Robot tactile action recognition system and recognition method

Abstract

The invention discloses a robot tactile action recognition system and recognition method. The recognition system comprises an array tactile sensor, an embedded microcontroller and an upper computer, wherein the array tactile sensor is worn on a carrier, the array tactile sensor is connected with the embedded microcontroller, and the embedded microcontroller is connected with the upper computer. The recognition system has the functions of tactile information measurement, data collection and storage, information feature extraction, action recognition and the like in the human-machine physical contact process. According to the recognition method, participants apply different feature actions to the tactile sensor to collect tactile information data, feature extraction is conducted on the data,a neural network is established to be trained in the upper computer, and a discriminant algorithm is embedded into the microcontroller, so that pattern recognition of the feature actions is achieved,and the actions applied to the carrier by people are recognized.

Description

technical field [0001] The invention relates to the field of robot tactile perception, in particular to a robot tactile action recognition system and a recognition method. Background technique [0002] In recent years, with the rapid development of intelligent manufacturing technology and various robots, human-computer interaction technology has attracted more and more attention and has become a research hotspot. Robots have gradually appeared in all walks of life and played an increasingly important social role. More and more robots have appeared in densely populated places to undertake service work. Traditional robots work more in a structured environment and need to operate according to specific procedures. Their work routes and operation methods are relatively fixed, and they complete a single task and avoid direct communication with humans during the work process. It limits the diversity of social roles and work tasks of robots, especially service robots, and cannot ac...

AI Technical Summary

Problems solved by technology

Traditional single-point tactile sensors have disadvantages such as difficult positioning, less information, and poor repeatability, while array tactile sensors can collect more comprehensive and comprehensive data, which provides a prerequisite for effectively extracting the characteristics of tactile information.

Because the information volume of the tactile sensor has multi-dimensional information connotation, the large amount of information will occupy a large amount of computing resources of the robot controller; at the same time, the existing tactile sensor and hardware platform only have the function of data perception and transmission, and do not have intelligent functions such as underlying calculation, judgment and recognition , it is difficult to realize the tactile information acquisition, calculation, and cognition of the whole robot skin, which will bring a large amount of calculation and storage burden to the robot controller, and cannot realize the intelligentization of robot tactile sensation. For example, the document with the publication number CN108681412A discloses an array based The emotion recognition device and method of the type tactile sensor has three types of emotion recognition, and there are few types; the algorithm is not embedded in the microcontroller, and the intelligent recognition is completed in the host computer, and the calculation burden of the host computer is Large; unable to run multiple algorithms at the same time, it will take up a lot of computer resources

Images