CN104077881A - Infant monitoring method and device based on robot vision - Google Patents
Infant monitoring method and device based on robot vision Download PDFInfo
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- CN104077881A CN104077881A CN201410310293.3A CN201410310293A CN104077881A CN 104077881 A CN104077881 A CN 104077881A CN 201410310293 A CN201410310293 A CN 201410310293A CN 104077881 A CN104077881 A CN 104077881A
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Abstract
The invention discloses an infant monitoring method and device based on robot vision. The method includes the steps that visual behavior characteristics and physiological parameter characteristics of an infant are detected and represented according to eye video images, lip video images and cheek video images; the parameters are fused and judged to obtain a sleep state detection result of the infant. The device comprises an embedded system used for extracting the visual behavior characteristics and the physiological parameter characteristics of a testee, fusing and processing the characteristic information and sounding an alarm, wherein the visual behavior characteristics include mouth openness frequency, the head position, duration, posture changing frequency of the infant, and the physiological parameter characteristics include pulses and the like. When the sleep state of the infant is abnormal, an alarm signal is output to an alarm, and an abnormal signal is output to a parent or related guardianship personnel at the same time. Only one camera is used for obtaining the information, more information including physiological parameters of the infant is obtained, and health condition monitoring reliability of the infant is greatly improved.
Description
Technical field
The present invention relates to field of machine vision, relate in particular to a kind of infant's monitoring method and device based on machine vision.
Background technology
To infant's monitoring, be the anxious things of many father and mother.Then, there is many deficiencies in prior art:
The scorching Chinese invention patent proposing (publication number: CN103700215A) the wearable baby monitor > > of < < low radiation, can only monitor temperature, humidity and sound; Chinese invention patent (the publication number: CN103220967A) < < is for detection of ultra broadband (UWB) the baby monitor > > of baby's cardiopulmonary discomfort that little base of a fruit Pan of JP proposes, adopt microwave monitoring baby's state, be difficult for being accepted by the head of a family; Chinese invention patent (the publication number: CN101564302) the restless monitoring method of the baby sleep of < < based on Multi-source Information Fusion and detection system > > that Xu Jing proposes, monitoring temperature, humidity are also inferred the restless of baby thus, can not monitor important vital signs; The Chinese invention patent that Shen Yunming proposes (publication number: CN202614402U) infant incubator temperature monitoring and the warning system > > of < < based on ZigBee, only can monitor infant incubator temperature; Chinese invention patent (the publication number: CN103156617A) < < chest abdominal respiration moving wave shape sensor > > that Han Meng proposes, utilize the measurement human body chest abdominal respiration moving wave shape of amorphous wire giant stress impedance effect development, both need to wrap the health infant, and only can monitor again infant's breathing; Chinese invention patent (the publication number: CN1377628) the baby thermal insulation bed intelligent monitoring device > > of < < that Ning Xinbao proposes, adopt multiple sensors to gather by parameters such as monitoring baby's body temperature and electrocardios, belong to contact measurement, Measuring Time easily damages infant skin once long; The Chinese invention patent that Sun Ping proposes (publication number: CN1564213) < < monitor for infant asleep > >, only can monitor baby's sound; Chinese invention patent (the publication number: CN1961829) < < binding tap for monitoring of infant sleeping posture > > that fourth immortality proposes, the bandage monitoring baby's who wears while relying on baby sleep sleeping posture, both unreliable, the information of acquisition very little; Chinese invention patent (the publication number: CN102968753A) the ewborn infant nursing system > > of < < based on RFID technology that Cui Lingling proposes, adopt sensor and the active RFID tag of contact, belong to contact measurement, Measuring Time easily damages infant skin once long, also have long-term in-plant wireless radiation, be difficult for being accepted by the head of a family.
Generally speaking, existing monitoring baby, child's technology, or can not monitor baby, child's important physiological parameters such as heart rate, breathing, or can only have the sensor of contact to measure, or the technology that adopts microwave to have radiation realizes.
Summary of the invention
The invention provides a kind of infant's monitoring method and device based on machine vision, the present invention obtained comprise baby, child physiological parameter in interior more information, increased substantially the reliability to baby, child's health status monitoring, described below:
Infant's monitoring method based on machine vision, said method comprising the steps of:
By being arranged on the camera of top, Pillow for infant head position, obtain the video image of infant face;
Video image is cleaned, obtain the video image after cleaning;
Video image after cleaning is cut apart, obtained eye video image, lip video image and cheek portion video image;
By eye video image, lip video image and cheek portion video image, detect respectively visual behaviour feature and the physiological parameter feature that characterizes infant:
Above-mentioned parameter is merged to judgement, draw infant's sleep state testing result.
Described by eye video image, lip video image and cheek portion video image, detect respectively sign infant's visual behaviour feature and the step of physiological parameter feature and be specially:
1) frequency of the face opening and closing by described lip video images detection baby, child, by the visual signature of described eye video images detection baby, child's head position and the time maintaining thereof, transposition frequency;
2) by described cheek portion video image analysis being obtained to baby, child's heart rate, respiration rate and heart rate variability value thereof, respiration rate variation, be worth.
When camera is colour imagery shot, described by described cheek portion video image analysis is obtained to baby, child's heart rate, respiration rate and heart rate variability value thereof, the step of respiration rate variation value is specially:
(a) the RGB passage in separated cheek portion region, averages to the pixel of each passage;
(b) data are preserved into 3 passages, each passage N data;
(c) to each channel data be normalized successively, albefaction processing and independent component analysis;
(d) data after each passage independent component analysis are carried out to Fourier variation, obtain power spectrum, obtain the corresponding frequency of power spectrum maximum amplitude, i.e. baby, child's heart rate, separately obtain power spectrum time corresponding frequency of maximum amplitude, i.e. baby, child's respiration rate;
(e) by the baby of single channel, child's heart rate and respiration rate are calculated baby, child's heart rate variability value and respiration rate variation is worth, and then by the calculating of a plurality of passages is obtained to heart rate variability value.
When camera is infrared camera, described by described cheek portion video image analysis is obtained to baby, child's heart rate, respiration rate and heart rate variability value thereof, the step of respiration rate variation value is specially:
(a) pixel of the IR passage in cheek portion region is averaged, in IR passage, have N data;
(b) to data in IR passage be normalized successively, albefaction processing and independent component analysis;
(c) data after each independent component analysis are carried out to Fourier variation, obtain power spectrum, obtain the corresponding frequency of power spectrum maximum amplitude, i.e. baby, child's heart rate, separately obtain power spectrum time corresponding frequency of maximum amplitude, i.e. baby, child's respiration rate;
(d) heart rate variability value and the respiration rate variation of by baby, child's heart rate and respiration rate, calculating baby, child are worth.
Infant's monitoring device based on machine vision, described infant's monitoring device comprises: camera, scrambler, display, embedded system, alarm,
Described camera is for shooting with video-corder the image of infant's head and face portion and be input to described scrambler in real time;
Described scrambler is sent into described embedded system for the image information of camera is encoded into data image signal;
Described embedded system is for extracting the visual signature of the frequency of infant's frequency, the head position of face opening and closing and the time maintaining thereof, transposition, and the testee's such as pulse frequency physiological parameter feature, these characteristic informations are carried out to fusion treatment and judgement is reported to the police; When infant's sleep state notes abnormalities, output alarm signal is to described alarm, and output abnormality signal is to the head of a family or relevant monitoring personnel simultaneously;
Described alarm is used for sending alarm sound;
Described display is for showing infant's physiological parameter.
Described camera is:
Infrared camera and/or colour imagery shot.
In order to get the video image of degree of precision, described colour imagery shot is: ANC Duo HD1080P, described infrared camera is Samsung SCO-2080RP.
Further, in order to improve processing speed, described embedded system is: a kind of in i.MX6 processor, OMAP processor and TigerSHARC processor.
The beneficial effect of technical scheme provided by the invention is: the present invention had both detected baby, child's physiological parameter feature, detected again the visual signature of baby, child's head and face portion, and only adopt single camera to obtain above-mentioned information, both the behavior that do not affect baby, child that non-cpntact measurement possesses and the burden of wearing that increases baby, child had been retained, the physiological parameter that acquisition comprises baby, child again, in interior more information, has increased substantially the reliability to baby, child's health status monitoring.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of a kind of infant's monitoring method based on machine vision provided by the invention;
Fig. 2 is the process flow diagram that the infants' such as pulse frequency and breathing physiological parameter feature is extracted in the processing based on image provided by the invention;
Fig. 3 is another process flow diagram of a kind of infant's monitoring method based on machine vision provided by the invention;
Fig. 4 is another process flow diagram that the infants' such as pulse frequency and breathing physiological parameter feature is extracted in the processing based on image provided by the invention;
Fig. 5 is the structural drawing of a kind of infant's monitoring device based on machine vision provided by the invention.
In accompanying drawing, the list of parts of each label representative is as follows:
1: camera; 2: scrambler;
3: display; 4: embedded system;
5: alarm.
Wherein, camera 1 is respectively colour imagery shot and infrared camera in two device embodiment.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below embodiment of the present invention is described further in detail.
Embodiment 1
Infant's monitoring method based on machine vision, adopts 1 colour imagery shot while obtaining video image, referring to Fig. 1 and Fig. 2, the method comprises the following steps:
101: by being arranged on the colour imagery shot of baby, top, pillow for baby head position, obtain the video image of baby, child face;
Wherein, in order to improve the precision of the video image getting, colour shooting used in this step adopts ANC Duo, during specific implementation, can also select according to the needs in practical application, and the embodiment of the present invention is not restricted this.
102: video image is cleaned, obtain the video image after cleaning;
Wherein, this cleaning method, according to the difference of the video image collecting, can be processed, remove singular graph with image cutting-out screening, image gray processing and histogram equalization, image normalization, video frame matching, image albefaction and look like to come the disposal routes such as optimization data collection.Such as: can and extract the pre-treatment step such as image characteristic point normalization and can remove the impact that environmental light intensity changes by histogram equalization.Being operating as in detail of this step is conventionally known to one of skill in the art, and the embodiment of the present invention does not repeat this.
103: the video image after cleaning is cut apart, obtained eye video image, lip video image and cheek portion video image;
Wherein, the method that video image after cleaning is cut apart is: according to the video image of the people face detecting, " three five, front yards " criterion according to human face structure is divided the region of people's face, with this, is partitioned into the video image of eye video image, lip video image and cheek portion." three five, front yards " criterion is conventionally known to one of skill in the art, and the embodiment of the present invention does not repeat this.
104: by eye video image, lip video image and cheek portion video image, detect respectively visual behaviour feature and the physiological parameter feature that characterizes baby, child:
1) frequency of the face opening and closing by lip video images detection baby, child, by the visual signature of eye video images detection baby, child's head position and the time maintaining thereof, transposition frequency;
For example: if baby, child's head position conversion frequency is too high, according to some experiences and data standard, infer, can be judged to be to a certain extent baby, child doze.
2) by cheek, opposite video image analysis, obtain baby, child's heart rate, respiration rate and heart rate variability value thereof, respiration rate variation value (being shown in Fig. 2).
This step 2) be specially:
(a) the RGB passage in separated cheek portion region, averages to the pixel of each passage;
(b) data are preserved into 3 passages, each passage N data;
(c) to each channel data be normalized successively, albefaction processing and independent component analysis;
Wherein, by albefaction, process to eliminate three correlativitys between passage, prevented interchannel interference.The normalization adopting in the processing of step (c), albefaction processing and independent component analysis, be several technology known in those skilled in the art, and the embodiment of the present invention does not repeat this.
(d) data after each passage independent component analysis are carried out to Fourier variation, obtain power spectrum, obtain the corresponding frequency of power spectrum maximum amplitude, i.e. baby, child's heart rate, separately obtain power spectrum time corresponding frequency of maximum amplitude, i.e. baby, child's respiration rate;
(e) by the baby of single channel, child's heart rate and respiration rate are calculated baby, child's heart rate variability value and respiration rate variation is worth, and then by the calculating of a plurality of passages is obtained to heart rate variability value;
Wherein, this step has adopted the Lomb periodogram principle in this area, and during specific implementation, the embodiment of the present invention does not repeat this.
105: above-mentioned parameter is merged to judgement, draw baby, child's state-detection result.
Wherein, the judgement of the fusion described in this step can be:
1) by characterizing baby, child's visual behaviour feature, can directly draw baby, child's testing result; Or,
2) by heart rate variability value, can directly draw baby, child's testing result; Or,
3) by characterizing baby, child's visual behaviour feature and the weighted sum of heart rate variability value, draw baby, child's testing result.
Be about to characterize baby, child's visual behaviour feature and the default threshold value of weighted sum of heart rate variability value compares, if be greater than threshold value, directly judgement draws baby, child's testing result.Wherein, weight coefficient and threshold value are set according to the needs in practical application, and the embodiment of the present invention does not limit this.
Embodiment 2
Infant's monitoring method based on machine vision, adopts 1 infrared camera while obtaining video image, referring to Fig. 3 and Fig. 4, the method comprises the following steps:
201: by being arranged on the infrared camera of baby, top, pillow for baby head position, obtain the video image of baby, child face;
Wherein, in order to improve the precision of the video image getting, infrared camera used in this step adopts Samsung SCO-2080RP, during specific implementation, can also select according to the needs in practical application, and the embodiment of the present invention is not restricted this.
202: video image is cleaned, obtain the video image after cleaning;
203: the video image after cleaning is cut apart, obtained eye video image, lip video image and cheek portion video image;
Wherein, the operation steps of step 202 and step 203 is identical with embodiment 1, and the embodiment of the present invention does not repeat this.
204: by eye video image, lip video image and cheek portion video image, detect respectively visual behaviour feature and the physiological parameter feature that characterizes baby, child:
1) frequency of the face opening and closing by lip video images detection baby, child, by the visual signature of eye video images detection baby, child's head position and the time maintaining thereof, transposition frequency;
For example: if baby, child's head position conversion frequency is too high, according to some experiences and data standard, infer, can be judged to be to a certain extent baby, child doze.
2) by cheek, opposite video image analysis, obtain baby, child's heart rate, respiration rate and heart rate variability value thereof, respiration rate variation value (being shown in Fig. 4).
This step 2) be specially:
(a) pixel of the IR passage in cheek portion region is averaged, in IR passage, have N data;
(b) to data in IR passage be normalized successively, albefaction processing and independent component analysis;
Wherein, the normalization adopting in the processing of step (b), albefaction processing and independent component analysis, be several technology known in those skilled in the art, and the embodiment of the present invention does not repeat this.
(c) data after each independent component analysis are carried out to Fourier variation, obtain power spectrum, obtain the corresponding frequency of power spectrum maximum amplitude, i.e. baby, child's heart rate, separately obtain power spectrum time corresponding frequency of maximum amplitude, i.e. baby, child's respiration rate;
(d) heart rate variability value and the respiration rate variation of by baby, child's heart rate and respiration rate, calculating baby, child are worth.
Wherein, this step has adopted the Lomb periodogram principle in this area, and during specific implementation, the embodiment of the present invention does not repeat this.
205: above-mentioned parameter is merged to judgement, draw baby, child's state-detection result.
Wherein, the operation steps of step 205 is identical with embodiment 1, and the embodiment of the present invention does not repeat this.
In practical application, also colour imagery shot and infrared camera can be combined with, processing procedure similar embodiment 1 and 2, the embodiment of the present invention repeats no more.
Embodiment 3
Infant's monitoring device based on machine vision, and the institute of the method in embodiment 1 is corresponding, referring to Fig. 5, this monitoring device comprises: colour imagery shot 1, scrambler 2, display 3, embedded system 4, alarm 5,
Colour imagery shot 1 in baby, top, pillow for baby head position is shot with video-corder in real time the image of baby, child's head and face portion and is input to scrambler 2, scrambler 2 is encoded into data image signal by the image information of colour imagery shot 1 and sends into embedded system 4, in embedded system 4, extract the visual signature of the frequency of baby, child's frequency, the head position of face opening and closing and the time maintaining thereof, transposition, and the testee's such as pulse frequency physiological parameter feature, these characteristic informations are carried out to fusion treatment and judgement is reported to the police; When baby, child's sleep state notes abnormalities, alarm 5 sends alarm sound, and 4 while of embedded system, output abnormality signal was to the head of a family or relevant monitoring personnel.
Wherein, this colour imagery shot 1 adopts ANC Duo HD1080P, the OMAP that embedded system adopts TI company to produce, and display 3 can be for LCD display etc.
Embodiment 4:
Infant's monitoring device based on machine vision, and the institute of the method in embodiment 2 is corresponding, referring to Fig. 5, this monitoring device comprises: infrared camera 1, scrambler 2, display 3, embedded system 4, alarm 5,
Infrared camera 1 in baby, top, pillow for baby head position is shot with video-corder in real time the image of baby, child's head and face portion and is input to scrambler 2, scrambler 2 is encoded into data image signal by the image information of infrared camera 1 and sends into embedded system 4, in embedded system 4, extract the visual signature of the frequency of baby, child's frequency, the head position of face opening and closing and the time maintaining thereof, transposition, and the testee's such as pulse frequency physiological parameter feature, these characteristic informations are carried out to fusion treatment and judgement is reported to the police; When baby, child's sleep state notes abnormalities, alarm 5 sends alarm sound, and 4 while of embedded system, output abnormality signal was to the head of a family or relevant monitoring personnel.
Wherein, this infrared camera 1 adopts Samsung SCO-2080RP; The OMAP that embedded system adopts TI company to produce, display 3 can be for LCD display etc.
The embodiment of the present invention to the model of each device except do specified otherwise, the model of other devices does not limit, as long as can complete the device of above-mentioned functions, all can.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, the invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (8)
1. the infant's monitoring method based on machine vision, is characterized in that, said method comprising the steps of:
By being arranged on the camera of top, Pillow for infant head position, obtain the video image of infant face;
Video image is cleaned, obtain the video image after cleaning;
Video image after cleaning is cut apart, obtained eye video image, lip video image and cheek portion video image;
By eye video image, lip video image and cheek portion video image, detect respectively visual behaviour feature and the physiological parameter feature that characterizes infant:
Above-mentioned parameter is merged to judgement, draw infant's sleep state testing result.
2. a kind of infant's monitoring method based on machine vision according to claim 1, it is characterized in that, described by eye video image, lip video image and cheek portion video image, detect respectively sign infant's visual behaviour feature and the step of physiological parameter feature and be specially:
1) frequency of the face opening and closing by described lip video images detection baby, child, by the visual signature of described eye video images detection baby, child's head position and the time maintaining thereof, transposition frequency;
2) by described cheek portion video image analysis being obtained to baby, child's heart rate, respiration rate and heart rate variability value thereof, respiration rate variation, be worth.
3. a kind of infant's monitoring method based on machine vision according to claim 2, it is characterized in that, when camera is colour imagery shot, described by described cheek portion video image analysis is obtained to baby, child's heart rate, respiration rate and heart rate variability value thereof, the step of respiration rate variation value is specially:
(a) the RGB passage in separated cheek portion region, averages to the pixel of each passage;
(b) data are preserved into 3 passages, each passage N data;
(c) to each channel data be normalized successively, albefaction processing and independent component analysis;
(d) data after each passage independent component analysis are carried out to Fourier variation, obtain power spectrum, obtain the corresponding frequency of power spectrum maximum amplitude, i.e. baby, child's heart rate, separately obtain power spectrum time corresponding frequency of maximum amplitude, i.e. baby, child's respiration rate;
(e) by the baby of single channel, child's heart rate and respiration rate are calculated baby, child's heart rate variability value and respiration rate variation is worth, and then by the calculating of a plurality of passages is obtained to heart rate variability value.
4. a kind of infant's monitoring method based on machine vision according to claim 2, it is characterized in that, when camera is infrared camera, described by described cheek portion video image analysis is obtained to baby, child's heart rate, respiration rate and heart rate variability value thereof, the step of respiration rate variation value is specially:
(a) pixel of the IR passage in cheek portion region is averaged, in IR passage, have N data;
(b) to data in IR passage be normalized successively, albefaction processing and independent component analysis;
(c) data after each independent component analysis are carried out to Fourier variation, obtain power spectrum, obtain the corresponding frequency of power spectrum maximum amplitude, i.e. baby, child's heart rate, separately obtain power spectrum time corresponding frequency of maximum amplitude, i.e. baby, child's respiration rate;
(d) heart rate variability value and the respiration rate variation of by baby, child's heart rate and respiration rate, calculating baby, child are worth.
5. the infant's monitoring device based on machine vision, described infant's monitoring device comprises: camera, scrambler, display, embedded system, alarm, it is characterized in that,
Described camera is for shooting with video-corder the image of infant's head and face portion and be input to described scrambler in real time;
Described scrambler is sent into described embedded system for the image information of camera is encoded into data image signal;
Described embedded system is for extracting the visual signature of the frequency of infant's frequency, the head position of face opening and closing and the time maintaining thereof, transposition, and the testee's such as pulse frequency physiological parameter feature, these characteristic informations are carried out to fusion treatment and judgement is reported to the police; When infant's sleep state notes abnormalities, output alarm signal is to described alarm, and output abnormality signal is to the head of a family or relevant monitoring personnel simultaneously;
Described alarm is used for sending alarm sound;
Described display is for showing infant's physiological parameter.
6. a kind of infant's monitoring device based on machine vision according to claim 5, is characterized in that, described camera is:
Infrared camera and/or colour imagery shot.
7. a kind of infant's monitoring device based on machine vision according to claim 6, is characterized in that,
Described colour imagery shot is: ANC Duo HD1080P,
Described infrared camera is Samsung SCO-2080RP.
8. a kind of infant's monitoring device based on machine vision according to claim 5, is characterized in that, described embedded system is:
A kind of in i.MX6 processor, OMAP processor and TigerSHARC processor.
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| CN109745028A (en) * | 2017-11-07 | 2019-05-14 | 财团法人资讯工业策进会 | Recognize the system and method for baby's demand |
| CN109840493A (en) * | 2019-01-27 | 2019-06-04 | 武汉星巡智能科技有限公司 | Infantal sleeping condition detection method, device and computer readable storage medium |
| TWI667635B (en) * | 2018-01-09 | 2019-08-01 | 國立交通大學 | Monitoring system and monitoring method for infant |
| CN110279406A (en) * | 2019-05-06 | 2019-09-27 | 苏宁金融服务(上海)有限公司 | A kind of touchless pulse frequency measurement method and device based on camera |
| CN110547782A (en) * | 2019-05-06 | 2019-12-10 | 苏宁金融服务(上海)有限公司 | Pulse rate signal processing method and device for non-contact measurement |
| CN112183201A (en) * | 2020-08-25 | 2021-01-05 | 开放智能机器（上海）有限公司 | System and method for monitoring abnormity of baby during sleep |
| CN115862115A (en) * | 2022-12-23 | 2023-03-28 | 宁波星巡智能科技有限公司 | Infant respiration detection area positioning method, device and equipment based on vision |
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| CN115862115A (en) * | 2022-12-23 | 2023-03-28 | 宁波星巡智能科技有限公司 | Infant respiration detection area positioning method, device and equipment based on vision |
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