CN106651283B - Intelligent monitoring and reminding robot for teenagers - Google Patents
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Abstract
An intelligent supervision and reminding robot for teenagers comprises a robot main body and a remote controller, wherein the robot main body is provided with a main controller, and modules for positioning, action, information acquisition, data processing, hardware interaction, wireless communication and the like. The main controller module is used for controlling the positioning module and the action module to respectively position and follow the user, the main controller is used for controlling the information acquisition module and the data processing module to recognize the user behavior, and the main controller is used for controlling the hardware interaction module to realize the man-machine interaction between the robot and the user. The robot can follow a user holding the remote controller and supervise the use condition of the electronic equipment of the user and remind the user of sleeping and getting up more humanizedly by the interaction of all the modules, and can feed back the information of the user to a guardian following a target in time, thereby being beneficial to improving the bad habits of the teenagers and playing a role in actively guiding the teenagers.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to an intelligent teenager supervision and reminding robot.
Background
With the rapid development of economy and the advancement of technology, electronic products are gradually popularized. Meanwhile, the existing electronic products are more and more intelligent, and great convenience is brought to the life of modern people. The use and popularization of computer networks has shrunk the world into a small display screen, which has unparalleled advantages as a way and means for information communication, data transmission and resource sharing. However, for the teenagers, which are a special social group, the electronic product is like a 'double-edged sword'.
On the one hand, the electronic product can widen the vision of teenagers, contact more novel and fashionable things and improve the self through various cloud classes. On the other hand, excessive drowning in electronic products may cause decline of the performance of young students and impaired vision. And many teenagers overuse electronic products, do not sleep on time and affect the body development.
At present, no supervision robot aiming at the bad behaviors of overuse of electronic products and untimely sleep of teenagers is available in the market.
Disclosure of Invention
The invention aims to provide an intelligent teenager supervision and reminding robot which uses machine vision, intelligent human-computer interaction and can be remotely controlled. Plays a role in actively guiding teenagers.
The invention is realized by the following technical scheme.
An intelligent supervision and reminding robot for teenagers comprises a robot main body and a remote controller.
The robot main body comprises a main controller module I, a positioning module, an action module, an information acquisition module, a data processing module, a hardware interaction module, a wireless communication module and a power supply module; the wireless communication module comprises a wireless Bluetooth main module and a GPRS module. The first main controller module of the robot main body is respectively connected with the positioning module, the action module, the information acquisition module, the data processing module, the hardware interaction module, the GPRS module and the wireless Bluetooth main module, and all the modules are mutually matched to complete system work.
The remote controller comprises a second main controller module, a wireless transceiver module, an ultrasonic transmitting module, a power module, a key and a wireless Bluetooth slave module. The second main controller module is respectively connected with the wireless transceiver module, the ultrasonic transmitting module, the key and the wireless Bluetooth slave module.
The positioning module comprises a wireless transceiver module and an ultrasonic receiving module.
The action module comprises a motor drive, a left motor, a right motor and an obstacle avoidance sensor, wherein the obstacle avoidance sensor is positioned at the front end of the robot, and the left motor and the right motor are respectively positioned at the left side and the right side of the chassis of the robot and are connected through the motor drive.
The information acquisition module comprises a camera.
The hardware interaction module comprises an OLED display screen, a voice module, a capacitive touch screen and a key.
The wireless communication module comprises a wireless Bluetooth main module and a GPRS module. The wireless Bluetooth main module is used for wireless communication connection between the robot main body and the remote controller, and the GPRS module is used for wireless communication connection between the robot module and the mobile phone terminal.
The positioning module is wirelessly connected with the remote controller through the wireless communication module, and the action module is controlled by the main controller module. The positioning module feeds back the positioning information to the main controller, and the main controller controls the action module to achieve the purpose of following a remote controller user.
The information acquisition module acquires a dynamic video image sequence of a remote controller user and transmits the dynamic video image sequence to the data processing module through the main controller for operation; the main controller receives the operation result of the data processing module and is connected through the related level to further control the hardware interaction module to interact with a user of the remote controller, and intelligent supervision and reminding are achieved.
The main controller is preferably an STM32 singlechip.
The data processing module preferably uses a DSP chip, preferably a TMS320F28335 chip.
The GPRS module is preferably a SIM900A chip.
The remote controller is worn on the body of the user in a bracelet mode.
The intelligent supervision and reminding robot for the teenagers works in different time periods, and a user needs to set sleeping time and getting-up time according to self conditions.
The intelligent teenager supervision reminding robot needs a user to set an upper limit for daily use of electronic equipment.
The intelligent teenager supervision and reminding robot mainly has three functions, namely a positioning following function, a human behavior recognition function and a human-computer interaction function.
The robot is characterized in that the positioning following function of the robot is realized by the mutual cooperation of a main controller module I of the robot body, a control positioning module, an action module and each module of a remote controller, and the working flow of the robot is as follows.
The remote controller is in wireless connection with the wireless Bluetooth master module of the robot main body through the wireless Bluetooth slave module to perform wireless Bluetooth communication. The remote controller has two commands of starting and stopping and is sent by Bluetooth. Once the wireless Bluetooth module of the robot main body receives the starting command, the robot main body continuously sends a radio signal, and the remote controller receives the radio signal and sends an ultrasonic signal through the ultrasonic transmitting module. The robot main body receives ultrasonic signals through the ultrasonic receiving module, the main controller calculates and processes the received ultrasonic signals to position the position of a remote controller user, and the remote controller user is followed by the control action module. When the wireless Bluetooth module of the robot main body receives the stop command, the robot main body stops sending the radio signal, so that the robot main body is controlled to stop following the user of the remote controller.
It should be noted that when the main controller determines that the position of the remote controller user is within 0.5 m, the action module will not be started to follow the remote controller user, and the robot main body will keep a relatively stable state, so that the information of the remote controller user can be conveniently collected.
The human behavior recognition function of the robot is realized by a main controller module, a control information acquisition module and a data processing module of the robot body, and the working flow of the robot is as follows.
The serial port camera that the information acquisition module includes links to each other with data processing module through the inside serial port communication mode of main control unit, carries out SPI communication. The camera collects dynamic video image sequences of a remote controller user in real time under a static background, and transmits the dynamic video image sequences to the data processing module in real time through SPI communication. The data processing module identifies the current behavior of the user of the remote controller by using a series of image processing algorithms and feeds back the identification result to the main controller.
The human-computer interaction function of the robot is realized by a hardware interaction module controlled by a main controller module I of the robot body, and the working flow is as follows.
The hardware interaction module comprises an OLED display screen, a voice module, a capacitive touch screen and a key. The voice module is connected with a read gating end and a write gating end of a main controller of the robot main body through the read gating end and the write gating end, and the voice module comprises an MIC (microphone) and a loudspeaker to perform voice interaction. The OLED display screen, the capacitive touch screen and the keys are connected with GPIOs corresponding to a main controller of the robot, and then image display and interface interaction are carried out. The man-machine interaction of the invention mainly comprises voice interaction and image display and is controlled by the instruction of the main controller.
When the robot is used, a starting instruction of the remote controller is received firstly, so that a user of the remote controller is positioned and followed to a specified range, and different working modes are started according to preset time.
If the time is in the interval of the getting-up time and the sleeping time set by the user, the robot starts the working mode of the remote controller user and supervises the condition that the remote controller user uses the electronic equipment. The main controller module of the robot body controls the information acquisition module and the data processing module to identify the current behavior of a remote controller user. If the behavior that the remote controller user uses the electronic equipment is identified, the first time of accumulating the time length that the remote controller user uses the electronic equipment is carried out by the main controller module. And when the time is up to 45 minutes, the hardware interaction module is started by the main controller module to realize the human-computer interaction function, so that the user of the remote controller is reminded of having a rest for 3 minutes. And continuously identifying the current behavior of the user while performing the man-machine interaction. If the identified behavior is still that the user of the remote controller is using the electronic equipment, the main controller module controls the hardware interaction module to continuously perform human-computer interaction with the user of the remote controller until the user of the remote controller no longer uses the electronic equipment to start rest. When the man-machine interaction lasts for ten minutes all the time, the robot body still recognizes that the user of the remote controller uses the electronic product, and the GPRS module is started by the main controller module of the robot body to feed back the condition of the user to the guardian.
It should be noted that the time length of the main controller module for accumulating the use of the electronic device is cleared at the waking time set by the user, that is, the time length of the main controller module for accumulating the use of the electronic device every day is also set.
If the time is in the sleeping time, the robot starts a working mode for reminding a user of the remote controller to sleep. The main controller module of the robot main body controls the hardware interaction module to carry out man-machine interaction with a user for reminding the user of the remote controller to sleep.
If the time is the getting-up time, the robot starts a working mode for reminding a user of the remote controller to get-up. The main controller module of the robot main body controls the hardware interaction module to carry out man-machine interaction with a user so as to remind the user of getting up of the remote controller. The wake-up service is performed every two minutes. Before each wake-up service, the main controller module of the robot body, the control information acquisition module and the data processing module identify the current behavior of a user of the remote controller. If the remote controller user is identified to have got up, the wake-up service is not continued; if the user of the remote controller is identified not to get up, the wake-up service is continued. If the waking service is performed for 5 times, the user of the remote controller is still identified not to get up, and the GPRS module is started by the main controller module of the robot body to feed back the condition of the user to the guardian while the waking service is continued.
The intelligent teenager supervision reminding robot has the advantages that: the monitoring method and the monitoring device realize monitoring of the bad conditions that the teenagers use the electronic equipment for too long time and get late after sleeping, remind the teenagers of improving bad behavior habits through friendly human-computer interaction, and meanwhile guardians of teenager users can obtain the conditions of the teenager users in real time. Specifically, this is true.
(1) The electronic product using condition of the teenager user does not need to be supervised by the guardian at any time and the teenager user does not need to be supervised to sleep and get up, and the work can be replaced by the robot.
(2) The robot can help teenagers to improve bad habits of long time for using the electronic equipment, develop good habits of using the electronic equipment for a certain time to have a rest for a period of time, and continuously remind the users of not using the electronic equipment by the robot when a certain use limit is reached.
(3) Can help teenagers to form good habit of early sleep and early rise. The invention has more humanized wake-up service, and the teenager user does not need to worry about the situation that the user falls asleep because the user does not hear the alarm clock.
Drawings
Fig. 1 is a schematic view of the overall structure of a teenager supervision and reminding robot.
Fig. 2 is a schematic diagram of the overall structure of the remote controller.
Fig. 3 is a diagram illustrating a structure of a target object recognition process.
Fig. 4 is a diagram showing a structure of image processing of the object.
Fig. 5 is a diagram showing a structure of determining the behavior of the target object.
Fig. 6 is a schematic diagram of a GPRS communication module of the robot system.
Detailed Description
The invention is further illustrated with reference to the figures and the specific examples.
Example 1.
Reference is made to figure 1.
The robot main body comprises a main controller module I, a positioning module, an action module, an information acquisition module, a data processing module, a hardware interaction module, a wireless communication module and a power supply module; the positioning module consists of a wireless transceiving module and an ultrasonic receiving module; the action module consists of a motor drive, a left motor, a right motor and an obstacle avoidance module; the information acquisition module mainly comprises a serial port camera; the data processing module uses a DSP chip; the hardware interaction module consists of an OLED display screen, a voice module, a capacitive touch screen and keys, and the voice module also comprises a voice recognition chip, an MIC and a loudspeaker; the wireless communication module comprises a wireless Bluetooth main module and a GPRS module. The main controller module preferably adopts an STM32 singlechip; and the data processing module preferably adopts a TMS320F28335 chip. The wireless Bluetooth main module preferably selects HC-05; a GPRS module, preferably a SIM900A chip.
Example 2.
Reference is made to figure 2.
The remote controller comprises a second remote controller main controller module, a wireless transceiver module, a power supply, an ultrasonic transmitting module, remote controller keys and a wireless Bluetooth slave module, wherein the wireless transceiver module, the power supply, the ultrasonic transmitting module, the remote controller keys and the wireless Bluetooth slave module are connected with the second remote controller main controller module. The remote controller of the invention is fixed in a bracelet and worn on the wrist of a user. The invention uses ultrasonic ranging technology and positioning technology to complete the positioning of the robot main body to the remote controller. In order to reduce the positioning error, the invention adopts a coordinate system positioning algorithm. In order to realize real-time following of the robot and the remote controller, wireless receiving and transmitting devices are installed in the robot and the remote controller. The robot main body sends a wireless signal to the remote controller, the wireless signal is a feedback signal of the robot to the remote controller, and after the remote controller receives the feedback signal, the ultrasonic wave transmitting module is started to transmit an ultrasonic wave signal to the robot main body. The ultrasonic receiving module of the robot main body receives ultrasonic signals transmitted from the remote controller, and the main controller calculates and processes the received ultrasonic signals to position the remote controller, so that the remote controller is positioned.
Example 3.
Reference is made to figure 3.
The target identification process of the invention is mainly divided into three major parts. The first is a front-end information acquisition part which acquires a dynamic video image sequence of a user through a camera device. The equipment used by the front-end information acquisition part comprises a camera and related auxiliary camera equipment which are classified as the front-end information acquisition part. The second most part is a transmission part, which ensures that the data acquired by the front-end information is transmitted to the background quickly in real time, and if there is delay, the inaccuracy of the whole system is caused. The method adopted by the invention is characterized in that serial port communication is utilized, the data are transmitted inside the single chip microcomputer, and the front-end information acquisition data are transmitted to the background for processing in real time through the SPI serial port. The third is the back end data processing part, where the data processing chip presets a series of image processing programs, and processes the received image sequence data according to the programs, finally achieving the purpose of judging human behavior.
Example 4.
Reference is made to figure 4.
The image processing idea of the invention adopts a new algorithm idea based on a background difference method and an interframe difference method. Because the background difference method and the interframe difference method have advantages and disadvantages respectively, the invention combines the two methods to complement the advantages of the two methods, thereby achieving the aim of overcoming the respective disadvantages. For example, in an actual scene, the background cannot be guaranteed to be consistent due to lighting reasons or human factors. If the initialization is not performed, errors are accumulated continuously, thereby causing the serious phenomenon of misjudgment. Therefore, the invention performs the AND operation on the difference image of two continuous frames of the dynamic image and the background difference image, and performs the binarization processing on the result after the AND operation to obtain the result. The obtained result plays a role in increasing the weight of the target information and has the effect of inhibiting the static background, so that the moving target can be separated from the background image, and the accuracy of recognizing the human behavior next is improved.
Example 5.
Reference is made to fig. 5.
The image recognition of the invention aims at three special human behaviors, namely a behavior of using electronic equipment, a sleeping behavior and a getting-up behavior. In the target recognition system, specific videos are collected for the three behaviors, image sequences in the videos are processed, and corresponding marking lines are respectively made for different behaviors. And then carrying out gray level conversion, binarization, median filtering, downsampling, expansion processing and upsampling on the image sequences, marking the contour of a moving target in the binarized image, and finally calculating the center of a moving area of the human body for the moving human body in the video sequence. The target recognition system respectively calculates whether the slopes of the center of the human body and the two ends of the three marking lines are consistent in the movement process through a slope method, and when the difference between the slopes of the center of the human body and the two ends of one marking line is smaller than a set threshold value, the behavior at the moment can be judged to be the behavior corresponding to the marking line.
Example 6.
Reference is made to fig. 6.
As can be seen from the figure, the front-end information acquisition part of the present invention is generally in a static state, thereby creating a prerequisite for the machine vision behavior detection of the present invention to input image data for the back-end data processing module in a static background. Through a series of image processing methods described in embodiments 3 and 4, the data processing module finally feeds back the judgment result to the first main controller module of the robot main body. When the main controller module needs to start the GPRS module to feed back the user information to the guardian, the main controller module sends data to an information processing center of an operator through the GPRS module. The information processing center analyzes data according to the mobile phone hardware of the guardian of the user, is used for configuring proper parameters and further sends information to the mobile phone of the guardian.
Claims (9)
1. The utility model provides a teenagers' intelligence supervise warning robot which characterized in that: the robot comprises a robot main body and a remote controller, wherein the robot main body comprises a first 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 and a power supply module; the wireless communication module comprises a wireless Bluetooth main module and a GPRS module; the first main controller module of the robot main body is respectively connected with the positioning module, the action module, the information acquisition module, the data processing module, the hardware interaction module, the GPRS module and the wireless Bluetooth main module;
the remote controller comprises a second main controller module, a wireless transceiver module, an ultrasonic transmitting module, a power module, a key and a wireless Bluetooth slave module; the second main controller module is respectively connected with the wireless transceiver module, the ultrasonic transmitting module, the key and the wireless Bluetooth slave module; the remote controller is fixed in a bracelet and worn on the wrist of a user;
the intelligent teenager supervision and reminding robot is characterized by comprising the following working procedures:
s101, starting the system, and jumping to S102 at the same time in the interval of the waking time and the sleeping time set by the user;
s102, whether the wireless Bluetooth main module receives a start command or not is judged, if yes, S103 is skipped, otherwise S102 is returned;
s103, the robot main body receives the ultrasonic signals through the ultrasonic receiving module, and the main controller calculates and processes the received ultrasonic signals to position the position of a remote controller user; if the main controller judges that the position of the remote controller user is within 0.5 m, skipping 105, otherwise skipping 104;
s104, starting the action module to follow the user of the remote controller, and jumping 105 if the main controller judges that the position of the user of the remote controller is within 0.5 m;
s105, jumping 106 if the current time is in the interval of the waking time and the sleeping time set by the user, jumping 107 if the current time is in the sleeping time, and jumping 108 if the current time is in the waking time;
s106, the robot starts the working mode of the user of the monitoring remote controller and monitors the condition that the user of the remote controller uses the electronic equipment;
s107, the robot starts a working mode for reminding a user of the remote controller to sleep; the main controller module of the robot main body controls the hardware interaction module to carry out man-machine interaction with a user for reminding the user of the remote controller to sleep;
s108, the robot starts a working mode for reminding a remote controller user to get up; the main controller module of the robot main body controls the hardware interaction module to carry out man-machine interaction with a user for reminding the user of getting up; performing wake-up service every two minutes; before each waking service, a main controller module of the robot body, a control information acquisition module and a data processing module identify the current behavior of a remote controller user; if the remote controller user is identified to have got up, the wake-up service is not continued; if the user of the remote controller is identified to still not get up, the wake-up service is continued; if the waking service is performed for 5 times, the user of the remote controller is still identified not to get up, and the GPRS module is started by the main controller module of the robot body to feed back the condition of the user to the guardian while the waking service is continued.
2. The teenager intelligent supervision reminding robot as claimed in claim 1, wherein: the wireless communication module comprises a wireless Bluetooth main module and a GPRS module; the wireless Bluetooth main module is used for the wireless communication connection between the robot body and the remote controller, and the GPRS module is used for the wireless communication connection between the robot module and the mobile phone terminal.
3. The teenager intelligent supervision reminding robot as claimed in claim 1, wherein: the positioning module is wirelessly connected with the remote controller through the wireless communication module, and the action module is controlled by the first main controller module; the positioning module feeds positioning information back to the first main controller module, and the first main controller module controls the action module to achieve the purpose of following a remote controller user.
4. The teenager intelligent supervision reminding robot as claimed in claim 1, wherein: the information acquisition module acquires a dynamic video image sequence of a remote controller user and transmits the dynamic video image sequence to the data processing module through the first main controller module for operation; and the first main controller module receives the operation result of the data processing module and is linked through related levels to control the hardware interaction module to interact with a remote controller user, so that intelligent supervision and reminding are realized.
5. The teenager intelligent supervision reminding robot as claimed in claim 1, wherein: the positioning module comprises a wireless transceiver module and an ultrasonic receiving module.
6. The teenager intelligent supervision reminding robot as claimed in claim 1, wherein: the action module comprises a motor drive, a left motor, a right motor and an obstacle avoidance sensor, wherein the obstacle avoidance sensor is positioned at the front end of the robot, and the left motor and the right motor are respectively positioned at the left side and the right side of the chassis of the robot and are connected through the motor drive.
7. The teenager intelligent supervision reminding robot as claimed in claim 1, wherein: the information acquisition module comprises a camera.
8. The teenager intelligent supervision reminding robot as claimed in claim 1, wherein: the hardware interaction module comprises an OLED display screen, a voice module, a capacitive touch screen and a key.
9. The teenager intelligent supervision reminding robot as claimed in claim 1, wherein: the data processing module uses a DSP chip.
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| CN107942738B (en) * | 2017-10-13 | 2023-09-22 | 中国科学院深圳先进技术研究院 | Intelligent wake-up 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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| CN105160813A (en) * | 2015-07-23 | 2015-12-16 | 深圳市华爱科技实业有限公司 | Early warning instrument |
| CN105286850A (en) * | 2015-09-17 | 2016-02-03 | 深圳市华盛伟业电子有限公司 | Multi-modal health surveillance system and method based on geriatric cellular phone platform |
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| CN106651283A (en) | 2017-05-10 |
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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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