CN107283389B - Robot for assisting in treating autism - Google Patents
Robot for assisting in treating autism Download PDFInfo
- Publication number
- CN107283389B CN107283389B CN201710775302.XA CN201710775302A CN107283389B CN 107283389 B CN107283389 B CN 107283389B CN 201710775302 A CN201710775302 A CN 201710775302A CN 107283389 B CN107283389 B CN 107283389B
- Authority
- CN
- China
- Prior art keywords
- robot
- wheel
- assembly
- robot body
- telescopic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
-
- 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
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Human Computer Interaction (AREA)
- Nursing (AREA)
- Manipulator (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses a robot for assisting in treating autism, which realizes mutual communication with autism through a visual camera and a voice module, can automatically identify the mood of a patient according to the facial expression of the patient and automatically identify the language and the semantics of the patient, realizes the targeted communication according to the mood of the patient, and realizes the assisted treatment of the autism patient.
Description
Technical Field
The invention relates to a robot for assisting in treating autism, and belongs to the technical field of robot equipment.
Background
At present, autism is a subtype of pervasive developmental disorder, is common in males, starts to get ill in infancy, and is mainly manifested as speech developmental disorder, interpersonal interaction disorder, narrow interests and stereotypy of behavior in different degrees. About 3/4 patients have significant mental retardation, and some children have better ability in some aspect under the background of general mental retardation. The prevalence rate of the autism is 3-4 per ten thousand, but the prevalence rate of the autism in the United states is 1-2 per thousand according to the data of the national institute of health (NIMH) of mental health. National current regulation data of autism are not seen in China, and only part of regions are reported to be related, and as reported in the previous years, the prevalence rate of Guangdong autism is 0.67%, and the prevalence rate of Shenzhen region is as high as 1.32%.
At present, the treatment of the autism is mainly realized by long-term communication between parents, the time for accompanying children is limited because the parents are often busy in working, and the treatment of the autism is a long-term recovery process, so the treatment of the autism is limited, and the auxiliary treatment effect of the autism is influenced. With the continuous development of automation equipment and robots, various service robots begin to appear, and at present, a small number of robots for treating autism exist, so that research and design of a robot for assisting in treating autism plays an extremely important role in treating autism patients.
The invention aims at the problems and provides a robot for assisting in treating autism, so that automatic assisting treatment of an autism patient is realized, and automatic communication with the autism patient is realized.
Disclosure of Invention
In order to achieve the purpose, the invention provides the following technical scheme: a robot for adjunctie therapy autism, its characterized in that, it includes vision camera, robot, balance wheel subassembly, gyroscope and motion control card, wherein, the vision camera sets up the head position at the robot, the head position of robot still is provided with speech recognition module and recording and speaker module, be provided with the arm on the robot, be provided with the concertina movement subassembly in the arm, the lower extreme of robot is provided with the balance wheel subassembly, the bottom central point of robot puts and is provided with the gyroscope, vision camera, balance wheel subassembly, gyroscope, concertina movement subassembly, speech recognition module and speaker module all with motion control card control connection.
Further, as preferred, the balance wheel subassembly includes two fixed wheel subassemblies and a compensation wheel subassembly, wherein, two fixed wheel subassemblies set up respectively the front side both ends of robot body, the compensation wheel subassembly sets up the rear side intermediate position of robot body, and the arrangement of two fixed wheel subassemblies and a compensation wheel subassembly is established to equilateral triangle or isosceles triangle structure, wherein, be provided with the linear flexible displacement sensor who measures and feed back the measured value to the motion control card on the compensation wheel subassembly.
Further, preferably, the fixed wheel assembly comprises a first wheel frame and a first rolling wheel, the first rolling wheel is arranged on the first wheel frame by adopting a bearing, the first wheel carrier is arranged on two sides of the bottom of the robot body, the compensation wheel assembly comprises a second wheel carrier, a second rolling wheel and a linear pneumatic compensation assembly, wherein the rolling wheel II is arranged on the wheel carrier II by adopting a bearing, the top end of the wheel carrier II is fixed at the fixed end of the linear pneumatic compensation component, the moving end of the linear pneumatic compensation component is arranged on the robot body, and a pressure sensor is also arranged between the moving end of the linear pneumatic compensation component and the robot body, and a linear telescopic displacement sensor is arranged between the fixed end of the linear pneumatic compensation assembly and the movable end of the linear pneumatic compensation assembly, and the linear telescopic displacement sensor is in control connection with the motion control card.
Further, as a preferred option, the telescopic motion assembly comprises a first hinged connector, a rotation angle sensor, a telescopic rod, a telescopic cylinder, a second hinged connector, a control valve and a guide assembly, wherein one end of the first hinged connector is hinged with a shoulder joint on the robot body, the first hinged connector is provided with the rotation angle sensor, the other end of the first hinged connector is connected with the telescopic rod, the telescopic rod is fixedly connected with a piston rod of the telescopic cylinder, the telescopic cylinder is provided with the control valve, the telescopic cylinder is fixed on the second hinged connector, the end part of the first hinged connector is connected with an elbow joint of an arm by a joint bearing, the guide assembly for guiding the motion of the telescopic rod is arranged between the telescopic rod and the telescopic cylinder, the end part of the arm is provided with a palm, and fingers are arranged in the palm by finger joints, the control valve controls the action of the telescopic cylinder and is in control connection with the motion control card.
Further, as preferred, the direction subassembly includes guide holder and direction slider, the guide holder is fixed on the telescopic cylinder, just the guide holder along telescopic cylinder's axis direction to the telescopic link extends the setting, be provided with the direction slider on the lateral wall of telescopic link, the direction slider slides with the spout cooperation on the guide holder.
Preferably, the robot body is further provided with a switch button, a music interaction button and an exchange dialogue button.
Further, as an optimization, the robot further comprises a database and a data processor, wherein voice recognition information, communication language information and expression recognition information are stored and set in the database, the data processor collects expression information of a client according to the visual camera, the data processor realizes corresponding language communication according to the collected expression information, and controls the motion action of the robot through the motion control card.
Preferably, the head of the robot, on which the vision camera is mounted, is rotatably mounted on the robot body by a rotary ball bearing of 180 °.
Preferably, the front part of the robot body is further provided with a display module and a memory card insertion module, and the display module can at least display the collected information of the visual camera, the database information and the stored information of the memory card.
Compared with the prior art, the invention has the beneficial effects that:
the robot also adopts a gyroscope and a balance wheel assembly to realize automatic posture transformation of the robot so as to be convenient for getting pleasure or the action of the corresponding patient, and meanwhile, the robot is also provided with a telescopic motion assembly to realize telescopic control of arms.
Drawings
FIG. 1 is a front view of a robot for assisting in treating autism according to the present invention;
FIG. 2 is a schematic side view of a balance wheel assembly of the robot for assisting in the treatment of autism of the present invention;
fig. 3 is a schematic structural diagram of a telescopic motion assembly of the robot for assisting in treating autism according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a robot for adjunctie therapy autism, its characterized in that, it includes vision camera 3, robot 1, balance wheel subassembly, gyroscope 19 and motion control card, wherein, vision camera 3 sets up the head position at robot 1, robot 1's head position still is provided with speech recognition module and recording and speaker module 2, the last arm that is provided with of robot, be provided with the concertina movement subassembly in the arm, robot's lower extreme is provided with the balance wheel subassembly, robot's bottom central point puts and is provided with gyroscope 19, vision camera, balance wheel subassembly, gyroscope, concertina movement subassembly, speech recognition module and speaker module all with motion control card control connection.
As shown in fig. 1-2, the balance wheel assembly includes two fixed wheel assemblies and one compensation wheel assembly, wherein the two fixed wheel assemblies are respectively disposed at two ends of the front side of the robot body 1, the compensation wheel assembly is disposed at a middle position of the rear side of the robot body, the arrangement structure of the two fixed wheel assemblies and the one compensation wheel assembly is an equilateral triangle or isosceles triangle structure, and the compensation wheel assembly is provided with a linear telescopic displacement sensor 15 for measuring and feeding back a measurement value to the motion control card.
In this embodiment, the fixed wheel assembly includes a first wheel carrier 8 and a first rolling wheel 9, the first rolling wheel 9 is disposed on the first wheel carrier 8 by a bearing, the first wheel carrier 8 is disposed on two sides of the bottom of the robot body, the compensating wheel assembly includes a second wheel carrier 13, a second rolling wheel 12 and a linear pneumatic compensating assembly, wherein the second rolling wheel 12 is disposed on the second wheel carrier by a bearing, the top end of the second wheel carrier 12 is fixed on the fixed end of the linear pneumatic compensating assembly 17, the moving end 18 of the linear pneumatic compensating assembly 17 is disposed on the robot body, a pressure sensor 14 is further disposed between the moving end of the linear pneumatic compensating assembly and the robot body, a linear telescopic displacement sensor 15 is disposed between the fixed end of the linear pneumatic compensating assembly and the moving end of the linear pneumatic compensating assembly, and the linear telescopic displacement sensor 15 is connected with a motion control card, wherein, the linear pneumatic compensation component can adopt a cylinder, and the pressure sensor 14 can effectively prevent pressure overload.
The telescopic motion assembly comprises a first hinged connector 20, a rotation angle sensor 21, a telescopic rod 22, a telescopic cylinder 30, a second hinged connector 25, a control valve 31 and a guide assembly, wherein one end of the first hinged connector 20 is hinged with a shoulder joint 5 on the robot body, the first hinged connector is provided with the rotation angle sensor 21, the other end of the first hinged connector 20 is connected with the telescopic rod 22, the telescopic rod 22 is fixedly connected with a piston rod of the telescopic cylinder 30, a piston 29 is arranged in the telescopic cylinder, the telescopic cylinder is provided with the control valve 31 and is fixed on the second hinged connector 25, the end part of the second hinged connector 25 is connected with an elbow joint 6 of an arm by adopting a joint bearing, and the guide assembly for guiding the motion of the telescopic rod is arranged between the telescopic rod and the telescopic cylinder, the tip of arm is provided with palm 7, adopt the knuckle to be provided with the finger in the palm, the action of telescopic cylinder is controlled to the control valve, the control valve with motion control card control connection.
As shown in fig. 3, the guiding assembly includes a guiding seat 27 and a guiding sliding block 26, the guiding seat 27 is fixed on the telescopic cylinder 30, the guiding seat 27 extends to the telescopic rod along the axial direction of the telescopic cylinder, the guiding sliding block 26 is arranged on the side wall of the telescopic rod, and the guiding sliding block 26 slides in cooperation with the sliding groove on the guiding seat.
In addition, in order to improve the communication effect, a switch button, a music interaction button and a communication conversation button are further arranged on the robot body. The robot comprises a vision camera, a robot body, a robot controller, a database and a data processor, wherein voice recognition information, communication language information and expression recognition information are stored in the database, the data processor collects expression information of a client according to the vision camera, the data processor realizes corresponding language communication according to the collected expression information, and the robot controller controls the motion action of the robot through a motion control card.
The head of the robot provided with the vision camera is arranged on the robot body in a way of rotating 180 degrees by adopting a rotating ball bearing. The front part of the robot body is also provided with a display module 4 and a memory card insertion module, and the display module can at least display the acquisition information of the visual camera, the database information and the storage information of the memory card.
The robot also adopts a gyroscope and a balance wheel assembly to realize automatic posture transformation of the robot so as to be convenient for getting pleasure or the action of the corresponding patient, and meanwhile, the robot is also provided with a telescopic motion assembly to realize telescopic control of arms.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The robot for the auxiliary treatment of the autism is characterized by comprising a visual camera, a robot body, a balance wheel assembly, a gyroscope and a motion control card, wherein the visual camera is arranged at the head of the robot body;
the balance wheel assembly comprises two fixed wheel assemblies and a compensation wheel assembly, wherein the two fixed wheel assemblies are respectively arranged at two ends of the front side of the robot body, the compensation wheel assembly is arranged in the middle of the rear side of the robot body, the arrangement structure of the two fixed wheel assemblies and the compensation wheel assembly is an equilateral triangle or isosceles triangle structure, and a linear telescopic displacement sensor for measuring and feeding back a measured value to the motion control card is arranged on the compensation wheel assembly;
the fixed wheel assembly comprises a first wheel frame and a first rolling wheel, the first rolling wheel is arranged on the first wheel frame through a bearing, the first wheel frame is arranged on two sides of the bottom of the robot body, the compensation wheel assembly comprises a second wheel frame, a second rolling wheel and a linear pneumatic compensation assembly, the second rolling wheel is arranged on the second wheel frame through a bearing, the top end of the second wheel frame is fixed to the fixed end of the linear pneumatic compensation assembly, the moving end of the linear pneumatic compensation assembly is arranged on the robot body, a pressure sensor is further arranged between the moving end of the linear pneumatic compensation assembly and the robot body, a linear telescopic displacement sensor is arranged between the fixed end of the linear pneumatic compensation assembly and the moving end of the linear pneumatic compensation assembly, and the linear telescopic displacement sensor is in control connection with the motion control card;
the telescopic motion assembly comprises a first hinged connecting head, a rotation angle sensor, a telescopic rod, a telescopic cylinder, a second hinged connecting head, a control valve and a guide assembly, wherein one end of the first hinged connecting head is hinged with a shoulder joint on the robot body, the first hinged connecting head is provided with the rotation angle sensor, the other end of the first hinged connecting head is connected with the telescopic rod, the telescopic rod is fixedly connected with a piston rod of the telescopic cylinder, the telescopic cylinder is provided with the control valve, the telescopic cylinder is fixed on the second hinged connecting head, the end part of the second hinged connecting head is connected with an elbow joint of an arm by adopting a joint bearing, the guide assembly for guiding the motion of the telescopic rod is arranged between the telescopic rod and the telescopic cylinder, the end part of the arm is provided with a palm, and fingers are arranged in the palm by adopting finger joints, the control valve controls the action of the telescopic cylinder and is in control connection with the motion control card.
2. The robot for assisting in the treatment of autism according to claim 1, wherein: the guide assembly comprises a guide seat and a guide sliding block, the guide seat is fixed on the telescopic cylinder, the guide seat extends along the axis direction of the telescopic cylinder to the telescopic rod, the guide sliding block is arranged on the side wall of the telescopic rod, and the guide sliding block slides in a matched manner with a sliding groove in the guide seat.
3. The robot for assisting in the treatment of autism according to claim 1, wherein: the robot body is also provided with a switch button, a music interaction button and an exchange conversation button.
4. The robot for assisting in the treatment of autism according to claim 1, wherein: the robot comprises a robot body, and is characterized by further comprising a database and a data processor, wherein voice recognition information, communication language information and expression recognition information are stored in the database, the data processor collects expression information of a client through a visual camera, the data processor realizes corresponding language communication according to the collected expression information, and the motion action of the robot is controlled through a motion control card.
5. The robot for assisting in the treatment of autism according to claim 1, wherein: the head of the robot provided with the vision camera is arranged on the robot body in a way of rotating the ball bearing for 180 degrees.
6. The robot for assisting in the treatment of autism according to claim 4, wherein: the front part of the robot body is also provided with a display module and a memory card insertion module, and the display module can at least display the acquisition information of the visual camera, the database information and the storage information of the memory card.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710775302.XA CN107283389B (en) | 2017-08-31 | 2017-08-31 | Robot for assisting in treating autism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710775302.XA CN107283389B (en) | 2017-08-31 | 2017-08-31 | Robot for assisting in treating autism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107283389A CN107283389A (en) | 2017-10-24 |
| CN107283389B true CN107283389B (en) | 2021-03-16 |
Family
ID=60106550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710775302.XA Active CN107283389B (en) | 2017-08-31 | 2017-08-31 | Robot for assisting in treating autism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107283389B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107705660A (en) * | 2017-11-16 | 2018-02-16 | 江门市星望教育科技有限公司 | A kind of long-range robot of giving lessons |
| CN109446303A (en) * | 2018-10-09 | 2019-03-08 | 深圳市三宝创新智能有限公司 | Robot interactive method, apparatus, computer equipment and readable storage medium storing program for executing |
| CN111376226A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Self-balancing robot for child education, entertainment and companions |
| CN110722565A (en) * | 2019-10-31 | 2020-01-24 | 北京鲲鹏神通科技有限公司 | Humanoid robot |
| CN115052717A (en) * | 2020-02-17 | 2022-09-13 | 香港理工大学 | Treatment robot convenient for training and treating old people |
| CN111390919A (en) * | 2020-03-09 | 2020-07-10 | 合肥贤坤信息科技有限公司 | Accompany robot intelligence image recognition behavior analysis system |
| CN111844050A (en) * | 2020-08-24 | 2020-10-30 | 盐城工学院 | Artificial intelligence robot of supplementary prevention Alzheimer's disease |
| CN113470454B (en) * | 2021-08-16 | 2023-09-12 | 郑州大学 | Autism children term language trainer based on artificial intelligence |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201751122U (en) * | 2010-07-06 | 2011-02-23 | 上海一达机械有限公司 | Mechanical arm telescopic device |
| US10176725B2 (en) * | 2011-08-29 | 2019-01-08 | Worcester Polytechnic Institute | System and method of pervasive developmental disorder interventions |
| KR20130137262A (en) * | 2012-06-07 | 2013-12-17 | 한국과학기술연구원 | Sociability training apparatus and method thereof |
| CN203210377U (en) * | 2013-04-02 | 2013-09-25 | 深圳市万机创意电子科技有限公司 | Mobile robot |
| CN103612252B (en) * | 2013-12-03 | 2015-09-16 | 北京科技大学 | Towards the intelligent remote social supplemental treatment machine people of autistic children belong |
| CN104800950A (en) * | 2015-04-22 | 2015-07-29 | 中国科学院自动化研究所 | Robot and system for assisting autistic child therapy |
| CN205928670U (en) * | 2016-08-10 | 2017-02-08 | 深圳市乐源实业股份有限公司 | Intelligence teaching machine people |
-
2017
- 2017-08-31 CN CN201710775302.XA patent/CN107283389B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107283389A (en) | 2017-10-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107283389B (en) | Robot for assisting in treating autism | |
| EP3209467B1 (en) | Arm support systems | |
| CN107349570A (en) | Rehabilitation training of upper limbs and appraisal procedure based on Kinect | |
| CN110179633A (en) | Upper limb integration device for healing and training | |
| CN204863717U (en) | Utilize eyeball to track wheelchair of control | |
| CN104820500A (en) | Virtual reality helmet with electroencephalogram control function | |
| CN101648076A (en) | Game controller and motion capture method using gyroscope | |
| Chacko et al. | Microcontroller based EOG guided wheelchair | |
| CN107374897B (en) | Massage chair movement | |
| Law et al. | A cap as interface for wheelchair control | |
| CN108113757A (en) | Wearable blood vessel intervention operation robot device | |
| Lin et al. | A wireless EOG-based human computer interface | |
| CN108721053B (en) | Intelligent rehabilitation manipulator | |
| CN205339381U (en) | Support bracket of neck portion for pediatrics | |
| CN206573357U (en) | A kind of Thinprep pap test pelleter with moving back pipe sample needle automatically | |
| CN101149601A (en) | Intelligent interaction device based on action of moving body and action position detection method | |
| CN216496394U (en) | Exoskeleton auxiliary device suitable for shoulder rehabilitation | |
| CN202961801U (en) | Exercise prescription system based on action recognition technology | |
| CN116270133A (en) | Simulation rehabilitation finger training device and control system thereof | |
| CN205216094U (en) | Recovered ware of finger function | |
| CN210819542U (en) | Motion capture device | |
| CN212547595U (en) | Novel upper limb rehabilitation robot | |
| CN204364282U (en) | A kind of nursing standing bed | |
| CN107496145A (en) | Strong pupil instrument for training and strong pupil method | |
| CN109984933B (en) | Telescopic mechanism of massage machine core and massage machine core |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |