CN205540653U - Pillow robot system is embraced in care of interactive emotion of intelligence - Google Patents
Pillow robot system is embraced in care of interactive emotion of intelligence Download PDFInfo
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- CN205540653U CN205540653U CN201620224288.5U CN201620224288U CN205540653U CN 205540653 U CN205540653 U CN 205540653U CN 201620224288 U CN201620224288 U CN 201620224288U CN 205540653 U CN205540653 U CN 205540653U
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Abstract
The utility model discloses a pillow robot system is embraced in care of interactive emotion of intelligence, including embracing pillow robot, smart mobile phone and high in the clouds. Embracing the pillow robot and including microcomputer, sensor, functional module and power, the sensor includes temperature sensor, rhythm of the heart sensor, respiratory frequency sensor and pats the frequency sensor that the functional module is including simulation heartbeat module, voice module, simulation breathing module, the module of generating heat and pat module etc.. High in the clouds utilizes the emotion discernment of the data of smart mobile phone collection and the ECG signal realization multimode that the sensor was gathered. The big data transfer of emotion to the high in the clouds that the smart mobile phone will be gathered is judged user's physiological state (include the heartbeat, breathe, pat and body temperature) and mood and is fed back to the other side with it through embracing a pillow robot after handle in high in the clouds, both sides can experience the other side's physiology and psychological condition each other to realize interpersonal true mutual based on the robot.
Description
Technical field
This utility model belongs to medical treatment & health equipment technical field, more particularly, to a kind of intelligent interaction
Emotion care bolster robot system.
Background technology
Along with Internet of Things, 5G, the development of the technology such as high in the clouds, people increasingly pay close attention to the life of spirit level,
Particularly the perception of emotion is with mutual, how to realize the perception of interpersonal far-end and still faces alternately
Challenge, existing far-end interactive system is primarily upon the exchange of voice and video, is difficult to meet people's
Affection need.It is possible to carried out interpersonal most important by some equipment, special
The other crowd those not often travelled on business trips or be engaged in particular job, such as sailor etc..
Along with the progress of human-computer interaction technology, interact based on robot and increasingly receive publicity.Special
It not some robots easy to carry, such as bolster robot.Although the most a lot of patents are based on cushion
The Robot Design function of a lot of practicalities.Such as number of patent application is the practicality of 201020576249.4
New patent application has the function of common cushion and sound equipment；Number of patent application is 201020655768.X
Utility application has common cushion and remote-controller function；Number of patent application is
200420013280.1 utility application has common cushion and electric heating function.But these machines
Device people's function is more single and is difficult to the health to user and emotion is guarded and consoled.And tradition
Cognitive robot mainly achieve the mutual of people and robot rather than realize two people and pass through machine
Device people interact.
Utility model content
This utility model overcomes above-mentioned deficiency of the prior art, it is provided that one has genuine haptic sensation,
Can simulated respiration, heart beating and body temperature, and combine high in the clouds affection data analysis and obtain the other side's mental emotion.
This utility model can not only allow a side experience the heart beating of the opposing party, body temperature, moreover it is possible to experiences the heart of the other side
Feelings, to the more real interactive sensation of people, have preferable emotion and pacify function, it is achieved that healthy photograph
Protect the care with emotion.
The technical solution of the utility model is achieved in that
The emotion care bolster robot system of a kind of intelligent interaction that this utility model provides, it includes
At least two bolster robot, smart mobile phone, power supply and high in the clouds, wherein:
Described bolster robot includes that microcomputer, sensor and functional module, described sensor include
Speech transducer, temperature sensor, heart rate sensor, respiratory frequen, force sensor and bat
Making frequency sensor, described functional module includes voice module, heating module, simulative heartbeat module, mould
Intend breathing module, embracing analog module and pat module；
Described microcomputer is connected with functional module and the high in the clouds communication of one's own side's bolster robot, is used for
The signal of the other side's bolster robot collection received by high in the clouds is sent to one's own side's cushion after treatment
The functional module of robot；
Described smart mobile phone is for collecting subscriber phone, note, the use record of mobile phone application and user
Position and active state；
Described power supply is used for as other each module for power supply；
Described high in the clouds utilizes the data of smart mobile phone collection and sensor signal to realize multi-modal emotion and know
Not.
Temperature sensor is used for detecting the temperature of user face, pats frequency sensor and is used for detecting user
Beating frequency to bolster robot back, heart rate sensor, for detecting the palmic rate of user, is breathed
The sensor frequency that abdominal part rises and falls in time detecting breathing, each detection signal is all supplied to microcomputer.
Simulative heartbeat module receives the palmic rate of interactive the other side detection that microcomputer provides, and root
Heart beating according to the interactive the other side of this palmic rate simulation.
When simulated respiration module receives the breathing of interactive the other side detection that microcomputer provides, abdominal part rises and falls
Frequency, and the breathing of frequency analog interaction the other side risen and fallen according to abdominal part during this breathing.
Described smart mobile phone is as a kind of portable equipment, it is possible to reflect the daily of user than relatively straightforward
Living habit and then reflect the mood states of user, is mainly used in collecting subscriber phone, note, mobile phone
Using of application records and the information such as the position of user and active state.
More preferably, described smart mobile phone collected a secondary data every 10 minutes, and the data of collection also include
Date and time, and utilize mobile phone to allow user that the emotion of oneself to be identified, as the mark of affection data
Sign.
Described wisdom clothing is to be incorporated on relevant textile product by wearable flexible textile sensor,
For collecting the ECG signal of user, the emotion of people can be reflected the most intuitively.
Described high in the clouds utilizes the data of smart mobile phone collection and the ECG signal of wisdom clothing collection to realize multimode
The emotion recognition of state.Described high in the clouds carries out pretreatment, feature extraction to data, carries out emotion recognition,
Provide the emotion of user eventually.
More preferably, the pretreatment of data includes the cleaning of data, the dimensionality reduction of the integrated and data of data.I.e.
Some missing values in data are weeded out, the noise of the data in ECG are filtered, by the date,
The attributes such as the situation that the mobile phone of time and user uses cluster.High dimensional data is carried out at dimensionality reduction
Reason.
The statistical data that feature extraction mainly gathers from mobile phone, obtains its feature in time series data,
Statistical data includes the number of times made a phone call, the number of times sent short messages and the number of times of use mobile phone application.Time sequence
Column data mainly includes gps data and user's acceleration information of user, utilizes gathering of DBSCAN
Class method, the position that can obtain user is family, office, or outdoor.Wisdom clothing is gathered
ECG data, utilizes convolutional neural networks to extract feature.
Utilizing condition of continuity random field that feature above carries out emotion recognition, condition of continuity random field is
One non-directed graph model, has preferable result to seasonal effect in time series mark and cutting.
Further, big for the emotion collected data are sent to high in the clouds, at high in the clouds by described mobile terminal
The physiological status (include heart beating, breathe, pat and body temperature) of user and mood is judged and by it after reason
The other side is fed back to by bolster robot.
The bolster robot that the utility model proposes, the sequential gathered by smart mobile phone and wisdom clothing is believed
Number, provide user respectively based on smart mobile phone and wisdom clothing according to condition of continuity random field models beyond the clouds
Affective state, and provided the mood of user by Decision-level fusion, and by the real-time mood states of user
Pass to the bolster robot of the other side, it is achieved that interpersonal emotion perception based on high in the clouds and friendship
Mutually.This utility model utilizes bolster robot to realize looking after of emotion, and both sides can be allowed to experience each other
Body temperature, heart beating and emotion.When the mood of a side user is low, the opposing party can utilize cushion machine
People goes to pacify its emotion.
Accompanying drawing explanation
Fig. 1 is the system schematic of the intelligent interaction bolster robot of the present embodiment；
Fig. 2 is the structural representation of the bolster robot of the present embodiment, and wherein (a) is this cushion machine
People front, (b) is the back side；
Fig. 3 is the functional flow diagram of the intelligent interaction bolster robot of the present embodiment；
Fig. 4 is the smart mobile phone application interface figure of the present embodiment.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with attached
Figure and embodiment, be further elaborated to this utility model.Should be appreciated that described herein
Specific embodiment, only in order to explain this utility model, is not used to limit this utility model.Under additionally,
As long as technical characteristic involved in each embodiment of this utility model described by face is each other
The conflict of not constituting just can be mutually combined.
As it is shown in figure 1, the emotion care bolster robot of the intelligent interaction of this utility model offer includes
Humanoid lint bolster robot 1, mobile terminal (including the wisdom clothing 3 that mobile phone 2 and user wear) and
High in the clouds 4.
Described bolster robot is as in figure 2 it is shown, include that microcomputer 5, sensor (include that voice passes
Sensor 6, temperature sensor 7, heart rate sensor 8, respiratory frequen 9, force sensor 10
With pat frequency sensor 11), functional module (include voice module 12, breathe analog module 13,
Heartbeat modeling module 14, embrace analog module 15, pat analog module 16 and heating module 17) and
Power supply.
Speech transducer 6 is arranged at the ear of humanoid lint cushion, for detecting the sound letter of user
Number.The acoustical signal collected is quantized into digital signal by this sensor, after being processed by microcomputer
Send the other side's bolster robot to.Voice module 12 is arranged on the mouth of humanoid lint cushion, microcomputer
The voice signal of reception is passed to this module by calculation machine so that it is send corresponding sound.
Temperature sensor 7 is arranged on the face of humanoid lint cushion, is used for detecting the temperature of user face.
The temperature signal collected is quantized into digital signal by this sensor, passes after being processed by microcomputer
Give the other side bolster robot.Heating module 17 is arranged on the face of humanoid lint cushion, miniature calculating
The temperature signal of reception is passed to this module by machine so that it is simulation body temperature.
Heart rate sensor 8 is arranged on the chest of humanoid lint cushion, for detecting the palmic rate of user.
The heart rate signal collected is quantized into digital signal by this sensor, passes after being processed by microcomputer
Give the other side bolster robot.Heartbeat modeling module 14 is arranged on the chest of humanoid lint cushion, miniature
The heart rate signal of reception is passed to this module by computer so that it is beating of simulation heart.
Respiratory frequen 9 is arranged on the abdominal part of humanoid lint cushion, abdominal part when being used for detecting breathing
The frequency risen and fallen.The respiratory frequency semaphore chemical conversion digital signal that this sensor will collect, by miniature
The other side's bolster robot is sent to after computer disposal.Breathing analog module 13 is arranged on humanoid lint and embraces
The abdominal part of pillow, the respiratory frequency signal of reception is passed to this module by microcomputer so that it is simulated respiration.
Force sensor 10 is arranged on the back of humanoid lint cushion, is used for detecting user to interactive throw pillow
Dynamics is embraced by robot.The dynamics semaphore chemical conversion digital signal that this sensor will collect, by micro-
The other side's bolster robot is sent to after type computer disposal.Embracing analog module 15 is a pair, is arranged on
At two arms of humanoid lint cushion, the dynamics signal of reception is passed to this module by microcomputer, makes
The pressure effect of arm when its simulation is embraced.
Pat frequency sensor 11 and be arranged on the back of humanoid lint cushion, be used for detecting user to cushion
The beating frequency at robot back.The beating frequency signal collected is quantized into numeral letter by this sensor
Number, send the other side's bolster robot by microcomputer after being processed to.Pat analog module 16 to install
At the hand of humanoid lint cushion, the beating frequency signal of reception is passed to this module, is made by microcomputer
The beating of its simulation hands.
Various sensors to the acquisition function of data message and each analog module operation principle as ability
The routine techniques means that territory those of ordinary skill can be grasped, detail the most one by one at this.
As it is shown on figure 3, utilize bolster robot 1, smart mobile phone 2 and wisdom clothing 3 to carry out data collection
18.Bolster robot 1 mainly collects the physiologic information of user, such as body temperature, breathing, heart beating etc..Intelligence
Mobile phone 2 is mainly used in collecting subscriber phone, note, the use record of mobile phone application and the position of user
Put and the information such as active state.Wisdom clothing 3 is mainly used in collecting ECG data.Data are entered by high in the clouds 4
Row pretreatment 20, feature extraction 21, emotion detection 22, Decision-level fusion 23 carries out affection data
Analyzing 19, people is truly simulated emotion by functional module and takees good care of 24 by last bolster robot 1.
Wherein, the pretreatment 20 of data includes the cleaning of data, the dimensionality reduction of the integrated and data of data.
Will weed out by some missing values in data, the noise of the data in ECG is filtered, by day
The attributes such as the situation that the mobile phone of phase, time and user uses cluster, and high dimensional data is carried out dimensionality reduction
Process.
The statistical data that feature extraction 21 mainly gathers from mobile phone, obtains it special in time series data
Levying, statistical data includes the number of times made a phone call, the number of times sent short messages and the number of times of use mobile phone application.Time
Between sequence data mainly include gps data and user's acceleration information of user, utilize DBSCAN's
Clustering method, the position that can obtain user is family, office, or outdoor.Wisdom clothing is gathered
ECG data, utilize convolutional neural networks extract feature.
Emotion recognition 22 have employed the method for condition of continuity random field, feature above is carried out emotion and builds
Mould, condition of continuity random field is a non-directed graph model, has seasonal effect in time series mark and cutting preferably
Result.
Embodiment one
In the present embodiment, user embraces bolster robot, and the mobile phone being embedded into bolster robot can realize
Video during call between user shows, as shown in Figure 4, for mobile phone software interface.31 displays are right
The video image of side, the physiology of 32 display the other side and mental status, the physiology of 33 displays oneself and psychology
State.Wherein, 25 represent mood, and 26 represent body temperature, and 27 represent heart rate, and 28 represent geographical position,
29 represent rate travel, and 30 for embrace power to cushion.
In this embodiment, if father and mother go on business, child needs and father and mother temporarily separate.At this time
Father and mother are by embracing bolster robot and mobile phone application display, it is possible to feel the body temperature of child, heart beating, life
Reason state and mood, thus father and mother can make corresponding measure, if child feels bad, Ke Yiyong
Embracing bolster robot and pat back gently, these behaviors are all passed through cushion and are finally fed back to embracing of child
Pillow.Correspondingly, child embraces bolster robot, the behavior of this cushion simulation father and mother, and child can be allowed to feel
Embraced by father and mother and consoled so that child is felt the most lonely.
For the call between friend, by embracing bolster robot and mobile phone application display, it is possible to sensation
Physiology and mental status to the other side.Such as: when the other side's mood is more passive, the other side can be comforted；
When the other side to what is said or talked about topic lose interest in time, topic etc. can be changed.
As it will be easily appreciated by one skilled in the art that and the foregoing is only preferred embodiment of the present utility model
, not in order to limit this utility model, all made within spirit of the present utility model and principle
Any amendment, equivalent and improvement etc., within should be included in protection domain of the present utility model.
Claims (10)
1. the emotion care bolster robot system of an intelligent interaction, it is characterised in that include at least
Two bolster robot, smart mobile phone, power supply and high in the clouds, wherein:
Described bolster robot includes that microcomputer, sensor and functional module, described sensor include
Speech transducer, temperature sensor, heart rate sensor, respiratory frequen, force sensor and bat
Making frequency sensor, described functional module includes voice module, heating module, simulative heartbeat module, mould
Intend breathing module, embracing analog module and pat module；
Described microcomputer is connected with functional module and the high in the clouds communication of one's own side's bolster robot, is used for
The signal of the other side's bolster robot collection received by high in the clouds is sent to one's own side's cushion after treatment
The functional module of robot；
Described smart mobile phone is for collecting subscriber phone, note, the use record of mobile phone application and user
Position and active state；
Described power supply is used for as other each module for power supply；
Described high in the clouds utilizes the data of smart mobile phone collection and sensor signal to realize multi-modal emotion and know
Other: data are carried out pretreatment, feature extraction, carry out emotion recognition, finally provide the emotion of user.
2. the emotion care bolster robot system of intelligent interaction as claimed in claim 1, its feature
Being, described temperature sensor is arranged on the face of bolster robot, is used for detecting the temperature of user face,
The temperature signal collected is quantized into digital signal by temperature sensor, after being processed by microcomputer
Send the other side's bolster robot to；Described heating module is arranged on the face of bolster robot, miniature calculating
The temperature signal of reception is passed to this heating module by machine so that it is simulation body temperature.
3. the emotion care bolster robot system of intelligent interaction as claimed in claim 1 or 2, its
Being characterised by, described speech transducer is arranged at the ear of bolster robot, for detecting the sound of user
Tone signal；The acoustical signal collected is quantized into digital signal by speech transducer, passes through microcomputer
The other side's bolster robot is sent to after process；Described voice module is arranged on the mouth of bolster robot, micro-
The voice signal of reception is passed to voice module by type computer so that it is send corresponding sound.
4. the emotion care bolster robot system of intelligent interaction as claimed in claim 1 or 2, its
Being characterised by, heart rate sensor is arranged on the chest of bolster robot, for detecting the palmic rate of user；
The heart rate signal collected is quantized into digital signal by heart rate sensor, after being processed by microcomputer
Send the other side's bolster robot to；Heartbeat modeling module is arranged on the chest of bolster robot, miniature calculating
The heart rate signal of reception is passed to heartbeat modeling module by machine so that it is beating of simulation heart.
5. the emotion care bolster robot system of intelligent interaction as claimed in claim 1 or 2, its
Being characterised by, respiratory frequen is arranged on the abdominal part of bolster robot, abdominal part when being used for detecting breathing
The frequency risen and fallen；The respiratory frequency semaphore chemical conversion digital signal that respiratory frequen will collect is logical
Cross after microcomputer processes and send the other side's bolster robot to；Breathe analog module and be arranged on cushion machine
The abdominal part of device people, the respiratory frequency signal of reception is passed to breathing analog module by microcomputer so that it is mould
Intend breathing.
6. the emotion care bolster robot system of intelligent interaction as claimed in claim 1 or 2, its
Being characterised by, force sensor is arranged on the back of bolster robot, is used for detecting user to interactive throw pillow
Dynamics is embraced by robot；The dynamics semaphore chemical conversion digital signal that force sensor will collect, passes through
Microcomputer sends the other side's bolster robot to after processing；Embracing analog module is a pair, is respectively mounted
At two arms of bolster robot, the dynamics signal of reception is passed to and is embraced simulation by microcomputer
Module so that it is the pressure effect of arm when simulation is embraced.
7. the emotion care bolster robot system of intelligent interaction as claimed in claim 1 or 2, its
It is characterised by, pats frequency sensor and be arranged on the back of bolster robot, be used for detecting user to cushion
The beating frequency at robot back；Pat frequency sensor to be quantized into by the beating frequency signal collected
Digital signal, sends the other side's bolster robot by microcomputer to after being processed；Beating analog module is pacified
Being contained in the hand of bolster robot, the beating frequency signal of reception is passed to beating frequency by microcomputer
Sensor so that it is the beating of simulation hands.
8. the emotion care bolster robot system of intelligent interaction as claimed in claim 1 or 2, its
Being characterised by, described high in the clouds carries out pretreatment, feature extraction to data, carries out emotion recognition, finally gives
Go out the emotion of user.
9. the emotion care bolster robot system of intelligent interaction as claimed in claim 1 or 2, its
Being characterised by, described sensor is wearable flexible textile sensor, is integrated into relevant spinning
Knit on product, form wisdom clothing.
10. the emotion care bolster robot system of intelligent interaction as claimed in claim 1 or 2,
It is characterized in that, described smart mobile phone collected a secondary data every 10 minutes, and the data of collection include day
Phase and time, smart mobile phone is utilized to allow user that the emotion of oneself to be identified, as the mark of affection data
Sign.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105832073A (en) * | 2016-03-22 | 2016-08-10 | 华中科技大学 | Intelligent interactive emotional care bolster robot system |
| CN106419365A (en) * | 2016-09-05 | 2017-02-22 | 湖北工业大学 | Interactive social contact pillow system and interaction method |
| CN106648100A (en) * | 2016-12-23 | 2017-05-10 | 深圳先进技术研究院 | Human-computer interaction method, apparatus and system |
| CN107422678A (en) * | 2017-09-20 | 2017-12-01 | 武汉普莱恩电气有限公司 | A kind of machine human ear device with simulation mood decoration functions |
| CN111590600A (en) * | 2020-05-18 | 2020-08-28 | 武汉艾瓦客机器人有限公司 | Pillow holding robot system based on multi-mode data emotion interaction |
| JP2021036993A (en) * | 2019-08-31 | 2021-03-11 | 学校法人拓殖大学 | Vital sign measuring robot |
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2016
- 2016-03-22 CN CN201620224288.5U patent/CN205540653U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105832073A (en) * | 2016-03-22 | 2016-08-10 | 华中科技大学 | Intelligent interactive emotional care bolster robot system |
| CN106419365A (en) * | 2016-09-05 | 2017-02-22 | 湖北工业大学 | Interactive social contact pillow system and interaction method |
| CN106648100A (en) * | 2016-12-23 | 2017-05-10 | 深圳先进技术研究院 | Human-computer interaction method, apparatus and system |
| CN106648100B (en) * | 2016-12-23 | 2019-08-06 | 深圳先进技术研究院 | A kind of man-machine interaction method, device and system |
| CN107422678A (en) * | 2017-09-20 | 2017-12-01 | 武汉普莱恩电气有限公司 | A kind of machine human ear device with simulation mood decoration functions |
| JP2021036993A (en) * | 2019-08-31 | 2021-03-11 | 学校法人拓殖大学 | Vital sign measuring robot |
| CN111590600A (en) * | 2020-05-18 | 2020-08-28 | 武汉艾瓦客机器人有限公司 | Pillow holding robot system based on multi-mode data emotion interaction |
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