CN102125495A - Multifunctional robot with slippage sensor for helping aged people to walk - Google Patents
Multifunctional robot with slippage sensor for helping aged people to walk Download PDFInfo
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- CN102125495A CN102125495A CN2010105971051A CN201010597105A CN102125495A CN 102125495 A CN102125495 A CN 102125495A CN 2010105971051 A CN2010105971051 A CN 2010105971051A CN 201010597105 A CN201010597105 A CN 201010597105A CN 102125495 A CN102125495 A CN 102125495A
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Abstract
The invention discloses a multifunctional robot with a slippage sensor for helping aged people to walk. The multifunctional robot comprises a robot grab bar (1), a robot chair (2) and a robot controller (3) for controlling the robot to walk, characterized in that the slippage sensor in contact with a user is arranged on the robot grab bar (1); the slippage sensor is connected with the robot controller (3) through a signal conditioning circuit; the robot controller (3) judges the behavior or state of the user according to the sensor signals collected by the slippage sensor, and drives the robot to perform helping behavior; and an operating bar is arranged on the robot chair (2) and connected with the robot controller (3) for receiving operating instructions formed by the user operating the operating bar. The robot can catch the slippage in real time to sense the motion behavior of the aged people, and the motion intention and tumble trend of the aged people can be detected in real time by the slippage sensor for sensation, thereby realizing multiple helping functions.
Description
Technical field
The invention belongs to the Research on Intelligent Robots technical field, be specifically related to a kind of multi-functional assistant robot of helping the elderly with the tactile and slip sense pick off.
Background technology
Along with the progress and development of society, old people's quality of life more and more is subjected to people's attention, has occurred the assistive device of various diseases nursing with the rehabilitation aspect in succession.Wherein, the assistant robot of helping the elderly is as a kind of ideal aid, and the huge market demand has higher researching value.It is most important for the assistant robot of helping the elderly to invent a kind of method that can catch old people's motor behavior.Bridge between its person of being to use and the assistant robot main body, various motor behaviors that can the perception old people.Therefore, if can provide a kind of method of the old people's of seizure motor behavior to come perception old people's motion purpose and fall down trend,, can improve old people's quality of life greatly for the old people provides service such as aspects such as trip, nursing and medical rehabilitationes.
The old people will constantly link up with robot in the process of using various assistant robots, and the flexible, easy to be easy-to-use of man-machine interface is the basis of the efficient operation of assistant robot.As man-machine communication's passage, tactile and slip sense is the media of whole mobile system perception user intention, can truly react the intention of user easily.Most of assistant robot is all judged old people's state by vision.But can't follow the old people rapidly and accurately by the vision technique robot, and the old people is helped, and this method cost is too high; On the contrary, the information that the tactile and slip sense technology then can provide old people's motor behavior by the sensing and the tendency toward sliding of power, and owing to do not need very complex apparatus price is lower, have only a spot of informational needs transmission and processing and efficient is very high.
At present, it is that relative motion detects and the walking intention is discerned and few to utilize tactile and slip sense to carry out, and yet there are no report on the walk help utensil.And assistant robot all is to judge that by vision the data of old people's state and behavior collection and processing are bigger in the prior art; can't judge the behavior and the state of user fast and accurately; so produce error in judgement or delay through regular meeting when using; this might damage user, does not reach the basic purpose that the assistant robot walk help is helped the elderly.The present invention therefore.
Summary of the invention
The object of the invention is to provide a kind of multi-functional assistant robot of helping the elderly with the tactile and slip sense pick off, has solved in the prior art assistant robot and has produced error in judgement or postpone through regular meeting and bring damage maybe can not reach the defectives such as purpose that walk help is helped the elderly to user.
In order to solve these problems of the prior art, technical scheme provided by the invention is:
A kind of multi-functional assistant robot of helping the elderly with the tactile and slip sense pick off, the robot controller that comprises robot bar, robot seat and control robot ambulation, it is characterized in that being provided with on the described robot bar tactile and slip sense pick off that contacts with user, described tactile and slip sense pick off is connected with robot controller by signal conditioning circuit, described robot controller is judged the behavior or the state of user according to the sensor signal of tactile and slip sense sensor acquisition, and is ordered about the auxiliary behavior of robot generation; Setting operation bar on the described robot seat, described action bars are connected the operational order of accepting user operating operation bar with robot controller.
Preferably, described robot comprises the robot support, and described robot seat frame is located on the robot support, and described robot seat is provided with two support arms, and described action bars is fixed on the support arm.
Preferably, described robot support lower end is provided with driving wheel and universal wheel, and described robot controller is connected the control driving wheel with drive motors on being installed in driving wheel; Described driving wheel drives universal wheel and rotates.
Preferably, described robot bar upper end is provided with the tactile and slip sense sensor holder, and described tactile and slip sense pick off is installed on the tactile and slip sense sensor holder.
Preferably, described robot bar two ends pin joint handrail adjusting rod; Pin joint is equipped with the handrail support bar on the described robot support, and described handrail adjusting rod and handrail support bar are pegged graft.
Preferably, described tactile and slip sense pick off is the PVDF piezoelectric film sensor with 6 layers of structure that is arranged on the tactile and slip sense sensor holder, sets gradually epidermal area, two silver electrode layers, PVDF layer, polyester-based lamella and mounting layer from outside to inside; Described two silver electrode faults are opened and are drawn outfan and be electrically connected with signal conditioning circuit, and described pick off is connected and fixed by mounting layer and tactile and slip sense sensor holder.
Preferably, two tactile and slip sense sensor holders are set on the described robot bar, three road tactile and slip sense pick offs are set on each tactile and slip sense sensor holder, and the outfan of each road tactile and slip sense pick off is connected with separately signal conditioning circuit respectively, and is connected with robot controller.
Preferably, described robot controller arranged outside is fixed on the battery holder on the robot support, described battery holder provides robot controller electric power, described robot controller comprises microprocessor, analog-digital converter, described analog-digital converter is the analog digital conversion (ADC) of dsp chip TMS320F2812, is connected with signal conditioning circuit, is responsible for handling the sensor signal of tactile and slip sense sensor acquisition, convert digital signal to, offer microprocessor analysis and handle; The digital signal that analog-digital converter provides is accepted in described microprocessor and analog-digital converter communication, and digital signal is handled, and the behavior of judgement user or state and transfer instruction provide auxiliary behavior to robot.
Preferably, described microprocessor is also accepted the operational order of action bars transmission, and described microprocessor is for adopting dsp chip TMS320F2812, and described analog-digital converter adopts the analog digital conversion (ADC) of dsp chip TMS320F2812.
Preferably, described signal conditioning circuit comprises charge conversion module, low-pass filtering module, power frequency trap module, amplification module and the inhibition module of crosstalking; Described charge conversion module is a voltage with the quantity of electric charge signal transition of sensor acquisition; Described low-pass filtering module is used for the high frequency clutter in filtered signal source; Described power frequency trap module is used for eliminating output signal has power frequency to disturb; The waveform of described amplification module amplification sensor signal; Described inhibition is crosstalked after module uses phase mutual interference between homophase adder operation circuit filtering multichannel, and signal is exported to robot controller.
The multi-functional assistant robot of helping the elderly of the present invention, comprise the robot bar, action bars on the robot seat, the robot seat, the robot support, the driving wheel of support bottom and universal wheel, the battery holder that is provided with on the support, robot controller and robot handrail support bar, handrail adjusting rod and tactile and slip sense sensor holder, the tactile and slip sense pick off that the setting of described robot bar contacts with user, described tactile and slip sense pick off is connected with robot controller by signal conditioning circuit, described robot controller is gathered the sensor signal of tactile and slip sense pick off, according to sensor signal the behavior or the state of user are judged, and produced auxiliary behavior.When old people's travel time during long or walking disorder, can be sitting on the seat by the man-machine interface part of action bars as assistant robot, the manipulation intention of expressing user also shows various information.
Concrete, robot of the present invention is made up of driving wheel, robot controller, battery holder, handrail adjusting rod, handrail support bar, tactile and slip sense sensor holder, tactile and slip sense pick off, robot bar, action bars, robot seat, robot support, universal wheel, 2 dc brushless motors.Be connected with robot controller by the tactile and slip sense pick off, by tactile and slip sense perception and seizure old people motor behavior (mainly comprising: motion intention and walking states), obtain the walk help method of helping the elderly of a kind of low cost, high-performance, high flexibility, high reliability, can effectively realize old people's motion purpose and fall down the real-time detection and the miscellaneous function of trend.When the long-time walking of old people is felt tired or during walking disorder, can be sitting on the seat by the control stick, express the operation intention, realization is to the control of assistant robot travel speed and direction, and can show assistant robot battery electric quantity and fault message, report to the police, be provided with parameter, storage data, serial communication etc.The assistant robot control system is by the interaction of above each module, every function of the assistant robot of realizing helping the elderly.
The present invention is based on the direct feedback channel of user intention neither one, by tactile and slip sense can be correct the intention of embodiment user, by catching particularly old people's tactile and slip sense of user, can catch and judge user such as old people's motor behavior.The present invention uses for reference the achievement in research that physiological movement is learned, and realizes the seizure to old people's motor behavior, and it is accommodating to make that the old people goes out, safety.
Tactile and slip sense pick off of the present invention is the pick off of one for collection sense of touch, sliding feel, and sense of touch, sliding feel can be shared same signal source.In order in same signal, to isolate sense of touch and sliding feel signal, can represent each road pick off tactile and slip sense signal multidimensional feature respectively.When using No. six pick offs, each road pick off tactile and slip sense signal multidimensional feature is as follows: the maximum max=Max (x of tactile and slip sense signal
i); Minima min=Min (the x of tactile and slip sense signal
i); The average of tactile and slip sense signal
The variance of tactile and slip sense signal
If feature vector, X=[x
1, x
2, x
3, x
4... x
21, x
22, x
23, x
24], wherein, x
1～x
4Maximum, minima, average, variance for No. 1 pick off tactile and slip sense of left hand signal; x
5～x
8Maximum, minima, average, variance for No. 2 pick off tactile and slip senses of left hand signal; x
9～x
12Maximum, minima, average, variance for No. 5 pick off tactile and slip senses of left hand signal; x
13～x
16Maximum, minima, average, variance for No. 3 pick off tactile and slip senses of right hand signal; x
17～x
20Maximum, minima, average, variance for No. 4 pick off tactile and slip senses of right hand signal; x
21～x
24Maximum, minima, average, variance for No. 6 pick off tactile and slip senses of right hand signal; This feature vector, X can be expressed the multidimensional feature of each road pick off tactile and slip sense signal, can be used as a kind of method of feature extraction.
By the feature extraction data analysis, learn that haptic signal has single high peaks, and amplitude is greater than the sliding signal of feeling, the average that can select the certain-length signal is as tactile eigenvalue.Sliding feel signal is the peak value that has a plurality of amplitudes less in the unit interval, and the variance of therefore selecting the certain-length signal is as sliding eigenvalue of feeling.Obtain people's hand control dolly by a large amount of experiments and advance, retreat, turn left, the time domain average of each road pick off and the threshold value of variance under four patterns of turning right adopt threshold method to judge sense of touch, sliding generation of feeling.Promptly when threshold value that the tactile feature value obtains greater than experiment, show that sense of touch produces; Feel during the threshold value that eigenvalue obtains greater than experiment when sliding, show sliding feel produce.Threshold value can set in advance in robot interior, and the eigenvalue of robot passing threshold and sensor acquisition relatively carries out pattern recognition.The identification media that the detection of tactile and slip sense is intended to substantially as the old people, as advance, retreat, turn left, turn right; Also detect, carry out shatter-resistant as old people's purpose of falling down.
The present invention is connected with robot controller by the tactile and slip sense pick off, by tactile and slip sense perception and seizure old people motor behavior (mainly comprising: motion intention and walking states), the walk help that obtains a kind of low cost, high-performance, high flexibility, the high reliability method of helping the elderly can effectively realize old people's motion purpose and fall down the real-time detection and the miscellaneous function of trend.Technical solution of the present invention has made up corresponding high speed acquisition and transmission process system, can obtain relevant old people's tactile and slip sense information in real time.
Concrete, when the old people went out to walk, the employing both arms were held up the mode on assistant robot, when old people's pace is accelerated or be slack-off, can produce corresponding frictional force between forearm and the assistant robot.According to this phenomenon, the place of helping end and preceding arm contact in robot adds the tactile and slip sense sensor array, detect the relative motion trend of forearm and robot, judge the dynamic relationship between old people and the robot, and then the speed of robot regulated, realize the follow effect of assistant robot to the old people.
Tactile and slip sense pick off of the present invention adopts sensitive material PVDF Piezoelectric Film for Designing, mainly is made up of 6 layers of structure, comprises that rubber seals epidermis, two-layer silver electrode layer, PVDF layer, polyester substrate, the two-sided tape of different viscosity.This tactile and slip sense pick off can correctly and in time detect old people's motion purpose and state, the identification media that is intended to substantially as user, as advance, retreat, turn left, turn right; Can detect old people's the purpose of falling down, and distinguish, make the old people be difficult for falling down with common velocity variations; And it is easy for installation.
At the tactile and slip sense sensor output signal is the characteristics of dynamic charge signal, and the present invention has designed and developed signal conditioning circuit.In addition in order to realize high-speed synchronous data acquiring, adopt the real-time acquisition process of dsp chip TMS320F2812 realization to tactile and slip sense sensor array column data, by the USB2.0 bus data are passed to host computer, on host computer, developed high speed tactile and slip sense Signal Analysis System based on VC++, carry out the perception old people move the intention and state, can satisfy the real-time requirement of robot.By tactile and slip sense host computer analytical system the signal that the data collecting part obtains is carried out digital filtering, date processing, data storage, data analysis etc., the multichannel tactile and slip sense signal of finishing collecting shows in real time, and the multidimensional feature of tactile and slip sense signal represented, carry out feature extraction and pattern recognition.
With respect to scheme of the prior art, advantage of the present invention is:
Confirm through robot emulation system, robot of the present invention can catch in real time has tactile and slip sense perception old people motor behavior (mainly comprising: motion intention and walking states), can realize old people's motion purpose with the tactile and slip sense pick off and fall down the real-time detection of trend by its perception, and the exploitation and the realization of the assistant robot correlation technique that can help to help the elderly.The present invention by analogue system with obtained consistent result after the USB5935 data collecting card system of ART compares, the correctness and the feasibility of this system is described; And because DSP conveniently makes portable system, and cost is much lower than capture card, the convenient integrated and secondary development of analogue system later on.
Description of drawings
Below in conjunction with drawings and Examples the present invention is further described:
Fig. 1 is the left view of the multi-functional assistant robot of helping the elderly of band tactile and slip sense pick off of the present invention;
Fig. 2 is the vertical view of the multi-functional assistant robot of helping the elderly of band tactile and slip sense pick off of the present invention;
Fig. 3 is the control module figure of the multi-functional assistant robot of helping the elderly of band tactile and slip sense pick off of the present invention;
Fig. 4 is a tactile and slip sense pick off modulate circuit theory diagram of the present invention;
Fig. 5 is the system structure connection layout of analogue system of the present invention;
Fig. 6 is tactile and slip sense analytical system software framework structure figure of the present invention;
Fig. 7 analyzes displayed map for real time data of the present invention;
Fig. 8 is for off-line data of the present invention is analyzed, the report output module map;
Fig. 9 carries out pattern recognition module figure for the present invention;
Wherein 1 is the robot bar; 2 is the robot seat; 3 is robot controller; 4 is the robot support; 5 is driving wheel; 6 is universal wheel; 11 is the tactile and slip sense sensor holder; 12 is the handrail adjusting rod; 13 is the handrail support bar.
The specific embodiment
Below in conjunction with specific embodiment such scheme is described further.Should be understood that these embodiment are used to the present invention is described and are not limited to limit the scope of the invention.The implementation condition that adopts among the embodiment can be done further adjustment according to the condition of concrete producer, and not marked implementation condition is generally the condition in the normal experiment.
Embodiment is shown in Fig. 1～4, the multi-functional assistant robot of helping the elderly of this band tactile and slip sense pick off, the robot controller 3 that comprises robot bar 1, robot seat 2 and control robot ambulation, the tactile and slip sense pick off that contacts with user is set on the described robot bar 1, described tactile and slip sense pick off is connected with robot controller 3 by signal conditioning circuit, described robot controller 3 is judged the behavior or the state of user according to the sensor signal of tactile and slip sense sensor acquisition, and is ordered about the auxiliary behavior of robot generation; Setting operation bar on the described robot seat 2, described action bars are connected the operational order of accepting user operating operation bar 21 with robot controller 3.
Robot comprises robot support 4, and described robot seat 2 is erected on the robot support 4, and described robot seat 2 is provided with two support arms, and described action bars is fixed on the support arm.Described robot support 4 lower ends are provided with driving wheel 5 and universal wheel 6, and described robot controller 3 is connected the control driving wheel with drive motors on being installed in driving wheel; Described driving wheel drives universal wheel and rotates.Robot bar 1 upper end is provided with tactile and slip sense sensor holder 11, and described tactile and slip sense pick off is installed on the tactile and slip sense sensor holder 11.Described robot bar 1 two ends pin joint handrail adjusting rod 12; Pin joint is equipped with handrail support bar 13 on the described robot support 4, and described handrail adjusting rod 12 is pegged graft with handrail support bar 13.
The tactile and slip sense pick off is the PVDF piezoelectric film sensor with 6 layers of structure that is arranged on the tactile and slip sense sensor holder 11, sets gradually epidermal area, two silver electrode layers, PVDF layer, polyester-based lamella and mounting layer from outside to inside; Described two silver electrode faults are opened and are drawn outfan and be connected with signal conditioning circuit, and described pick off is connected and fixed by mounting layer and tactile and slip sense sensor holder 11.Two tactile and slip sense sensor holders 11 are set on the described robot bar, three road tactile and slip sense pick offs are set on each tactile and slip sense sensor holder 11, the outfan of each road tactile and slip sense pick off is connected with separately signal conditioning circuit respectively, and is connected with robot controller.
The tactile and slip sense pick off adopts sensitive material PVDF Piezoelectric Film for Designing, mainly is made up of 6 layers of structure, comprises that outermost layer is that rubber is sealed epidermis, makes that perception tactile and slip sense signal is more obvious, and can be used as protective layer and prevent that the electrode that exposes outside is damaged.Second and third layer is two-layer silver electrode layer, and electrode adopts the method for silk screen process, and two-layer electrode surface is drawn and staggered about PVDF.The 4th layer is the PVDF layer, and thickness is 50 μ m.Polyvinylidene fluoride (PVDF) is a kind of novel high molecular polymer type sensing material, this kind PVDF is the best high-molecular organic material of finding up to now of piezoelectricity, it have the quality softness, as thin as a wafer, light weight, highly sensitive, plurality of advantages such as response is fast, measuring range is big, chemical stability height, so, combine with microelectric technique, can make the multifunctional sensing element, make it become a kind of novel intelligent material of extensive popularization.Selecting this PVDF is only as the tactile and slip sense sensing material of the assistant robot of helping the elderly, because it has piezoelectricity and pyroelectric effect simultaneously.Why we can be exactly because people's skin can produce piezoelectric effect and pyroelectric effect by shape, texture and the temperature etc. of touch perception to object according to the study.Layer 5 be polyester substrate as protective layer, be damaged to prevent surface electrode.Layer 6 is the two-sided tape of different viscosity, installs for convenience, and selecting thickness is the two-sided tape of the different viscosity in two sides of 0.05mm, a permanent fixation, the demand that one side is fit to reorientate.The pick off top layer is that rubber is sealed the epidermis protective layer, and the upper strata is the PVDF thin film that upper and lower surface is coated with the silver electrode layer, and lower floor is the polyester substrate protective layer, uses the crimp type terminal crimping that the PVDF positive and negative polarities are drawn.Use insulating cement with PVDF thin film and rubber seal epidermis, polyester substrate sticks together.
The robot controller arranged outside is fixed on the battery holder on the robot support, described battery holder provides robot controller electric power, described robot controller comprises microprocessor, analog-digital converter, described analog-digital converter is the analog digital conversion (ADC) of dsp chip TMS320F2812 inside, be connected with signal conditioning circuit, be responsible for handling the sensor signal of tactile and slip sense sensor acquisition, convert digital signal to, offer microprocessor analysis and handle; The digital signal that analog-digital converter provides is accepted in described microprocessor and analog-digital converter communication, and digital signal is handled, and the behavior of judgement user or state and transfer instruction provide auxiliary behavior to robot.Described microprocessor is also accepted the operational order of action bars transmission, and described microprocessor is for adopting dsp chip TMS320F2812.
Signal conditioning circuit comprises charge conversion module, low-pass filtering module, power frequency trap module, amplification module and the inhibition module of crosstalking; Described charge conversion module is a voltage with the quantity of electric charge signal transition of sensor acquisition; Described low-pass filtering module is used for the high frequency clutter in filtered signal source; Described power frequency trap module is used for eliminating output signal has power frequency to disturb; The waveform of described amplification module amplification sensor signal; Described inhibition is crosstalked after module uses phase mutual interference between homophase adder operation circuit filtering multichannel, and signal is exported to robot controller.
As shown in Figure 5, the present invention confirms its effect by analogue system.6 road sensor output signals are through Signal Pretreatment, collection and the A/D conversion of sending the analog digital conversion (ADC) of dsp chip TMS320F2812 to finish multichannel data, realization is to the real-time collection of tactile and slip sense sensor array column data, carry out the Digital Signal Processing of front end again through DSP, by usb bus with transfer of data to host computer, and at the enterprising line data storage of host computer, demonstration and date processing, then recognition result is sent to electric machine controller, electric machine controller is finished corresponding control to motor according to corresponding instruction.With reference to ordinary bicycle handle diameter, the handrail diameter is greatly about about 25-30mm, and size sensor is 20*15 (mm), therefore selects No. 6 pick offs, left side armrest arrangement No. 3 pick offs, right armrest to arrange that No. 3 pick offs form the tactile and slip sense sensor array.
The tactile and slip sense signal condition mainly comprises charge conversion module, low-pass filtering module, power frequency trap module, amplification module and the inhibition module of crosstalking.The tactile and slip sense pick off can produce electric charge under external force, so select for use AD544 as the Q/V transducer, changes the quantity of electric charge into the correspondent voltage amount.Because manually the tactile and slip sense signal frequency of doing generally can not surpass 100HZ, so select low pass filter for use, is used for the high frequency clutter in filtered signal source.There is tangible power frequency to disturb in the output signal, increases the notch filter of one-level 50HZ again.Because 12 AD that select for use dsp chip 2812 inside to carry gather, the highest sampled voltage of AD sample port is 3V, so the signal of gathering will be handled through amplifier, make input voltage range within the normal sample range of AD, and select for use 2 Zener diode IN4007 restriction output voltages in 0～3V.Because vacant state occurs crosstalking between the multichannel in the time of can causing multichannel collecting, so select the homophase adder operation circuit for use, add that a DC component just can not make each passage be in vacant state, so just can each interchannel phase mutual interference of filtering.Signal after the processing outputs on the high-speed data acquisition part at last.
Adopt the real-time acquisition process of the inner AD realization of dsp chip TMS3202812 to six road tactile and slip sense sensor signals.The analog-to-digital conversion module of use 2812 is finished the collection and the A/D conversion of data, transfer of data after the conversion is to the FIFO high-speed cache of high speed USB communication chip CY7C68013, by the usb data bus with transfer of data to host computer, and at the enterprising line data storage of host computer, demonstration and date processing.Native system can satisfy the requirement of tactile and slip sense signal acquisition process to high accuracy and real-time fully.Because the tactile and slip sense signal data amount of gathering is bigger, therefore need a kind of high-speed data transmission mode, and USB2.0 bus transfer speed is fast, can reach the speed of 480Mb/s, satisfies the needs of transfer of data.
Use DSP to carry out tactile and slip sense signals collecting and processing,, detect the dynamic relationship between old people and the assistant robot by being installed on the tactile sensor array of handrail.Set up the motor pattern of assistant robot walking according to the tactile and slip sense signal that has obtained, the motion purpose that realizes the old people as advance, retreat, turn left, Feature Extraction and identification such as right-hand rotation.The signal that picks up according to the tactile and slip sense pick off carries out feature extraction and pattern recognition, and recognition result is sent among the DSP, and DSP finishes corresponding control to motor according to corresponding instruction, thereby realizes the motor pattern of assistant robot walking.This structure can well solve the problem of the real-time of signal processing and robot control concurrent processing.
Analyze the analogue system requirement according to tactile and slip sense, design a tactile and slip sense upper computer analyzing software in advance, this software mainly comprises following functional module: real time data is analyzed display module; Off-line data is analyzed, the report output module; Data base's memory module.
Real time data is analyzed display module will be converted to actual institute collection corresponding voltage value by the 16 system numbers that the USB2.0 bus transfer is come in, and carry out the drift correction; And every road pairing magnitude of voltage of pick off is stored to the MySQL data base; According to the every road magnitude of voltage after the conversion, its time domain waveform of drawing respectively; Calculate average, maximum, minima, the variance of 1024 next point data of six tunnel collections respectively, and it is presented at the below of institute's respective channel time domain waveform.This software has the digital low-pass filtering module in addition, can be provided with whether to carry out digital filtering, and low pass filtered frequency is set.Software interface as shown in Figure 6.
Data base's memory module uses the MySQL data base to preserve six tunnel sensor signals institute corresponding voltage Value Data, prepare for carrying out more detailed data analysis and secondary development later on, this data base comprises six tables, the data of preserving six passages respectively, and data are major key with time in the table; Each channel data is that sign is preserved warehouse-in with the time point, reads according to time point simultaneously.
Off-line data is analyzed, the report output module is by browsing the data of different time points, simulate data of the final every collection of tactile and slip sense system, calculate the mode of average and variance, 1024 point data are carried out system simulation, detailed process is as follows, at first calculate 256 point data average and variances, shift out first point data then, move into the 257th data, still be 256 point data this moment altogether, calculate this 256 average and variance, and the like calculated one group of data, the operating process of simulation final system is in the hope of calculating average and variance threshold values more accurately, and the result of calculation that six circuit-switched data are all shows in the tabulation mode, in order to check analysis; According to analysis, select suitable array data can be exported to the TXT document, carry out secondary analysis by MATLAB, and the result of six group analysis can be exported with report form, analyze in order to preserve; Use this moment different colors in an interface, to show six tunnel different waveforms simultaneously, make things convenient for the comparison of each channel signal, and maximum and its pairing abscissa tabulation on each road shown the convenient appropriate threshold of selecting.
Switch to pattern recognition module then, draw tactile feature value and the threshold value of sliding the feel eigenvalue, the threshold value that obtains is input in the edit box, carry out pattern recognition by a large amount of experiments.According to oscillogram, whether judgment model identification is correct.1～No. 6 pick off is each to calculate 256 points, if in 1024 points, have one group 256 data mean value to surpass the average threshold value, its pairing sense of touch is just shown in red; If variance surpasses threshold value, sliding feel is just shown in red.Advance, retreat, turn left, the result is as follows in the right-hand rotation pattern recognition: the tactile feature value of No. 1 and No. 4 pick off has surpassed threshold value, demonstration right-hand rotation pattern; The tactile feature value of No. 2 and No. 3 pick offs has surpassed threshold value, shows the left-hand rotation pattern; The tactile feature value of No. 1 and No. 3 pick off has surpassed threshold value, shows forward mode; The tactile feature value of the pick off of No. 2 and No. 4 has surpassed threshold value, shows " fall back " mode".
Haptic signal is when object contacts the generation contact force with pick off, and the stressed generation electric charge of PVDF material forms haptic signal.Sliding feel signal is when object with pick off relative slip takes place, and produces the tangential force along glide direction between body surface and the sensor surface, reaches the PVDF material, produces piezoelectric effect.
The tactile and slip sense pick off is the pick off of one for collection sense of touch, sliding feel, and sense of touch, sliding feel can be shared same signal source.In order in same signal, to isolate sense of touch and sliding feel signal, can represent each road pick off tactile and slip sense signal multidimensional feature respectively.When using No. six pick offs, each road pick off tactile and slip sense signal multidimensional feature is as follows: the maximum max=Max (x of tactile and slip sense signal
i); Minima min=Min (the x of tactile and slip sense signal
i); The average of tactile and slip sense signal
The variance of tactile and slip sense signal
If feature vector, X=[x
1, x
2, x
3, x
4... x
21, x
22, x
23, x
24], wherein, x
1～x
4Maximum, minima, average, variance for No. 1 pick off tactile and slip sense of left hand signal; x
5～x
8Maximum, minima, average, variance for No. 2 pick off tactile and slip senses of left hand signal; x
9～x
12Maximum, minima, average, variance for No. 5 pick off tactile and slip senses of left hand signal; x
13～x
16Maximum, minima, average, variance for No. 3 pick off tactile and slip senses of right hand signal; x
17～x
20Maximum, minima, average, variance for No. 4 pick off tactile and slip senses of right hand signal; x
21～x
24Maximum, minima, average, variance for No. 6 pick off tactile and slip senses of right hand signal; This feature vector, X can be expressed the multidimensional feature of each road pick off tactile and slip sense signal, can be used as a kind of method of feature extraction.
By the feature extraction data analysis, learn that haptic signal has single high peaks, and amplitude is greater than the sliding signal of feeling, the average that can select the certain-length signal is as tactile eigenvalue.Sliding feel signal is the peak value that has a plurality of amplitudes less in the unit interval, and the variance of therefore selecting the certain-length signal is as sliding eigenvalue of feeling.Obtain people's hand control dolly by a large amount of experiments and advance, retreat, turn left, the time domain average of each road pick off and the threshold value of variance under four patterns of turning right adopt threshold method to judge sense of touch, sliding generation of feeling.Promptly when threshold value that the tactile feature value obtains greater than experiment, show that sense of touch produces; Feel during the threshold value that eigenvalue obtains greater than experiment when sliding, show sliding feel produce.Draw the threshold value of average and variance by experiment, the threshold value that obtains is input to carries out pattern recognition in the upper computer software.
The identification media that the detection of tactile and slip sense is intended to substantially as the old people, as advance, retreat, turn left, turn right; Also detect, carry out shatter-resistant as old people's purpose of falling down.
Above-mentioned example only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow the people who is familiar with this technology can understand content of the present invention and enforcement according to this, can not limit protection scope of the present invention with this.All equivalent transformations that spirit is done according to the present invention or modification all should be encompassed within protection scope of the present invention.
Claims (10)
1. multi-functional assistant robot of helping the elderly with the tactile and slip sense pick off, the robot controller (3) that comprises robot bar (1), robot seat (2) and control robot ambulation, it is characterized in that described robot bar (1) upward is provided with the tactile and slip sense pick off that contacts with user, described tactile and slip sense pick off is connected with robot controller (3) by signal conditioning circuit, described robot controller (3) is judged the behavior or the state of user according to the sensor signal of tactile and slip sense sensor acquisition, and is ordered about the auxiliary behavior of robot generation; Described robot seat (2) is gone up the setting operation bar, and described action bars is connected the operational order of accepting user operating operation bar with robot controller (3).
2. the multi-functional assistant robot of helping the elderly of band tactile and slip sense pick off according to claim 1, it is characterized in that described robot comprises robot support (4), described robot seat (2) is erected on the robot support (4), described robot seat (2) is provided with two support arms, and described action bars is fixed on the support arm.
3. the multi-functional assistant robot of helping the elderly of band tactile and slip sense pick off according to claim 2, it is characterized in that described robot support (4) lower end is provided with driving wheel (5) and universal wheel (6), described robot controller (3) is connected the control driving wheel with drive motors on being installed in driving wheel; Described driving wheel drives universal wheel and rotates.
4. the multi-functional assistant robot of helping the elderly of band tactile and slip sense pick off according to claim 2, it is characterized in that described robot bar (1) upper end is provided with tactile and slip sense sensor holder (11), described tactile and slip sense pick off is installed on the tactile and slip sense sensor holder (11).
5. the multi-functional assistant robot of helping the elderly of band tactile and slip sense pick off according to claim 4 is characterized in that described robot bar (1) two ends pin joint handrail adjusting rods (12); Described robot support (4) is gone up pin joint handrail support bar (13) is installed, and described handrail adjusting rod (12) is pegged graft with handrail support bar (13).
6. the multi-functional assistant robot of helping the elderly of band tactile and slip sense pick off according to claim 4, it is characterized in that described tactile and slip sense pick off for being arranged on the PVDF piezoelectric film sensor with 6 layers of structure on the tactile and slip sense sensor holder (11), sets gradually epidermal area, two silver electrode layers, PVDF layer, polyester-based lamella and mounting layer from outside to inside; Described two silver electrode faults are opened and are drawn outfan and be electrically connected with signal conditioning circuit, and described pick off is connected and fixed by mounting layer and tactile and slip sense sensor holder (11).
7. the multi-functional assistant robot of helping the elderly of band tactile and slip sense pick off according to claim 4, it is characterized in that being provided with on the described robot bar two tactile and slip sense sensor holders (11), on each tactile and slip sense sensor holder (11) three road tactile and slip sense pick offs are set, the outfan of each road tactile and slip sense pick off is connected with separately signal conditioning circuit respectively, and is connected with robot controller.
8. the multi-functional assistant robot of helping the elderly of band tactile and slip sense pick off according to claim 1, it is characterized in that described robot controller arranged outside is fixed on the battery holder on the robot support, described battery holder provides robot controller electric power, described robot controller comprises microprocessor, analog-digital converter, described analog-digital converter is the analog digital conversion (ADC) of dsp chip TMS320F2812 inside, be connected with signal conditioning circuit, be responsible for handling the sensor signal of tactile and slip sense sensor acquisition, convert digital signal to, offer microprocessor analysis and handle; The digital signal that analog-digital converter provides is accepted in described microprocessor and analog-digital converter communication, and digital signal is handled, and the behavior of judgement user or state and transfer instruction provide auxiliary behavior to robot.
9. the multi-functional assistant robot of helping the elderly of band tactile and slip sense pick off according to claim 8 is characterized in that described microprocessor also accepts the operational order of action bars transmission, and described microprocessor is for adopting dsp chip TMS320F2812.
10. the multi-functional assistant robot of helping the elderly of band tactile and slip sense pick off according to claim 1 is characterized in that described signal conditioning circuit comprises charge conversion module, low-pass filtering module, power frequency trap module, amplification module and the inhibition module of crosstalking; Described charge conversion module is a voltage with the quantity of electric charge signal transition of sensor acquisition; Described low-pass filtering module is used for the high frequency clutter in filtered signal source; Described power frequency trap module is used for eliminating output signal has power frequency to disturb; The waveform of described amplification module amplification sensor signal; Described inhibition is crosstalked after module uses phase mutual interference between homophase adder operation circuit filtering multichannel, and signal is exported to robot controller.
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| CN108415250A (en) * | 2018-02-09 | 2018-08-17 | 西安交通大学 | A kind of man-machine coordination control system and its control method for preventing the elderly from falling down |
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| CN107092810A (en) * | 2017-06-28 | 2017-08-25 | 深圳市苏仁智能科技有限公司 | Human body physical sign data collection station and data processing equipment based on piezoelectric sensing band |
| CN108320456A (en) * | 2018-01-27 | 2018-07-24 | 西安交通大学 | It is a kind of fusion multisensor the elderly fall down prediction technique and system |
| CN108415250B (en) * | 2018-02-09 | 2020-08-28 | 西安交通大学 | Man-machine cooperative control system for preventing old people from falling down and control method thereof |
| CN108415250A (en) * | 2018-02-09 | 2018-08-17 | 西安交通大学 | A kind of man-machine coordination control system and its control method for preventing the elderly from falling down |
| CN108433953A (en) * | 2018-03-14 | 2018-08-24 | 潍坊科技学院 | A kind of rehabilitation training walk helper |
| CN108433953B (en) * | 2018-03-14 | 2020-08-28 | 田晓宁 | Walking aid for rehabilitation training |
| CN110522614A (en) * | 2018-05-25 | 2019-12-03 | 松下电器产业株式会社 | Robot for walking training |
| WO2021213074A1 (en) * | 2020-04-23 | 2021-10-28 | 腾讯科技（深圳）有限公司 | Slip sense simulation device, controlled robot, and gamepad |
| CN112077882A (en) * | 2020-09-18 | 2020-12-15 | 马鞍山迈若斯机器人科技有限公司 | Obstacle avoidance robot based on touch sense |
| CN113081703A (en) * | 2021-03-10 | 2021-07-09 | 上海理工大学 | Method and device for distinguishing direction intention of user of walking aid |
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