基于情感-时空信息的机器人服务自主认知及个性化选择

doi:10.13973/j.cnki.robot.180073

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路飞, 姜媛, 田国会. 基于情感-时空信息的机器人服务自主认知及个性化选择[J]. 机器人, 2018, 40(4): 448-456.DOI: 10.13973/j.cnki.robot.180073. LU Fei, JIANG Yuan, TIAN Guohui. Autonomous Cognition and Personalized Selection of Robot Services Based on Emotion-Space-Time Information. ROBOT, 2018, 40(4): 448-456. DOI: 10.13973/j.cnki.robot.180073.

摘要为了提高机器人的人机交互能力，针对家庭服务机器人在认知服务任务时往往忽略用户情感因素的弊端，提出了以用户情感为核心的机器人服务任务自主认知方法以及个性化服务选择策略.首先，利用智能空间本体技术结合用户情感状态与时间空间信息建立情感-时空本体模型，消除智能空间中的信息异构性.在此基础上，将与情感-时空相关的服务规则库编码并训练BP（逆向传播）神经网络构建推理机，将实时更新的智能空间信息与神经网络相匹配，推理出机器人需要执行的服务，实现机器人对以用户情感为核心的服务任务自主认知.最后，将用户情感状态作为执行服务的奖惩反馈信号，对服务集合中的子类服务进行动态的偏好度调节，完成有针对性的服务选择.仿真结果表明，基于该方法能够实现以用户情感为核心的机器人服务任务自主认知，同时可以根据用户偏好变化提供个性化的服务，有效提高了家庭服务机器人的智能性和灵活性，增强了用户的服务体验.

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关键词 ：服务机器人, 情感-时空信息, 本体技术, BP(逆向传播)神经网络, 服务认知

Abstract：In order to improve the human-machine interaction performance of a home service robot and to deal with the drawback of neglecting user emotion during service recognition, a user emotion based autonomous service cognition method and a personalized service selection strategy for robot are presented. Firstly, an emotion-space-time ontology model is built based on the ontology technology of intelligent space and the information of user emotion and space-time, to eliminate the heterogeneity of information in intelligent space. Secondly, the emotion-space-time rule base is encoded and then used to train BP (backpropagation) neural network reasoner. The real-time updated information in intelligent space and the trained neural network are matched to automatically generate the robot services. The autonomous cognition of user emotion based robot service tasks is realized. Finally, the user emotion is taken as a reward feedback signal to dynamically adjust the user preference of each subclass service, and the personalized service selection is achieved. The simulation result shows that a robot based on the proposed method can autonomously achieve the user emotion based service recognition and provide a personalized service according to the variation of user preference. The proposed method effectively improves the intelligence and flexibility of the home service robot and enhances user experience.

Key words： service robot emotion-space-time information ontology technology BP (backpropagation) neural network service cognition

收稿日期: 2018-01-25 录用日期: 2018-04-02

TP242

基金资助:国家自然科学基金（61773239）；山东省博士后基金（2015020231）；泰山学者工程专项经费

通讯作者: 姜媛,rhian_jiang@qq.com E-mail: rhian_jiang@qq.com

作者简介: 路飞(1973-),女,博士,教授.研究领域:智能空间技术,服务机器人,智能控制.
姜媛(1992-),女,硕士生.研究领域:智能空间技术,情感计算,服务机器人.
田国会(1969-),男,博士,教授.研究领域:智能空间技术,服务机器人,智能控制.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.180073 或 https://robot.sia.cn/CN/Y2018/V40/I4/448

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