CN114029977A - Control method of care robot and related equipment - Google Patents
Control method of care robot and related equipment Download PDFInfo
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- CN114029977A CN114029977A CN202111507689.3A CN202111507689A CN114029977A CN 114029977 A CN114029977 A CN 114029977A CN 202111507689 A CN202111507689 A CN 202111507689A CN 114029977 A CN114029977 A CN 114029977A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention discloses a control method of a care robot and related equipment. The method comprises the following steps: the method comprises the steps of obtaining the current state of a target user, wherein the current state comprises a sleep state and a waking state, obtaining care request information, and controlling the care robot to execute a care task based on the current state and the care request information. The embodiment of the application provides a control method of a care robot, which comprehensively judges whether to immediately execute a care action instruction and what care action to execute according to a care request instruction and the current state by acquiring the current state of a target user. The method can fully consider the state of the target user, and can give more targeted caring actions based on the state, so that the caring service is more humanized, and the use experience of the target user is improved.
Description
Technical Field
The present disclosure relates to the field of robot control, and more particularly, to a method and apparatus for controlling a care robot.
Background
With the aging of the population of China, the care problem of the old is particularly serious. Some old people choose to go to a nursing home to enjoy the late life, and some old people are still used to the care of children. However, with the delay of retirement age, middle-aged children of these elderly people still need to work on duty in the daytime, and the care problem of the elderly people in the daytime becomes a problem that children need to solve urgently. For the old with good physical condition and poor memory, children and children usually observe the movement of the old through a camera every day and remind the old through the voice function of the camera. But this also takes energy from children and there may be instances of poor care.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In order to relieve the pressure of children in caring for the elderly and provide the elderly with discreet services, in a first aspect, the present invention provides a caring robot control method, comprising:
acquiring the current state of a target user, wherein the current state comprises a sleep state and a waking state;
acquiring the care request information;
and controlling the caring robot to execute a caring task based on the current state and the caring request information.
Optionally, controlling the care robot to perform a care task based on the current state and the care request information includes:
and controlling the care robot to execute a care task according to the care request when the current state is the awake state.
Optionally, controlling the care robot to perform a care task based on the current state and the care request type information includes:
under the condition that the current state is a sleep state, acquiring the duration of the sleep state;
controlling the care machine to execute a wake-up service when the duration is greater than a preset duration;
and controlling the care robot to execute a care task according to the care request when the current state is changed to the waking state.
Optionally, when the current state is changed to the awake state, controlling the care robot to perform a care task according to the care request includes:
and controlling the care robot to send a reminding message to the mobile terminal of the emergency contact under the condition that the current state is still in the sleep state after the wake-up service is completed.
Optionally, the obtaining the current state of the target user includes:
acquiring the eyelid opening and closing state of the target user;
and acquiring the current state of the target user based on the eyelid opening and closing state.
Optionally, the obtaining the current state of the target user includes:
acquiring the posture change frequency of the target user;
and acquiring the current state of the target user based on the attitude change frequency.
Optionally, the method further includes:
acquiring the request permission level of the care request information;
controlling the care robot to execute a care task based on the current state and the care request information, including:
and when the request authority level is higher than a preset level, forcibly controlling the caring robot to execute the caring task based on the request information.
In a second aspect, the present invention further provides a care robot control apparatus, including:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring the current state of a target user, and the current state comprises a sleep state and a wakeful state;
a second obtaining unit, configured to obtain care request information;
and the execution unit is used for controlling the care robot to execute the care task based on the current state and the care request information.
In a third aspect, an electronic device includes: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the care robot control method according to any one of the first aspect described above when the computer program stored in the memory is executed.
In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the care robot control method of any one of the above aspects.
In summary, the control method of the care robot provided by the application comprises the following steps: the method comprises the steps of obtaining the current state of a target user, wherein the current state comprises a sleep state and a waking state, obtaining care request information, and controlling the care robot to execute a care task based on the current state and the care request information. The embodiment of the application provides a control method of a care robot, which comprehensively judges whether to immediately execute a care action instruction and what care action to execute according to a care request instruction and the current state by acquiring the current state of a target user. The method can fully consider the state of the target user, and can give more targeted caring actions based on the state, so that the caring service is more humanized, and the use experience of the target user is improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic flowchart of a control method of a care robot according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a control apparatus of a care robot according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a control electronic device of a care robot according to an embodiment of the present disclosure.
Detailed Description
The embodiment of the application provides a control method of a care robot, which comprehensively judges whether to immediately execute a care action instruction and what care action to execute according to a care request instruction and the current state by acquiring the current state of a target user. The method can fully consider the state of the target user, and can give more targeted caring actions based on the state, so that the caring service is more humanized, and the use experience of the target user is improved.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
Referring to fig. 1, a schematic flow chart of a method for controlling a care robot according to an embodiment of the present disclosure may include:
s110, acquiring the current state of a target user, wherein the current state comprises a sleep state and a waking state;
specifically, the intelligent robot in the current market can take care of the target based on the reminding time and reminding items set in advance by the user. After the preset time is reached, the intelligent robot executes the caring task based on the control instruction. The existing robot does not recognize the current state of the target, but executes the task according to time based on the task set by the robot.
According to the control method of the care robot, the current state of a target user is firstly identified, the current state comprises a sleep state and a waking state, and the specific identification method can be used for identifying according to the behavior characteristics of the target user.
S120, obtaining the care request information;
specifically, the care robot receives care request information, where the care request information may be issued from a task table stored in the care robot, and the task table is set in advance by the target user or a family member of the target user. The care information can also be temporarily issued by the family members or medical staff of the target user through the remote control terminal. The target user can also be issued through a mobile control terminal or voice.
And S130, controlling the caring robot to execute a caring task based on the current state and the caring request information.
Specifically, it is determined whether to immediately perform the caring behavior or to perform the caring behavior after a certain period of time, or to perform other caring behaviors based on the current state and the caring request information of the target user, according to the current state and the caring request information of the target user. It is understood that the specific determination of whether to perform the caring behavior may be performed by the caring robot itself or by the server. It will be appreciated that the care service may be a service that provides timed reminders to take medications and will provide corresponding doses of medications, reminders to drink water and provide a reference number for the appropriate temperature, reminders based on the time the gas is turned on and/or turns off the gas, etc.
In summary, the embodiment of the present application provides a control method for a care robot, which comprehensively determines whether to immediately execute a care action command and what care action to execute according to a care request command and a current state by acquiring the current state of a target user. The method can fully consider the state of the target user, and can give more targeted caring actions based on the state, so that the caring service is more humanized, and the use experience of the target user is improved.
In some examples, controlling the care robot to perform a care task based on the current state and the care request information includes:
and controlling the care robot to execute a care task according to the care request when the current state is the awake state.
Specifically, when the service robot recognizes that the current state of the target user is the awake state, or when the service robot receives that the current state of the target user sent by the server is the awake state, the care robot executes the care task according to the care request. By identifying the current state of the target user, the condition that the caring robot automatically executes a caring task when the user is in a sleep state is avoided, so that the rest of the target user is influenced, and the user experience is influenced.
In summary, the method provided by the embodiment of the application executes the care task only when the target user is in a clear state, so that the target user is prevented from being influenced to have a rest, and the user experience is improved.
In some examples, controlling the care robot to perform a care task based on the current state and the care request type information includes:
under the condition that the current state is a sleep state, acquiring the duration of the sleep state;
controlling the care machine to execute a wake-up service when the duration is greater than a preset duration;
and controlling the care robot to execute a care task according to the care request when the current state is changed to the waking state.
Specifically, when the service robot recognizes that the current state of the target user is the sleep state, or when the service robot receives that the current state of the target user sent by the server is the sleep state, the duration time of the sleep state of the target user is acquired, and if the duration time of the sleep state is longer than a preset time, it is determined that the sleep of the user is sufficient, and at the moment, the care robot is controlled to execute the wake-up service, so that the problem that the target user delays the timeliness of the care task due to the fact that the sleep time of the target user is too long is avoided. After the target user is awake, performing a care task for the target user.
In conclusion, when the target user is in the sleep state, the sleep time of the service robot is obtained, the wake-up service is provided when the sleep time exceeds the preset time, and the care task is executed after the target user is awake, so that the problem that the target user delays the care task due to overlong sleep time is avoided.
In some examples, in a case where the current state is changed to the awake state, controlling the care robot to perform a care task according to the care request includes:
and controlling the care robot to send a reminding message to the mobile terminal of the emergency contact under the condition that the current state is still in the sleep state after the wake-up service is completed.
Specifically, when the caring robot continuously calls the target user and the target user is still in a sleep state, it is determined that the target user is possibly in a coma state, and in order to avoid life danger of the target user, the caring robot sends a reminding message to a mobile terminal of an emergency contact corresponding to the target user, so that the emergency contact can know the situation.
In conclusion, when the caring robot completes the waking service and the target user is still in the sleep state, life danger caused by the fact that the target user is in a coma state is not avoided, the service robot sends a reminding message to the mobile terminal of the emergency contact, and the caring service safety is improved.
In some examples, the obtaining the current state of the target user includes:
acquiring the eyelid opening and closing state of the target user;
and acquiring the current state of the target user based on the eyelid opening and closing state.
Specifically, the service robot may acquire an eyelid of the target user through a camera thereof, and determine whether the target user is in a waking state or a sleeping state at this time according to an opening and closing state of the eyelid. For example, when it is detected that the eyes of the target user are in the closed state and the duration of the continuous closed state exceeds the preset duration, it is determined that the target user is in the sleep state. The service robot makes a decision whether to perform the care action immediately and what care action to perform based on the sleep state and the requested care information.
In conclusion, the current state of the target user can be well identified according to the opening and closing state of the eyelid of the target user, and the user experience can be more comfortable according to the current state of the target user and the care action made by the care request message.
In some examples, the obtaining the current state of the target user includes:
acquiring the posture change frequency of the target user;
and acquiring the current state of the target user based on the attitude change frequency.
Specifically, the current state of the target user is obtained through the posture change frequency of the target user, for example: in the awake state, the frequency of posture change of a normal person in the awake state is higher than that in the sleep state. The service robot acquires image information of a target user, acquires posture change frequency of the target user based on the image information, judges that the target user is in a waking state under the condition that the posture change frequency is greater than a preset threshold value, and judges that the target is used for being in a sleeping state if the posture change frequency is less than or equal to the preset threshold value.
In summary, according to the embodiment of the application, the current state of the target user can be well acquired by acquiring the user posture change frequency, and the service robot can execute the care task according to the current state and the care request information.
In some examples, the method further comprises:
acquiring the request permission level of the care request information;
controlling the care robot to execute a care task based on the current state and the care request information, including:
and when the request authority level is higher than a preset level, forcibly controlling the caring robot to execute the caring task based on the request information.
Specifically, different terminals may be set to different permission levels based on the terminal that issued the request message. By setting the preset level, when the request permission is higher than the preset level, the caring robot can ignore the current state of the target user and forcibly perform the caring task. By means of the arrangement, the condition that when the state recognition of the caring robot is invalid, other users can control the action of the caring robot, and the situation that the family of the target user can forcibly execute the action when needed can be guaranteed.
Referring to fig. 2, an embodiment of a control apparatus of a care robot in an embodiment of the present application may include:
a first obtaining unit 21, configured to obtain a current state of a target user, where the current state includes a sleep state and an awake state;
a second obtaining unit 22 configured to obtain care request information;
an executing unit 23, configured to control the care robot to execute a care task based on the current state and the care request information.
As shown in fig. 3, an electronic device 300 is further provided in the present embodiment, which includes a memory 310, a processor 320 and a computer program 311 stored in the memory 320 and executable on the processor, and when the computer program 311 is executed by the processor 320, the steps of any one of the above-mentioned methods for controlling the robot for caring are implemented.
Since the electronic device described in this embodiment is a device used for implementing a robot control apparatus in this embodiment, based on the method described in this embodiment, those skilled in the art can understand the specific implementation manner of the electronic device in this embodiment and various modifications thereof, so that how to implement the method in this embodiment by the electronic device is not described in detail herein, and as long as those skilled in the art implement the device used for implementing the method in this embodiment, they all belong to the scope of the protection of this application.
In a specific implementation, the computer program 311 may implement any of the embodiments corresponding to fig. 1 when executed by a processor.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Embodiments of the present application further provide a computer program product, where the computer program product includes computer software instructions, and when the computer software instructions are executed on a processing device, the processing device is caused to execute the flow of the control of the care robot in the embodiment corresponding to fig. 1.
The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). A computer-readable storage medium may be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method of controlling a care robot, comprising:
acquiring a current state of a target user, wherein the current state comprises a sleep state and a waking state;
acquiring the care request information;
and controlling the caring robot to execute a caring task based on the current state and the caring request information.
2. The method of claim 1, wherein controlling the care robot to perform a care task based on the current state and the care request information comprises:
and controlling the caring robot to execute a caring task according to the caring request under the condition that the current state is the waking state.
3. The method of claim 1, wherein controlling the care robot to perform a care task based on the current state and the care request type information comprises:
under the condition that the current state is a sleep state, acquiring the duration of the sleep state;
controlling the care machine to execute a wake-up service when the duration is greater than a preset duration;
and controlling the caring robot to execute a caring task according to the caring request when the current state is changed into the waking state.
4. The method of claim 2, wherein controlling the care robot to perform a care task at the care request in the event the current state changes to an awake state comprises:
and controlling the care robot to send a reminding message to a mobile terminal of an emergency contact under the condition that the current state is still a sleep state after the wake-up service is finished.
5. The method of claim 1, wherein the obtaining the current state of the target user comprises:
acquiring the eyelid opening and closing state of the target user;
and acquiring the current state of the target user based on the eyelid opening and closing state.
6. The method of claim 1, wherein the obtaining the current state of the target user comprises:
acquiring the posture change frequency of the target user;
obtaining a current state of the target user based on the gesture change frequency.
7. The method of claim 1, further comprising:
acquiring the request permission level of the care request information;
controlling the caring robot to execute a caring task based on the current state and the caring request information, comprising:
and when the request permission level is higher than a preset level, the caring robot is forcibly controlled to execute the caring task based on the request information.
8. A care robot control apparatus, characterized by comprising:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring the current state of a target user, and the current state comprises a sleep state and an awake state;
a second obtaining unit, configured to obtain care request information;
and the execution unit is used for controlling the caring robot to execute a caring task based on the current state and the caring request information.
9. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor is adapted to carry out the steps of the caretaking robot control method according to any of claims 1-7 when executing the computer program stored in the memory.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when executed by a processor, implementing the care robot control method as claimed in any one of claims 1-7.
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| CN202111507689.3A CN114029977A (en) | 2021-12-10 | 2021-12-10 | Control method of care robot and related equipment |
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| CN202111507689.3A CN114029977A (en) | 2021-12-10 | 2021-12-10 | Control method of care robot and related equipment |
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| CN (1) | CN114029977A (en) |
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