CN105945969A - Old people service robot - Google Patents
Old people service robot Download PDFInfo
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- CN105945969A CN105945969A CN201610545656.0A CN201610545656A CN105945969A CN 105945969 A CN105945969 A CN 105945969A CN 201610545656 A CN201610545656 A CN 201610545656A CN 105945969 A CN105945969 A CN 105945969A
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- module
- service robot
- old
- control module
- motion
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides an old people service robot. The old people service robot is characterized by comprising a human-shaped shell, an induction module, a motion module, a control module and a power supply module; the human-shaped shell comprises a head part and a trunk part; the induction module is arranged on the outer surface of the human-shaped shell and used for sensing the motion position of a service object; the motion module is arranged at the bottom of the human-shaped shell and used for driving the old people service robot to move; the control module is in communication connection with the induction module and the motion module; and the power supply module supplies electric energy to the induction module, the motion module and the control module. The old people service robot is not influenced by the ambient light and is high in accuracy, old people do not need to wear any tag, and using is easy and convenient.
Description
Technical field
The present invention relates to health service field of electronic devices, particularly to a kind of thermal infrared recognition and tracking
Old service robot.
Background technology
Along with the development of robot field, domestic robot product with relatively low price towards family
Promote.Existing domestic robot has the functions such as autonomous and collision prevention, voice be mutual with touch screen,
And integrated security monitoring class senser element, it is for the user's request of all ages and classes level, Ke Yiti
For early education and subject education, information inquiry and propelling movement, security monitoring, the psychology of customization
The functions such as guidance and assisted medical diagnosis.Meanwhile, along with the continuous reinforcement of China's aging trend,
Aging population quantity sharply increases, and being on the increase of Empty nest elderly, and how to ensure that old people is good for
Health life will become a great society difficult problem urgently to be resolved hurrily.The existing old many dependences of service robot
In visible ray and Visual Tracking thereof, but affected the most greatly owing to this technology is changed by light intensity,
It is difficult to when light is more weak be accurately positioned.Also there is the old server designed based on tag identification technologies
Device people, its need old man carry in real time label as location target, this recognition method is the most inconvenient
Profit, also cannot judge the kinestate that old man is concrete, and functional limitation is bigger.
Summary of the invention
In order to overcome the defect in the presence of prior art, the present invention provides a kind of with thermal infrared identification
Old service robot based on tracking technique, it is not affected by ambient light, accuracy
Height, also without any label of elders wear, it is simple, convenient to use.
The present invention provides a kind of old service robot, it is characterised in that include humanoid shell, sense
Answer module, motion module, control module and supply module, wherein,
Humanoid shell comprises head and trunk；
Induction module is arranged at the outer surface of humanoid shell, for sensing the fortune position of service object；
Motion module is arranged at the bottom of humanoid shell, is used for driving old service robot to move；
Control module is communicatively connected to induction module and motion module respectively, and control module is used for
Receive the information of expression service object position from induction module, information is analyzed and indicates
Motion module is made corresponding mobile；And
Supply module is induction module, motion module and control module provide electric energy.
Further, induction module comprises Long Wavelength Infrared Sensor and Infrared images pre-processing device, its
Mid-infrared image pre-processor carries out pretreatment for the image collecting Long Wavelength Infrared Sensor,
And pretreated image is transferred to control module.
Further, induction module also comprises ultrasonic sensor, and ultrasonic sensor is used for measuring
Distance between old service robot and service object.
Further, motion module comprises and is arranged at the chassis of humanoid outer casing bottom, is installed on chassis
On wheel and be installed on motor and the decelerator of inside chassis.
Further, old service robot also includes human-computer interaction module, human-computer interaction module with
Control module communicates to connect, in order to provides information to control module and receives the finger from control module
Show.
Further, the head of old service robot is provided with for controlling old service robot
The switch opened and closed.
Further, old service robot comprises alarm device, and alarm device is sentenced in control module
Break and when service object drops to, carry out operation of reporting to the police.
Owing to being used in upper technical scheme, the present invention compared with prior art has the advantage that
1. use thermal infrared sensor to find and tracking person according to the old service robot of the present invention
Target, improves the environmental suitability of system, ambient light is more weak and under the conditions of night, still can
Enough reliable searchings follow the tracks of target；
2. use thermal infrared sensor to substitute visible light sensor, owing to being extracted as following the tracks of the heat of target
Image, is effectively protected the privacy of tracked object；
3. use partial array thermal infrared detector to find target, reduce hardware cost, improve system fortune
Line speed；
4. robot overall structure is simple, specious generous, is suitable to residential use；
5. old man is without wearing any label, easy to use；
6. use the machine vision algorithm such as threshold value, video frame, area matched, barycenter extraction, real
Time calculate old man position, and adjust next step action according to the kinestate of old man or carry out warning etc.
Operation, intelligence degree is high.
Accompanying drawing explanation
Fig. 1 is the block diagram of the structure of the old service robot of display；
Fig. 2 is the schematic diagram of the old service robot according to the present invention；
Fig. 3 a and 3b is respectively front view and the side view of the old service robot according to the present invention.
Description of reference numerals:
100 humanoid shells, 110 heads, 120 trunks, 130 switches, 200 induction modules, 210
Long Wavelength Infrared Sensor, 220 ultrasonic sensors, 300 motion module, 310 chassis, 320 cars
Wheel, 400 control modules, 500 supply modules, 600 human-computer interaction modules, 610 speakers, 620
Display.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with reality
Execute example, the present invention is further elaborated.Should be appreciated that concrete reality described herein
Execute example to be only used for explaining the present invention, be not intended to limit the present invention.
Fig. 1 is the population structure block diagram of the old service robot according to the present invention.As it is shown in figure 1,
This in old age service robot generally include humanoid shell 100, induction module 200, motion module 300,
Control module 400 and supply module 500.Wherein, induction module 200 is arranged at humanoid shell
The outer surface of 100, for sensing the service object i.e. position of old man.Motion module 300
It is generally disposed at the bottom of humanoid shell 100, is used for driving old service robot to move.Control
Module 400 is then arranged at the inside of humanoid shell 100, its respectively with induction module 200 and motion
Module 300 communicates to connect, for receiving the positional information of service object, right from induction module 200
This positional information is analyzed and indicates motion module 300 to make corresponding movement.Supply module
500 to be arranged at humanoid shell 100 internal, for for induction module 200, motion module 300 and
Control module 400 provides electric energy.
Specifically, as in figure 2 it is shown, humanoid shell 100 totally has head 110 and trunk
120 two parts.Head 100 can be provided for control opening of this service robot keying in old age
Close.Induction module 200 comprises the Long Wavelength Infrared Sensor 210 being arranged at humanoid shell 100 head
With the Infrared images pre-processing device being attached thereto.Before it can realize Long Wavelength Infrared Sensor 210
Square object body infrared imaging, if there being human target, then by human target seat in the visual field in visual field
Mark is obtained, and passes to control module 400 by RS232 port.An enforcement in the present invention
In example, Long Wavelength Infrared Sensor 210 resolution is 80*60, and transmission frame per second is 7.5 frames, and wavelength is
8-14um, the angle of visual field be level be 51 °, vertical field of view is 40 °.Infrared image processing device by
Fpga chip and other peripheral chips composition, be used for collect Long Wavelength Infrared Sensor 210 one
Serial picture carries out pretreatment, and this pretreatment includes: power thermal infrared sensor and the reading of image
Take；Use Threshold segmentation, video frame, area matched, barycenter extraction algorithm successively, process and read
The thermal infrared images taken, finds human target, and coordinates computed；And coordinate is passed through RS232
It is transferred to control module 400.
Wherein, the purpose of Threshold Segmentation Algorithm is to be the image after binaryzation by greyscale image transitions,
Thresholding algorithm formula is as follows:
In formula (1), f (x, y) pixel point value in corresponding thermal-induced imagery, T1With T2On representing respectively
Lower limit, can be drawn by experiment.
Video frame algorithm purpose is for put forward moving target, and formula (2) can be used to represent interframe
Difference and the grey scale change that represents between consecutive frame,
Wherein { I (x, y) } it is image sequence, (x, y) represents location of pixels, and i represents frame number
(i=1,2,3 ... N), N is sequence totalframes, and in formula (2), T is threshold value.Due to CDMi (x, y) table
Show position (x, y) place's pixel is along the change of time-axis direction, therefore can according to CDMi (x, y) whether
Segmentation is carried out more than zero.
Area matched first by searching profile algorithm, search profile algorithm and pixel each in image is entered
Row progressive scan, it is assumed that in bianry image, black is target, and white is background, searches each pixel 8
Whether adjoint point is all black, if it is, illustrate that this point is the internal point of human target, can remove,
I.e. stain bleaches a little, otherwise retains.After profile is searched, contour area is calculated, choosing
Take largest contours and be human target, subsequently this profile is filled with.
Mass centre is called for short barycenter, refers to be considered mass concentration on material system in this imagination
Point.This system takes the barycenter of human target as final coordinate, and this patent barycenter extraction algorithm is as follows:
In formula (3), x is the abscissa of human target pixel in image, and y is vertical coordinate, in image
Abscissa and vertical coordinate summation, then remove pixel number, can try to achieve center-of-mass coordinate.
After asking for center-of-mass coordinate, this point coordinates and picture centre point coordinates are done after the recovery and can pass through
RS232 serial ports is transferred to control module 400.
It addition, further as in figure 2 it is shown, induction module 200 can also comprise be arranged at humanoid outside
Ultrasonic sensor 220 on shell 100, in order to measure between old service robot and service object
Distance, and the distance recorded is transferred to control module 400.Control module 400 combines this distance
And the image gathered by Long Wavelength Infrared Sensor 210 is to judge the kinestate of service object, example
Such as states such as walking, stand, be seated, lie down, drop to, and make rational counte-rplan.Excellent
Selection of land, this, service robot also comprised alarm device in old age, when control module 400 is right according to service
The kinestate of elephant is judged when it drops to, it is also possible to carry out alert process, so that the old man dropped to
Given treatment to timely.
Control module 400 just may indicate that motion module 300 is grasped accordingly after determining counte-rplan
Make, such as missing, tracking etc..Motion module 300 includes being arranged at bottom humanoid shell 100
Chassis 310, the wheel 320 (see Fig. 3 a and 3b) being installed on chassis 310 and be installed on the end
Motor within dish 310 and decelerator.
Preferably, can also include by speaker 610 He according to the old service robot of the application
The human-computer interaction module 600 that display 620 grade is constituted.This human-computer interaction module 600 equally can be by supplying
Electricity module 500 provides electric energy, and communicates to connect with control module 400, in order to control module
400 offer information also receive the instruction from control module 400.Human-computer interaction module 500 can be real
Now entertain the functions such as broadcasting, human computer conversation, speech recognition, even if when making old man be in alone the most not
Can be lonely, it is the increase in the design of the hommization of the present invention.
It is accurate that the old service robot of the present invention not only overcomes existing old service unit on market
The defects such as rate is low, function singleness, also have specious generous, easy to use and low cost etc.
Advantage, is to judge Falls Among Old People the function reported to the police by it, effectively prevent old man because of can not be timely
The adverse consequences given treatment to and cause, is particularly well-suited to the increasing Empty nest elderly of society.
Above example only have expressed embodiments of the present invention, and it describes more concrete and detailed,
But therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for
For those of ordinary skill in the art, without departing from the inventive concept of the premise, it is also possible to do
Going out some deformation and improvement, these broadly fall into protection scope of the present invention.Therefore, patent of the present invention
Protection domain should be as the criterion with claims.
Claims (7)
1. an old service robot, it is characterised in that include humanoid shell, induction module,
Motion module, control module and supply module, wherein,
Described humanoid shell comprises head and trunk；
Described induction module is arranged at the outer surface of described humanoid shell；
Described motion module is arranged at the bottom of described humanoid shell；
Described control module is communicatively connected to described induction module and described motion module respectively, and
Described control module receives from described induction module and represents the information of described service object position, to institute
The information of stating is analyzed and indicates described motion module to make corresponding movement；And
Described supply module is that described induction module, described motion module and described control module carry
For electric energy.
Old service robot the most according to claim 1, it is characterised in that described sensing
Module comprises Long Wavelength Infrared Sensor and Infrared images pre-processing device.
Old service robot the most according to claim 2, it is characterised in that described sensing
Module also comprises ultrasonic sensor.
Old service robot the most according to claim 1, it is characterised in that described motion
Module comprise be arranged at the chassis of described humanoid outer casing bottom, the wheel being installed on described chassis,
And it is installed on motor and the decelerator of described inside chassis.
Old service robot the most according to claim 1, it is characterised in that described old age
Service robot also includes that human-computer interaction module, described human-computer interaction module lead to described control module
Letter connects and provides information to described control module and receive the instruction from described control module.
Old service robot the most according to claim 1, it is characterised in that described old age
The described head of service robot is provided with for controlling opening of described old service robot keying
Close.
Old service robot the most according to claim 1, it is characterised in that described old age
Service robot comprises alarm device, and it is right that described alarm device is judged to service in described control module
Operation of reporting to the police is carried out during as dropping to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610545656.0A CN105945969A (en) | 2016-07-12 | 2016-07-12 | Old people service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610545656.0A CN105945969A (en) | 2016-07-12 | 2016-07-12 | Old people service robot |
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| CN105945969A true CN105945969A (en) | 2016-09-21 |
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ID=56901341
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| CN201610545656.0A Pending CN105945969A (en) | 2016-07-12 | 2016-07-12 | Old people service robot |
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Cited By (8)
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| CN106313071A (en) * | 2016-09-30 | 2017-01-11 | 河海大学常州校区 | Intelligent robot for household use by old people |
| CN106426213A (en) * | 2016-11-23 | 2017-02-22 | 深圳哈乐派科技有限公司 | Accompanying and nursing robot |
| CN107433602A (en) * | 2017-09-12 | 2017-12-05 | 合肥矽智科技有限公司 | A kind of old man's intelligent robot |
| CN107598943A (en) * | 2017-10-30 | 2018-01-19 | 文杨 | A kind of robot for accompanying old man |
| CN108230869A (en) * | 2018-03-19 | 2018-06-29 | 重庆鲁班机器人技术研究院有限公司 | Teaching robot and teaching machine system |
| CN108818542A (en) * | 2018-04-10 | 2018-11-16 | 周琦 | A kind of multifunction manual intelligence partner robot |
| CN110605722A (en) * | 2018-06-14 | 2019-12-24 | 中瑞福宁机器人（沈阳）有限公司 | Three-level care system of endowment service robot |
| CN110838690A (en) * | 2018-08-17 | 2020-02-25 | 江苏瀚晨电气科技有限公司 | Prefabricated substation |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313071A (en) * | 2016-09-30 | 2017-01-11 | 河海大学常州校区 | Intelligent robot for household use by old people |
| CN106313071B (en) * | 2016-09-30 | 2018-09-04 | 河海大学常州校区 | A kind of intelligent robot of the elderly's residential use |
| CN106426213A (en) * | 2016-11-23 | 2017-02-22 | 深圳哈乐派科技有限公司 | Accompanying and nursing robot |
| CN107433602A (en) * | 2017-09-12 | 2017-12-05 | 合肥矽智科技有限公司 | A kind of old man's intelligent robot |
| CN107598943A (en) * | 2017-10-30 | 2018-01-19 | 文杨 | A kind of robot for accompanying old man |
| CN108230869A (en) * | 2018-03-19 | 2018-06-29 | 重庆鲁班机器人技术研究院有限公司 | Teaching robot and teaching machine system |
| CN108818542A (en) * | 2018-04-10 | 2018-11-16 | 周琦 | A kind of multifunction manual intelligence partner robot |
| CN110605722A (en) * | 2018-06-14 | 2019-12-24 | 中瑞福宁机器人（沈阳）有限公司 | Three-level care system of endowment service robot |
| CN110838690A (en) * | 2018-08-17 | 2020-02-25 | 江苏瀚晨电气科技有限公司 | Prefabricated substation |
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Application publication date: 20160921 |