of the abundant in content of autism children, type；Based on certainly
Disease children's facial expression is closed, intelligence chooses the personal music for being suitble to autism children；Music promotes self-closing disease youngster in conjunction with dancing
Virgin sensing capability；It is accustomed to using the daily exchange of scene game interaction culture autism children；Autism children is strengthened in intelligence chat
Dialogue ability, to significantly improve the therapeutic effect of autism of children.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, cannot recognize
Fixed specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs,
Without departing from the inventive concept of the premise, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention
Protection scope.
Claims (10)
1. a kind of intelligent robot of autism children adjuvant treatment, including, NAO robot, which is characterized in that the intelligence machine
People further include:
Visual identity module: searching route is searched using original place, walked about and rotated lookup and realizes 360 degree of full visual field search；Target
Color identification is carried out based on YUV color space；Target following is realized in central region algorithm always using target；
Intelligent answer module: using the method for cloud speech recognition, NAO robot is uploaded by the voice question sentence of acquisition user
It goes to identify to the cloud web, then do corresponding Research of Question Analysis, answer retrieval process to the identification text come is returned；
The intelligent robot identifies the mood of autism children, executes corresponding movement；The intelligent robot passes through speech recognition
Module identifies the voice of autism children, executes corresponding movement.
2. intelligent robot according to claim 1, it is characterised in that: in visual identity module, carry out sensation target
Detection and tracking, firstly, having carried out analysis comparison, selection to acquired image under tri- kinds of color spaces of RGB, HIS, YUV
Being illuminated by the light influences the smallest YUV color space, reduces influence of the acquired image of robot by illumination variation；Secondly, right
Acquired image carries out image segmentation, extracts required target image, and carry out denoising to target image, goes
Except the interference noise in image；Profile and coordinate information required for finally extracting target positioning and tracking.
3. intelligent robot according to claim 2, it is characterised in that: in the visual identity module, to NAO machine
The camera model of people is analyzed, and is demarcated to the inside and outside parameter of video camera, and then is constructed for NAO robot
Monocular ranging model；The Different Strategies that robot should use under design different situations so that robot can efficiently accurately
Target is traced into, and writes required movement during tracking of NAO robot.
4. intelligent robot according to claim 3, it is characterised in that: use Choregraphe software programming NAO machine
People's required movement during tracking.
5. intelligent robot according to claim 1, which is characterized in that speech recognition module has invoked Iflytek share
The speech recognition and semantic understanding function of Co., Ltd.
6. intelligent robot according to claim 1, which is characterized in that the intelligent robot has music, dialogue
Music playback function: function is played music, is carried out controlling news using Orff musicotherapy；Dialogue function: and autism children
Exchange, overcomes social phobia.
7. intelligent robot according to claim 6, which is characterized in that the intelligent robot has greeting, function of shaking hands
Can, it greets, handshake function: according to specific movement, training the habit that autism children is greeted.
8. intelligent robot according to claim 6, which is characterized in that the intelligent robot has game and dancing function
Can, game function: completing the substitution of social role by role play, forms social and communication skill；Dancing function: self-closing disease youngster
Child dances together with NAO robot.
9. intelligent robot according to claim 1, which is characterized in that the intelligent robot is equipped with communication module, uses
Communication module is interacted with other robot.
10. intelligent robot according to claim 9, which is characterized in that the communication module includes infrared module, wifi
Module.
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