CN106651283A - Intelligent monitoring and reminding robot for teenagers - Google Patents
Intelligent monitoring and reminding robot for teenagers Download PDFInfo
- Publication number
- CN106651283A CN106651283A CN201610704738.5A CN201610704738A CN106651283A CN 106651283 A CN106651283 A CN 106651283A CN 201610704738 A CN201610704738 A CN 201610704738A CN 106651283 A CN106651283 A CN 106651283A
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- main controller
- teenager
- remote control
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- 238000012544 monitoring process Methods 0.000 title abstract description 4
- 238000012545 processing Methods 0.000 claims abstract description 27
- 238000004891 communication Methods 0.000 claims abstract description 21
- 230000003993 interaction Effects 0.000 claims abstract description 19
- 230000009471 action Effects 0.000 claims abstract description 16
- 230000002452 interceptive effect Effects 0.000 claims description 13
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000006399 behavior Effects 0.000 description 18
- 238000000034 method Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 206010047571 Visual impairment Diseases 0.000 description 1
- 230000003542 behavioural effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000037081 physical activity Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000005316 response function Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 208000029257 vision disease Diseases 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 230000004393 visual impairment Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/10—Office automation; Time management
- G06Q10/109—Time management, e.g. calendars, reminders, meetings or time accounting
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
Abstract
An intelligent monitoring and reminding robot for teenagers comprises a robot body and a remote controller. The robot body is provided with the modules of a main controller module, a positioning module, an action module, an information acquisition module, a data processing module, a hardware interaction module, a wireless communication module, etc. The positioning module and the action module are controlled by the main controller module for realizing positioning and following of a user. The information acquisition module and the data processing module are controlled by the main controller for realizing user behavior identification. The hardware interaction module is controlled by the main controller for realizing man-machine interaction between the robot and a user. Through interaction of the modules, the robot of the invention can follow a user who holds the remote controller and monitors electronic equipment use condition of the user for reminding going to bed and getting up in a more user-friendly manner. Furthermore the intelligent monitoring and reminding robot has advantages of feeding user information back to a guardian who follows a target in time, changing bad habit of the teenager, and performing a positive guiding function on the teenager.
Description
Technical field
The invention belongs to robotics, are related to a kind of teenager's intelligence direct and remind robot.
Background technology
With economic fast development, the progress of science and technology, electronic product is gradually popularized.At the same time present electronic product
Also it is more and more intelligent, bring great convenience to the life of modern.The utilization of computer network with popularization by world's micro into
One slight display screen, it has incomparable as the mode and means of a kind of information communication, data transfer and resource-sharing
Superiority.But for teenager for this special social crowd, electronic product seems one " double-edged sword ".
On the one hand, electronic product can widen the teen-age visual field, touch the thing of more novel fashion and pass through
Improve oneself in all kinds of cloud classrooms.But on the other hand, excessive electronic product of wallowing in, it is likely that cause adolescents with learning achievement
Decline, visual impairment.Also many teenagers make excessives use electronic product, are late for sleep, affect body development.
Also do not occur on the market at present for teenagers make excessive using electronic product, be late for these bad behaviors of sleeping
Supervision humanoid robot.
The content of the invention
It is an object of the invention to provide a kind of teenager's intelligence direct reminds robot, using machine vision, intelligence is man-machine
Interaction, remote controlled teenager's intelligence direct reminds robot.A clear guidance is played a part of to teenager.
The present invention is achieved by the following technical solutions.
A kind of teenager's intelligence direct reminds robot, including robot body, remote control.
The robot body includes main controller module one, locating module, action module, information acquisition module, data
Processing module, hardware interactive module, wireless communication module, power module；Wherein, wireless communication module includes wireless blue tooth main mould
Block and GPRS module.The main controller module one of robot body respectively with locating module, action module, information acquisition module,
Data processing module, hardware interactive module and GPRS module are connected with wireless blue tooth primary module, and modules cooperate, complete
Into system work.
Described remote control include main controller module two, radio receiving transmitting module, ultrasonic wave transmitter module, power module,
Button, wireless blue tooth slave module.Wherein, main controller module two respectively with radio receiving transmitting module, ultrasonic wave transmitter module, button
And wireless blue tooth slave module is connected.
Described locating module includes radio receiving transmitting module and ultrasonic wave receiver module.
Described action module includes Motor drive, left motor, right motor, avoidance sensor, described avoidance sensor
Positioned at the front end of robot, left motor, right motor are connected respectively positioned at the right and left on robot chassis by Motor drive
Connect.
Described information acquisition module includes camera.
Described hardware interactive module includes OLED display screen, voice module, capacitance touch screen, button.
Described wireless communication module includes wireless blue tooth primary module and GPRS module.Wherein wireless blue tooth primary module is used
In robot body and the wireless communication connection of remote control, GPRS module is used for the radio communication of robot module and mobile phone terminal
Connection.
Described locating module is wirelessly connected with remote control by wireless communication module, and action module is controlled by master control
Device module processed.Location information is fed back to master controller by locating module, and main controller controls action module, realization follows remote control
User's purpose.
Described information acquisition module collection remote control user's dynamic video image sequence, by master controller transmit to
Data processing module carries out computing；Master controller receiving data processing module operation result, and by associated level be associated into
And control hardware interactive module and interact with remote control user, realize that intelligence direct is reminded.
The preferred STM32 single-chip microcomputers of described master controller.
Described data processing module preferentially uses dsp chip, preferred TMS320F28335 chips.
The preferred SIM900A chips of described GPRS modules.
Described remote control is worn on user in bracelet form.
It is time segment work that described teenager's intelligence direct reminds robot, needs user to be set according to own situation
Determine sack time and get up the time.
Described teenager's intelligence direct reminds robot to need user oneself setting to use the electronic equipment upper limit daily.
Described teenager's intelligence direct reminds robot mainly to have three zones, is respectively that positioning follows function, human body
Activity recognition function and human-computer interaction function.
The positioning of described robot follows function, by the main controller module one of robot body control locating module and
The modules of action module and remote control cooperate realization, and its workflow is as follows.
Remote control is wirelessly connected by wireless blue tooth slave module with the wireless blue tooth primary module of robot body, is carried out wireless
Bluetooth communication.The button of remote control has " startup ", " stopping " two instructions to send by bluetooth.Once robot body's is wireless
Bluetooth module receives " startup " instruction, and robot body will persistently send radio signal, and remote control is to radio
Signal, it will ultrasonic signal is sent by ultrasonic wave transmitter module.Robot body receives super by ultrasonic wave receiver module
Acoustic signals, master controller is calculated and is processed remote position controlled device user position to the ultrasonic signal for receiving, then is passed through
Control action module is realized following remote control user.Refer to when the wireless blue tooth module of robot body receives " stopping "
When making, robot body will stop sending radio signal, stop to remote control user's so as to control robot body
Follow.
It should be noted that master controller judges that the position of remote control user when within 0.5 meter, will not start row
Dynamic model block is followed to remote control user, and robot body will maintain a relatively stable state, convenient next collection
Remote control user's information.
The Human bodys' response function of described robot, is adopted by the control information of main controller module one of robot body
Collection module and data processing modules implement, its workflow is as follows.
The serial ports camera that information acquisition module includes is by the serial communication mode inside master controller and data processing
Module is connected, and carries out SPI communication.The dynamic video image sequence of camera Real-time Collection remote control user under static background
Row, by SPI communication, real-time Transmission is to data processing module.Data processing module uses a series of images Processing Algorithm, identification
The current behavior of remote control user, and recognition result is fed back to into master controller.
The human-computer interaction function of described robot, by the main controller module one of robot body hardware interaction mould is controlled
Block realizes that its workflow is as follows.
Hardware interactive module includes OLED display screen, voice module, capacitance touch screen, button.Voice module is by reading choosing
Go side and write gate end are connected with the read gate end and write gate end of the master controller of robot body, and voice module is included
MIC（Sound pick-up）And loudspeaker, and then carry out interactive voice.The master control of OLED display screen, capacitance touch screen, button and robot
The corresponding GPIO of device processed is connected, and then carries out image and show and interface alternation.The man-machine interaction of the present invention mainly includes voice
Interaction shows with image, and is controlled by the instruction of master controller.
When robot of the present invention is used, the enabled instruction of remote control is received first, so as to remote control user
Carry out positioning to follow, follow within specified range, different mode of operations are opened according to the time set in advance.
If in the interval of get up time and sack time that the time sets in user, robot opens supervision remote control and uses
The mode of operation of person, supervision remote control user uses electronic equipment situation.The main controller module one of robot body is controlled
The current behavior of information acquisition module and data processing module identification remote control user.If recognizing remote control user to use
The behavior of electronic equipment, by main controller module one duration that accumulative remote control user uses electronic equipment is carried out.It is full 45 points
Zhong Shi, main controller module one starts hardware interactive module and realizes that human-computer interaction function reminds remote control user to rest 3 minutes.
While carrying out man-machine interaction, continue to recognize user's current behavior.If the behavior of identification remains remote control user making
With electronic equipment, the control of main controller module one hardware interactive module constantly carries out man-machine interaction with remote control user, until
Remote control user does not use electronic equipment and starts rest.When man-machine interaction is continued for ten minutes, robot body is still
So recognize remote control user and using electronic product, the main controller module one of robot body starts GPRS module will be made
The situation of user feeds back to its guardian.
It should be noted that the accumulative duration using electronic equipment of main controller module one can rising in user oneself setting
The bed time resets, namely main controller module one it is accumulative be to use electronic equipment duration daily.
If the time opens the mode of operation for reminding remote control user sleep in sack time, robot.Robot body
Main controller module control hardware interactive module and user for a moment and carry out man-machine interaction to remind remote control user sleep.
If the time opens the mode of operation for reminding remote control user to get up in the time of getting up, robot.Robot body
Main controller module control hardware interactive module and user for a moment and carry out man-machine interaction to remind remote control user to get up.Often
A wake-up service was carried out every two minutes.Before each wake-up service, the control letter of main controller module one of robot body
The current behavior of breath acquisition module and data processing module identification remote control user.If recognizing remote control user to have risen
Bed does not then continue to wake-up service；If recognizing remote control user still not getting up, proceed wake-up service.If cried
Awake service has added up to carry out 5 times, still recognizes remote control user and does not get up, while wake-up service is proceeded,
The main controller module one of robot body starts GPRS module and the situation of user is fed back to into its guardian.
Teenager's intelligence direct of the present invention reminds the advantage of robot：Realize supervision teenager to set using electronics
Standby overlong time and these unfavorable conditions that keep late hours, and remind teenager to improve bad behavior by friendly man-machine interaction
Custom, while the guardian of teenager user can also in real time obtain the situation of teenager user.Specifically, it is exactly.
（1）Guardian is not needed at every moment to supervise the use electronic product situation of teenager user and need not superintend and direct
Promote teenager user's sleep and get up, these work can be replaced by robot entirely.
（2）Teenager user can be helped to improve the bad habit for using electronics duration long, formed using a timing
Between rest a period of time good custom, and reach necessarily use limit, robot constantly to remind user to reuse
Electronic equipment.
（3）Teenager user can be helped to form the good custom gone to bed early and get up early.The present invention is cried with having more hommization
Wake up and service, teenager user occurs without the situation for worrying to be overslept because alarm clock is not heard again.
Description of the drawings
Fig. 1 is that robot overall structure diagram is reminded in teenager's supervision.
Fig. 2 is remote control overall structure diagram.
Fig. 3 is target object identification process structure chart.
Fig. 4 is target object image processing structure figure.
Fig. 5 judges structure chart for target object behavior.
Fig. 6 is robot system GPRS communication module schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is further elaborated with specific embodiment.
Embodiment 1.
Referring to the drawings 1.
Robot body includes main controller module one, locating module, action module, information acquisition module, data processing
Module, hardware interactive module, wireless communication module, power module；Wherein, locating module is connect by radio receiving transmitting module and ultrasonic wave
Receive module composition；Action module is by Motor drive, left motor, right motor and avoidance module composition；Information acquisition module is mainly wrapped
Camera containing serial ports；Data processing module uses dsp chip；Hardware interactive module is by OLED display screen, voice module, capacitive touch
Touch screen, button to constitute, voice module also includes voice recognition chip, MIC, loudspeaker；Wireless communication module includes wireless blue tooth
Primary module and GPRS module.Main controller module, preferentially selects STM32 single-chip microcomputers；Data processing module, it is preferential to select
TMS320F28335 chips.Wireless blue tooth primary module, preferentially from HC-05；GPRS module, preferentially selects SIM900A chips.
Embodiment 2.
Referring to the drawings 2.
The remote control of the present invention includes remote control main controller module two, and is connected with remote control main controller module two
Radio receiving transmitting module, power supply, ultrasonic wave transmitter module, remote controller key and wireless blue tooth slave module.The remote control of the present invention
It is fixed in a bracelet, is worn in the wrist of user.It is in the present invention using ultrasonic measuring distance technology and positioning skill
Art completes positioning of the robot body to remote control.In order to reduce position error, the present invention adopts coordinate system location algorithm.In order to
Following in real time for robot and remote control is realized, in robot and remote control wireless transmitter has been respectively mounted.Robot master
Body to remote control sends wireless signal, and wireless signal is feedback signal of the robot to remote control, and remote control is to feedback letter
Number afterwards, start ultrasonic wave transmitter module and launch ultrasonic signal to robot body.The ultrasonic wave of robot body receives mould
Block receives the ultrasonic signal from remote control transmitting, and master controller is calculated and processed positioning to the ultrasonic signal for receiving
The position of remote control, realizes the positioning to remote control.
Embodiment 3.
Referring to the drawings 3.
The target identification flow process of the present invention is broadly divided into three parts.First major part is front-end information collecting part, front
Client information gathers the dynamic video image sequence that user is gathered by picture pick-up device.The equipment that front-end information collecting part is used
Including camera and the supporting picture pick-up device of related auxiliary, they are all classified as front-end information collecting part.Second major part is to pass
Defeated part, it is ensured that the data of front-end information collection are transferred to real-time backstage, if postponing then to cause whole system
That what is united is not accurate.The method that the present invention is adopted is to use serial communication, in single-chip microcomputer internal transmission, by SPI serial ports by front end
Information gathering data real-time Transmission is to background process.The third-largest part is Back end data process part, here data processing chip
Pre-set a series of images processing routine, according to the image sequence data that program process is received, is finally reached judgement human body
The purpose of behavior.
Embodiment 4.
Referring to the drawings 4.
The image procossing thought of the present invention employs a kind of based on background subtraction and the new algorithm thought of frame differential method.
Because background subtraction and interframe difference method respectively have pluses and minuses, the present invention combines two methods, makes them have complementary advantages,
So as to reach the purpose for overcoming respective shortcoming.For example, in actual scene, because light reason or human factor, background
Cannot ensure consistent.If do not initialized, mistake can constantly accumulate, so as to cause to judge the generation of this serious phenomenon by accident.
So, the present invention dynamic image two continuous frames difference image and background difference image are carried out and operation, then by with operation after knot
Fruit carries out binary conversion treatment and obtains result.The result for so obtaining, serves the purpose for increasing target information weight, while having
Suppress the effect of static background, such that it is able to moving target is separated from background image, improve next identification human body
The precision of behavior.
Embodiment 5.
Referring to the drawings 5.
The image recognition of the present invention is directed to three kinds of special human body behaviors, is respectively to use electronic equipment behavior, sleep row
For, behavior of getting up.In the target identification system of the present invention, for three of the above behavior, some specific videos are have collected, it is right
Image sequence in these videos is processed, and to different behaviors corresponding mark line has been made respectively.Again to these image sequences
Row carry out gray scale conversion, binaryzation, medium filtering, down sample, expansion process, to up-sampling, in image after binarization
Marker motion objective contour, finally to the human body moved in video sequence, calculates the center in human motion region.The mesh of the present invention
Mark identifying system calculates respectively in movement whether human body center is consistent with three kinds of mark line two ends slopes by Slope Method, works as people
When the difference of the slope of two end points in body center and a certain mark line is less than given threshold, it is possible to judge that behavior now is this
Plant the behavior corresponding to mark line.
Embodiment 6.
Referring to the drawings 6.
As seen from the figure, front-end information collecting part of the invention is generally inactive state, so as to for machine vision of the present invention
Behavioral value is created under static background as the prerequisite of Back end data processing module input image data.Through embodiment
3rd, a series of images processing method that embodiment 4 is introduced, finally will determine that result feeds back to robot master by data processing module
The main controller module one of body.Main controller module one needs to start GPRS module by user's feedback of the information to its guardian
When, the information processing centre of operator is sent data to by GPRS module.Information processing centre is then according to the monitoring of user
The mobile phone hardware of people carries out data analysis, for configuring suitable parameters, and then will send information on guardian's mobile phone.
Claims (9)
1. a kind of teenager's intelligence direct reminds robot, it is characterised in that：Including robot body, remote control, the machine
Human agent includes main controller module one, locating module, action module, information acquisition module, data processing module, hardware interaction
Module, wireless communication module, power module；Wherein, wireless communication module includes wireless blue tooth primary module and GPRS module；Machine
The main controller module one of human agent respectively with locating module, action module, information acquisition module, data processing module, hardware
Interactive module and GPRS module are connected with wireless blue tooth primary module；
Described remote control include main controller module two, radio receiving transmitting module, ultrasonic wave transmitter module, power module, button,
Wireless blue tooth slave module；Wherein, main controller module two respectively with radio receiving transmitting module, ultrasonic wave transmitter module, button and
Wireless blue tooth slave module is connected.
2. teenager's intelligence direct according to claim 1 reminds robot, it is characterised in that：Described radio communication mold
Block includes wireless blue tooth primary module and GPRS module；Wherein wireless blue tooth primary module is used for the nothing of robot body and remote control
Line is communicated to connect, and GPRS module is used for the wireless communication connection of robot module and mobile phone terminal.
3. teenager's intelligence direct according to claim 1 reminds robot, it is characterised in that：Described locating module with
Remote control is wirelessly connected by wireless communication module, and action module is controlled by main controller module one；Locating module will be fixed
Position feedback of the information follows remote control user's mesh to main controller module one, the control action module of main controller module one, realization
's.
4. teenager's intelligence direct according to claim 1 reminds robot, it is characterised in that：Described information acquisition module
Collection remote control user's dynamic video image sequence, is transmitted to data processing module by main controller module one and is transported
Calculate；The receiving data processing module operation result of main controller module one, and be associated by associated level and then control hardware friendship
Mutually module is interacted with remote control user, realizes that intelligence direct is reminded.
5. teenager's intelligence direct according to claim 1 reminds robot, it is characterised in that：Described locating module bag
Include radio receiving transmitting module and ultrasonic wave receiver module.
6. teenager's intelligence direct according to claim 1 reminds robot, it is characterised in that：Described action module bag
Include Motor drive, left motor, right motor, avoidance sensor, described avoidance sensor is located at the front end of robot, left motor,
Right motor is connected respectively positioned at the right and left on robot chassis by Motor drive.
7. teenager's intelligence direct according to claim 1 reminds robot, it is characterised in that：Described information gathering mould
Block includes camera.
8. teenager's intelligence direct according to claim 1 reminds robot, it is characterised in that：Described hardware interaction mould
Block includes OLED display screen, voice module, capacitance touch screen, button.
9. teenager's intelligence direct according to claim 1 reminds robot, it is characterised in that：Described data processing mould
Block uses dsp chip.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610704738.5A CN106651283B (en) | 2016-08-23 | 2016-08-23 | Intelligent monitoring and reminding robot for teenagers |
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|---|---|---|---|
| CN201610704738.5A CN106651283B (en) | 2016-08-23 | 2016-08-23 | Intelligent monitoring and reminding robot for teenagers |
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| Publication Number | Publication Date |
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| CN106651283A true CN106651283A (en) | 2017-05-10 |
| CN106651283B CN106651283B (en) | 2021-01-01 |
Family
ID=58851655
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| CN201610704738.5A Active CN106651283B (en) | 2016-08-23 | 2016-08-23 | Intelligent monitoring and reminding robot for teenagers |
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| CN107942738A (en) * | 2017-10-13 | 2018-04-20 | 中国科学院深圳先进技术研究院 | A kind of intelligence awakening method and system |
| CN110632852A (en) * | 2019-09-24 | 2019-12-31 | 深圳创维－Rgb电子有限公司 | Intelligent child accompanying method and device and computer readable storage medium |
| CN110827519A (en) * | 2019-10-24 | 2020-02-21 | 李宛莹 | Individual supervision and management system |
| CN111828867A (en) * | 2020-06-08 | 2020-10-27 | 嘉兴市品鼎电器有限公司 | LED flat illuminating lamp with light capable of following human body |
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| CN111828867A (en) * | 2020-06-08 | 2020-10-27 | 嘉兴市品鼎电器有限公司 | LED flat illuminating lamp with light capable of following human body |
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| Publication number | Publication date |
|---|---|
| CN106651283B (en) | 2021-01-01 |
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Application publication date: 20170510 Assignee: Jiangxi Bozekang Pharmaceutical Technology Co.,Ltd. Assignor: Nanchang University Contract record no.: X2023980051660 Denomination of invention: A Teenager Intelligent Supervision and Reminder Robot Granted publication date: 20210101 License type: Common License Record date: 20231211 |
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