CN112659136A - Old-age service auxiliary robot system - Google Patents
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- CN112659136A CN112659136A CN202011346890.3A CN202011346890A CN112659136A CN 112659136 A CN112659136 A CN 112659136A CN 202011346890 A CN202011346890 A CN 202011346890A CN 112659136 A CN112659136 A CN 112659136A
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Abstract
The invention discloses an old age support service auxiliary robot system, which belongs to the technical field of auxiliary robots and comprises an interaction layer, a software system, a circuit system and a robot body, wherein the interaction layer comprises a map creation request and a navigation target; the software system comprises a map generation module, an autonomous positioning module, a global navigation module, a local navigation module, a voice recognition module and a face recognition module, wherein the map generation module is connected with a map creation request. According to the auxiliary robot system for the old care service, navigation can be started after the map construction and positioning of the robot are completed, the autonomous navigation and automatic patrol functions are realized, the identities of different old people are confirmed through face recognition in an old care hospital, medicines are accurately sent to the old people, the old people can take the medicines on time, and the state of an illness is controlled.
Description
Technical Field
The invention relates to the technical field of auxiliary robots, in particular to an auxiliary robot system for old age care service.
Background
With the coming of the aging society of the population in China, the aging becomes a non-negligible problem. The increasing of the population proportion of the old people and the decreasing of the population proportion of the labor force make it difficult to input more human resources in the industry of old people in the future, and the current mode of old people is difficult to meet the demand.
According to the data of the national statistical administration, by the end of 2019, people aged 65 and above are 17603 thousands of people, and the percentage of people is 12.6%. The proportion of the elderly population continues to rise compared to the end of 2018, with 945 million people increasing in the population 65 years old and older, with a 0.64 percentile rise in proportion, with an expected 5 billion population size in the 2050 years old. With the advent of the 'silver wave', the increase of the aged population pulls the service demands of the aged population, such as health management, medical care, leisure and entertainment, trusteeship and support, and the like. The traditional '721' endowment mode, 70% of old people can be aged at home, 20% can be aged in the community, and 10% can be aged in the nursing home with different endowment predicaments.
The research of the domestic robot is started late and is limited by the robot technology of China, and the research of the domestic robot lags behind the advanced level of the world. At present, the domestic market based on 'intelligent robot + endowment' is still in the development stage, most of the family intelligent emotion accompanying robots in the domestic market are single in function, only have the functions of voice communication, interactive entertainment and the like, are fuzzy with the product boundary of children, cannot pay attention to the body health of the old at any time and give feedback, and the rehabilitation, nursing and accompanying type endowment robots are not popularized in a large scale.
Disclosure of Invention
The invention aims to provide an old-age service auxiliary robot system to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an old-age service auxiliary robot system comprises an interaction layer, a software system, a circuit system and a robot body, wherein the interaction layer comprises a map creation request and a set navigation target;
the software system comprises a map generation module, an autonomous positioning module, a global navigation module, a local navigation module, a voice recognition module and a face recognition module, wherein the map generation module is connected with a map creation request, and the output end of the map generation module is connected with the autonomous positioning module, the global navigation module and the local navigation module;
the circuit system comprises an industrial personal computer, a hardware driving module, a motor, a gyroscope, an infrared distance meter, a steering engine and a wireless module, wherein the output end of the industrial personal computer is respectively connected with a software system and the hardware driving module, the output end of the hardware driving module is respectively connected with the motor, the gyroscope, the infrared distance meter, the steering engine and the wireless module, and the output end of the wireless module is connected with a voice recognition module and a face recognition module;
furthermore, a laser radar arranged in the industrial personal computer is respectively connected with the map generation module and the autonomous positioning module.
Further, the robot body include battery, robotic arm, chassis, action wheel, follow driving wheel and intelligent medicine box, the action wheel with follow the driving wheel and install the front and back end on the chassis, battery, robotic arm and intelligent medicine box setting are on the chassis to robotic arm, action wheel, follow driving wheel and intelligent medicine box are connected with circuit system.
Furthermore, a laser radar built in the industrial personal computer adopts an SLAM algorithm to construct a map generation module in a software system, self-adaptive Monte Carlo positioning AMCL is adopted to realize an autonomous positioning module, an A-x algorithm is used for path planning, and the global navigation module and the local navigation module have an automatic cruise function.
Further, in the process that the voice recognition module carries out voice interaction between the robot and the person, a built-in microphone collects voice related information, voice data are uploaded to a voice server through the internet, and after the recognition system effectively recognizes the voice related information, the voice related information is sent to the cloud chat robot through the internet, matched with built-in data and broadcasted through the microphone.
Furthermore, the face recognition module adopts high-precision face recognition as image acquisition, adopts the raspberry pie to perform face recognition, adopts a programming language python, adopts the existing open-source python module to perform face recognition, adopts Opencv to perform face recognition, adopts USB face recognition to connect the raspberry pie, and can accurately recognize faces.
Further, intelligence medicine box is connected with face identification module, after discerning corresponding information, through GPIO output high level and the low level of control raspberry group, controls relay module, and the relay switch is controlled again, and the relay links to each other with robot medicine box, reaches control pane switch.
Compared with the prior art, the invention has the beneficial effects that: the elderly-care service auxiliary robot system provided by the invention can start navigation after the map construction and positioning of the robot are completed, the robot uses a laser radar and adopts an SLAM algorithm to construct a real-time map in an ROS robot operating system, adopts self-adaptive Monte Carlo positioning AMCL to realize a positioning function, and uses an A algorithm to plan a path, so that the autonomous navigation and automatic patrol functions are realized, and the aim of drug administration is realized by identifying the old and opening a corresponding medicine box. In the nursing home, the identity of different old people is confirmed through face recognition, and medicines are accurately delivered to the old people, so that the old people can take the medicines on time to control the state of an illness. And when sending medicine, can accomplish intelligent warning, this kind of warning can be selected from having set up old man in advance and using medicine and reminding the statement, also can add according to the particular case of old man temporarily, accomplishes to send medicine to the old man and reminds the use medicine of old man simultaneously.
Drawings
FIG. 1 is a general architecture diagram of the system of the present invention;
FIG. 2 is a SLAM framework diagram of the present invention;
FIG. 3 is a flow chart of a local navigation module of the present invention;
FIG. 4 is a schematic diagram of a speech recognition module of the present invention;
fig. 5 is a structural view of an intelligent medicine box of the present invention.
In the figure: 1. an interaction layer; 11. a map creation request; 12. setting a navigation target; 2. a software system; 21. a map generation module; 22. an autonomous positioning module; 23. a global navigation module; 24. a local navigation module; 25. a voice recognition module; 26. a face recognition module; 3. circuitry; 31. an industrial personal computer; 32. a hardware drive module; 33. a motor; 34. a gyroscope; 35. an infrared range finder; 36. a steering engine; 37. a wireless module; 4. a robot body; 41. a battery; 42. a robot arm; 43. a chassis; 44. a driving wheel; 45. a driven wheel; 46. an intelligent medicine box.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an old age support service assisted robot system includes an interaction layer 1, a software system 2, a circuit system 3 and a robot body 4, wherein the interaction layer 1 includes a map creation request 11 and a navigation target 12.
The software system 2 comprises a map generation module 21, an autonomous positioning module 22, a global navigation module 23, a local navigation module 24, a voice recognition module 25 and a face recognition module 26, wherein the map generation module 21 is connected with the map creation request 11, and the output end of the map generation module 21 is connected with the autonomous positioning module 22, the global navigation module 23 and the local navigation module 24.
The circuit system 3 comprises an industrial personal computer 31, a hardware driving module 32, a motor 33, a gyroscope 34, an infrared distance meter 35, a steering engine 36 and a wireless module 37, wherein the output end of the industrial personal computer 31 is respectively connected with the software system 2 and the hardware driving module 32, the output end of the hardware driving module 32 is respectively connected with the motor 33, the gyroscope 34, the infrared distance meter 35, the steering engine 36 and the wireless module 37, and the output end of the wireless module 37 is connected with the voice recognition module 25 and the face recognition module 26.
The built-in laser radar of industrial computer 31 is connected with map generation module 21 and autonomic orientation module 22 respectively.
The robot body 4 includes a battery 41, a robot arm 42, a chassis 43, a driving wheel 44, a driven wheel 45, and an intelligent medicine box 46, the driving wheel 44 and the driven wheel 45 are installed at the front and rear ends of the chassis 43, the battery 41, the robot arm 42, and the intelligent medicine box 46 are disposed on the chassis 43, and the robot arm 42, the driving wheel 44, the driven wheel 45, and the intelligent medicine box 46 are connected to the circuit system 3.
Referring to fig. 2, SLAM real-time positioning and mapping, or simultaneous mapping and positioning, places a robot at an unknown position in an unknown environment, and allows the robot to move while gradually drawing a complete map of the environment, where the complete map refers to each corner accessible to a room without obstacles.
Referring to fig. 3, a laser radar built in an industrial personal computer 31 adopts an SLAM algorithm to construct a map generation module 21 in a software system 2, self-adaptive monte carlo positioning AMCL is used for realizing an autonomous positioning module 22, an a-x algorithm is used for path planning, and a global navigation module 23 and a local navigation module 24 have an automatic cruise function.
The global navigation module 23 is used as a core in navigation, path planning of navigation is to find a path which reaches a target and has low cost by using environmental barrier information, and two path plans are used in navigation: global _ planer and local _ planer, the global path planner in the ROS is global _ planer, based on the a algorithm.
The a-Star algorithm is a very common path finding and graph traversal algorithm. It has better performance and accuracy, and the A-algorithm is an extension of the Dijkstra algorithm. The a-algorithm generally has better performance due to the bootstrapping with the heuristic function. The method is characterized in that global information is introduced when each possible node in the shortest path is checked, the distance between the current node and the end point is estimated, and the estimated distance is used as a measure for evaluating the possibility that the node is positioned on the shortest path.
The planner of the local navigation module 24 is teb _ local _ plane, which is an algorithm based on elastic time-band collision constraints, and the algorithm comprehensively considers constraints such as dynamic obstacles, operational timeliness and path smoothness, and has more excellent performance in a complex environment
And the planning is realized:
the first step is as follows: establishing a main control computer (NUC) as a core (Ubuntu + ros);
the second step is that: the laser radar sensor is mounted outside the vehicle and used for collecting distance information related to all objects around the vehicle;
the third step: the lower computer is connected with the main control computer end through a USB-to-serial port, performs kinematic equation conversion by receiving linear velocity and angular velocity instructions issued by the ROS system, and controls the direct current motor 33 and the gyroscope 34 through PWM so as to realize the control of the speed and the direction of the vehicle body;
the fourth step: the whole system is remotely controlled by remotely accessing a login main control computer through a router component local area network and ssh, a laser radar is used as a sensor for positioning and drawing, and a USB port used by the laser radar is connected. The SLAM mapping algorithm selects Gmapping to be used as the mapping algorithm.
The robot uses a laser radar and adopts an SLAM algorithm to construct a real-time map in an ROS robot operating system, adopts an adaptive Monte Carlo positioning AMCL to realize a positioning function, adopts an A-algorithm-based global path planning recommended in the ROS, innovatively uses a local path planner teb _ local _ plan based on an elastic time band collision constraint algorithm, comprehensively considers constraints such as dynamic barriers, operation timeliness and path smoothness, has more excellent performance in a complex environment, and further realizes the function of automatic inspection of multiple target points of the robot by improving the algorithm.
Referring to fig. 4, in the process of performing voice interaction between a robot and a person, the voice recognition module 25 controls a speaker, monitors a data distance, and performs an action step, respectively, the raspberry pi 3B + is further connected to the voice extension module, receives voice data of a microphone, collects voice-related information by the built-in microphone, uploads the voice data to a voice server by using the internet, and sends the voice data to the cloud chat robot by using the internet after the recognition system performs effective recognition, matches the built-in information, and broadcasts the voice data by using the microphone.
The face recognition module 26 adopts high-precision face recognition as image acquisition, adopts the raspberry group to perform face recognition, adopts a programming language python, adopts the existing open-source python module to perform face recognition, adopts Opencv to perform face recognition, adopts USB face recognition to connect the raspberry group, and can accurately recognize faces.
Referring to fig. 5, the intelligent medicine box 46 is connected to the face recognition module 26, and after recognizing the corresponding information, outputs a high level and a low level by controlling GPIO on the raspberry to control the relay module, and then controls the relay switch, and the relay is connected to the robot medicine box to control the pane switch.
Realize the single-purpose high efficiency of module function, choose for use raspberry group to undertake the bridge that face identification and medicine box opened, just can open the medicine box when face identification succeeds, the various unexpected condition that has avoided too many equipment and cause, GPIO output high level and low level through controlling raspberry group come control relay module, then control a plurality of relay switches, the relay links to each other with the intelligent medicine box of dosing of robot, control the purpose of the accurate switch of a plurality of panes, give intelligent medicine box 46 through the information of receiving the discernment, judge and open the medicine box pane that corresponds, report simultaneously and use medicine and remind, thereby reach the purpose of accurate dosing.
Because the raspberry group is difficult to a plurality of relays of simultaneous control, and the power of raspberry group self is not enough, can not use the raspberry group direct drive relay, so use the relay module of raspberry group control, control a plurality of relays by relay module, have had behind the relay module, need not consider the power problem of raspberry group, but simple use the relay module of raspberry group control.
The relay selects the relay of six ways for use, can accomplish to open a plurality of medicine boxes simultaneous control, reaches the effect of once only transporting a plurality of article.
The medicine box pane cabinet door opening part imitates a supermarket locker, and a mechanical automatic opening device is added, so that the cabinet door can be automatically opened after the electromagnet loosens the control on the medicine box, and the corresponding medicine box can be conveniently identified.
The control mode is as follows:
automatic control: and setting conditions, and executing corresponding commands when the conditions are met. Receive the information of opening the cabinet door when raspberry group claps, compare with the data message that has been had, check the information after successful, appointed medicine box is opened to the corresponding relay control electro-magnet of GPIO interface control relay module control by the master control, lights the cabinet door lantern.
Manual control: and manually controlling the high level and the low level of the GPIO to realize the switching of the medicine box.
In summary, the following steps: the elderly-care service auxiliary robot system provided by the invention can start navigation after the map construction and positioning of the robot are completed, the robot uses a laser radar and adopts an SLAM algorithm to construct a real-time map in an ROS robot operating system, adopts self-adaptive Monte Carlo positioning AMCL to realize a positioning function, and uses an A-algorithm to plan a path, so that the autonomous navigation and automatic patrol functions are realized, and the aim of drug administration is realized by identifying the old and opening a corresponding medicine box. In the nursing home, the identity of different old people is confirmed through face recognition, and medicines are accurately delivered to the old people, so that the old people can take the medicines on time to control the state of an illness. And when sending medicine, can accomplish intelligent warning, this kind of warning can be selected from having set up old man in advance and using medicine and reminding the statement, also can add according to the particular case of old man temporarily, accomplishes to send medicine to the old man and reminds the use medicine of old man simultaneously.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (7)
1. An old-age service assisted robot system is characterized by comprising a robot body (4), a map creation request (11) and a set navigation target (12), wherein the robot body is used for an interaction layer (1), a software system (2), a circuit system (3) and the interaction layer (1);
the software system (2) comprises a map generation module (21), an autonomous positioning module (22), a global navigation module (23), a local navigation module (24), a voice recognition module (25) and a face recognition module (26), wherein the map generation module (21) is connected with a map creation request (11), and the output end of the map generation module (21) is connected with the autonomous positioning module (22), the global navigation module (23) and the local navigation module (24);
circuit system (3) include industrial computer (31), hardware drive module (32), motor (33), gyroscope (34), infrared distance meter (35), steering wheel (36) and wireless module (37), the output of industrial computer (31) meets with software system (2) and hardware drive module (32) respectively, the output of hardware drive module (32) respectively with motor (33), gyroscope (34), infrared distance meter (35), steering wheel (36) and wireless module (37) meet, the output and the speech recognition module (25) and the face identification module (26) of wireless module (37) are connected.
2. The old-age service auxiliary robot system as claimed in claim 1, wherein a laser radar built in the industrial personal computer (31) is respectively connected with the map generation module (21) and the autonomous positioning module (22).
3. The old care service assistant robot system as claimed in claim 1, wherein the robot body (4) comprises a battery (41), a mechanical arm (42), a chassis (43), a driving wheel (44), a driven wheel (45) and an intelligent medicine box (46), the driving wheel (44) and the driven wheel (45) are installed at the front end and the rear end of the chassis (43), the battery (41), the mechanical arm (42) and the intelligent medicine box (46) are arranged on the chassis (43), and the mechanical arm (42), the driving wheel (44), the driven wheel (45) and the intelligent medicine box (46) are connected with the circuit system (3).
4. The assisted robot system for old age service as claimed in claim 1, wherein a built-in laser radar of the industrial personal computer (31) adopts SLAM algorithm to construct a map generation module (21) in the software system (2), the self-adaptive Monte Carlo positioning AMCL realizes an autonomous positioning module (22), path planning is carried out by using A-x algorithm, and the global navigation module (23) and the local navigation module (24) have automatic cruise function.
5. The old-age service assisting robot system as claimed in claim 1, wherein the voice recognition module (25) collects voice related information by a built-in microphone in a process of voice interaction between the robot and the person, uploads voice data to a voice server by using the internet, and sends the voice data to the cloud chat robot by using the internet after the recognition system is effectively recognized, matches the built-in information, and broadcasts the voice data by the microphone.
6. The elderly-care service assistant robot system as claimed in claim 1, wherein the face recognition module (26) adopts high-precision face recognition as image acquisition, adopts raspberry pi for face recognition, programming language python, uses existing open-source python module for face recognition, uses Opencv for face recognition, and adopts USB face recognition to connect with raspberry pi, so that a face can be recognized accurately.
7. The service assistant robot system as claimed in claim 3, wherein the intelligent medicine box (46) is connected to the face recognition module (26), and after the corresponding information is recognized, the relay module is controlled by controlling GPIO output high and low levels on the raspberry to control the relay switch, and the relay is connected to the robot medicine box to control the pane switch.
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Cited By (5)
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| CN113587932A (en) * | 2021-07-27 | 2021-11-02 | 中国地质大学（武汉） | Indoor navigation robot system based on face recognition and navigation method |
| CN113580156A (en) * | 2021-07-29 | 2021-11-02 | 侯占红 | Intelligent interaction endowment accompanying robot based on computer equipment |
| CN114800553A (en) * | 2022-04-24 | 2022-07-29 | 华南理工大学 | Control system of medical care robot |
| CN114939868A (en) * | 2022-04-08 | 2022-08-26 | 广东慧趣控科技有限公司 | Automatic medicine delivery method and system based on automatic navigation technology |
| CN117152928A (en) * | 2023-09-20 | 2023-12-01 | 深圳市源流科技有限公司 | Remote control type sound transmission loudspeaker for intelligent endowment service |
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