CN109460014B - Method for wireless remote monitoring of activities of lying-in women - Google Patents
Method for wireless remote monitoring of activities of lying-in women Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
The invention relates to the medical field, in particular to a method for wirelessly and remotely monitoring the activities of a lying-in woman.
Description
Technical Field
The invention relates to the field of medical treatment, in particular to a method for wirelessly and remotely monitoring activities of a lying-in woman.
Background
Parturients after delivery, especially those around one week of birth of a newborn, are physically and mentally under extreme postpartum stress, requiring slight exercise to relieve the stress, and preferably allowing for appropriate relaxation outdoors. However, the lying-in woman is inconvenient to move after all, and if the lying-in woman needs to accompany the lying-in woman in outdoor activities, the lying-in woman occupies manpower. If the puerpera acts by himself, the accident caused by collision due to the inconvenience of action is feared.
Disclosure of Invention
According to an aspect of the invention, there is provided a method of wireless remote monitoring of maternal activity, the method comprising transmitting images of maternal activity to a nearby medical service center for monitoring using a maternal assisted recovery device comprising:
the medical robot main body comprises a left mechanical arm, a right mechanical arm, a seat between the left mechanical arm and the right mechanical arm, a direct current control motor and a main control chip, wherein the main control chip sends an arm driving signal to the direct current control motor so that the direct current control motor controls the left mechanical arm and the right mechanical arm to realize various preset medical service operations;
the traveling driving motor is connected with the main control chip and used for receiving a traveling control signal sent by the main control chip;
a driving wheel disposed at a rear side below the medical robot main body and connected to the traveling driving motor; the driving wheel is used for receiving the advancing control signal and controlling the advancing direction or the retreating direction of the medical robot main body based on the advancing control signal;
the universal wheel is arranged on the front side below the medical robot main body and is used for following in all directions under the driving of the driving wheel;
the foreground shooting device is arranged at the front end of the medical robot main body and used for shooting the foreground of the medical robot main body and outputting a foreground image, a pre-acquisition unit, a texture detection unit and a resolution adjustment unit are arranged in the foreground shooting device, the pre-acquisition unit is used for pre-acquiring images of the environment in the visual field of the foreground shooting device to obtain pre-acquired images, the texture detection unit is connected with the pre-acquisition unit and used for receiving the pre-acquired images and estimating the texture change amplitude of the pre-acquired images, and the resolution adjustment unit is connected with the texture detection unit and used for adjusting the resolution of the foreground images shot by the foreground shooting device based on the texture change amplitude of the pre-acquired images;
the color saturation adjusting device is connected with the foreground shooting device and used for receiving the foreground image with the adjusted resolution and performing color saturation adjustment on the foreground image with the adjusted resolution to obtain and output a color saturation adjusting image;
the FLASH storage device is used for pre-storing a preset information quantity threshold value, a preset length and a preset angle;
and the histogram processing device is connected with the color saturation adjusting device and used for receiving the color saturation adjusting image, executing gray histogram processing on the color saturation adjusting image, acquiring the maximum gray value of gray values of all pixel points in the color saturation adjusting image as an upper gray value limit, and acquiring the minimum gray value of gray values of all pixel points in the color saturation adjusting image as a lower gray value limit.
Therefore, the present invention has at least the following important aspects:
(1) in the process of medical service of the medical robot main body, whether a glass device exists in front or not is determined through a high-precision glass detection mode, and an avoidance scheme is made in time, so that the reliability of the medical robot main body is ensured;
(2) acquiring an upper limit and a lower limit of a gray value of an image to be processed in a histogram analysis mode, analyzing the gray change condition of the image to be processed between the upper limit and the lower limit of the gray value of the image to be processed, determining the amount of information contained in the image to be processed based on the gray change analysis result, and distinguishing a glass target from other objects with high precision by utilizing the characteristics that the surface of glass is smooth and the corresponding information amount is less;
(3) the texture detection unit built in the camera analyzes the texture change amplitude of the pre-collected image so as to adjust the real-time resolution of the finally shot image of the camera based on the obtained texture change amplitude, thereby reducing unnecessary image operation and energy loss while ensuring the subsequent image processing effect.
Drawings
Embodiments of the invention will now be described with reference to the accompanying drawings, in which:
fig. 1 is a block diagram illustrating the structure of a puerperal auxiliary recovery device according to an embodiment of the present invention.
Fig. 2 is a contour view showing an external shape of the puerperal auxiliary recovery device according to the embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.
The robot is widely applied in the field of medical services, mainly because of the shortage of hands of medical service personnel, 24-hour uninterrupted service requirements for medical services and the heavy workload of the medical services, so that the development speed of the medical robot is high.
Parturients after delivery, especially those around one week of birth of a newborn, are physically and mentally under extreme postpartum stress, requiring slight exercise to relieve the stress, and preferably allowing for appropriate relaxation outdoors. However, the lying-in woman is inconvenient to move after all, and if the lying-in woman needs to accompany the lying-in woman in outdoor activities, the lying-in woman occupies manpower. If the puerpera acts by himself, the accident caused by collision due to the inconvenience of action is feared. In order to relieve the mood of patients and provide places for the patients, a large number of transparent devices such as various glass devices are arranged in a plurality of medical service places, so that accidents are caused by the fact that the glass devices are easily collided when the glass devices are moved, the devices are damaged, the glass devices can be collided, even the patients are injured, serious economic loss is caused, and normal medical service order is disturbed.
In order to overcome the defects, the invention discloses a method for wirelessly and remotely monitoring the activities of a puerpera, which can reduce the accident of collision with a front glass device and can timely and quickly process the activities when in dangerous conditions.
In order to solve the above problems, the present invention provides a method for wireless remote monitoring of maternal activity, comprising transmitting images of maternal activity to a nearby medical service center for monitoring using a maternal assisted recovery device. The automatic-avoiding auxiliary recovery device for the lying-in woman can effectively identify various glass devices in front on the basis of a high-precision image identification mechanism, and sends a traveling control signal comprising an avoiding direction and an avoiding speed to a traveling driving motor so as to facilitate the traveling driving motor to control the driving wheel to avoid the glass devices in the foreground. Wherein the ZIGBEE communication device is further configured to transmit the resolution-adjusted foreground image to a nearby medical service center via a bidirectional ZIGBEE wireless communication link
Fig. 1 is a block diagram illustrating the structure of an automatic evasive puerperal auxiliary recovery device according to an embodiment of the present invention, the device comprises:
the medical robot main body comprises a left mechanical arm, a right mechanical arm, a seat between the left mechanical arm and the right mechanical arm, a direct current control motor and a main control chip;
the main control chip sends an arm driving signal to the direct current control motor, so that the direct current control motor controls the left mechanical arm and the right mechanical arm to achieve various preset medical service operations.
Next, the following description will be made on a specific structure of the automatic avoidance puerperal auxiliary recovery device of the present invention.
The automatic elusive auxiliary recovery device for the lying-in woman can further comprise:
and the advancing driving motor is connected with the main control chip and used for receiving the advancing control signal sent by the main control chip.
The automatic elusive auxiliary recovery device for the lying-in woman can further comprise:
a driving wheel disposed at a rear side below the medical robot main body and connected to the traveling driving motor;
wherein the driving wheel is configured to receive the travel control signal and control a forward direction or a backward direction of the medical robot main body based on the travel control signal.
The automatic elusive auxiliary recovery device for the lying-in woman can further comprise:
the universal wheel is arranged on the front side below the medical robot main body and is used for following in all directions under the driving of the driving wheel;
the foreground shooting device is arranged at the front end of the medical robot main body and used for shooting the foreground of the medical robot main body and outputting a foreground image, a pre-acquisition unit, a texture detection unit and a resolution adjustment unit are arranged in the foreground shooting device, the pre-acquisition unit is used for acquiring images in advance in order to obtain pre-acquired images in the environment in the field of vision of the foreground shooting device, the texture detection unit is connected with the pre-acquisition unit and used for receiving the pre-acquired images and estimating the texture change amplitude of the pre-acquired images, and the resolution adjustment unit is connected with the texture detection unit and used for adjusting the resolution of the foreground image shot by the foreground shooting device based on the texture change amplitude of the pre-acquired images.
The automatic elusive auxiliary recovery device for the lying-in woman can further comprise:
the color saturation adjusting device is connected with the foreground shooting device and used for receiving the foreground image with the adjusted resolution and performing color saturation adjustment on the foreground image with the adjusted resolution to obtain and output a color saturation adjusting image;
the FLASH storage device is used for pre-storing a preset information quantity threshold value, a preset length and a preset angle;
the histogram processing device is connected with the color saturation adjusting device and is used for receiving the color saturation adjusting image, executing gray histogram processing on the color saturation adjusting image, acquiring the maximum gray value of gray values of all pixel points in the color saturation adjusting image as an upper gray value limit, and acquiring the minimum gray value of gray values of all pixel points in the color saturation adjusting image as a lower gray value limit;
a change parameter extraction device, connected to the FLASH storage device and the histogram processing device, respectively, and configured to receive the preset length, the preset angle, the upper limit of the gray value, and the lower limit of the gray value, and form a change parameter table in which the horizontal index is formed from the lower limit of the gray value to the upper limit of the gray value, and the vertical index is formed from the lower limit of the gray value to the upper limit of the gray value, where a numerical value of each element in the change parameter table is, in the color saturation adjustment image, a total number of pairs of pixel points in which a length from a pixel point in which the horizontal index of the gray value is the element to a pixel point in which the vertical index of the gray value is the element is smaller than a preset length at a preset angle;
the information quantity detection device is connected with the change parameter extraction device and used for taking a logarithm value taking a natural logarithm as a base as a first multiplication item and taking the value of each element in the change parameter table as a second multiplication item, multiplying the first multiplication item and the second multiplication item to obtain a to-be-processed value of each element, adding the to-be-processed values of all the elements in the change parameter table, and taking the negative number of the added sum to be output as an information quantity value;
the information quantity matching device is respectively connected with the FLASH storage device and the information quantity detection device and is used for receiving the information quantity value, matching the information quantity value with a preset information quantity threshold value, outputting a glass matching success signal when the information quantity value is less than or equal to the preset information quantity threshold value, and outputting a glass matching failure signal when the information quantity value is greater than the preset information quantity threshold value;
the main control chip is further connected with the information content matching device, and is used for entering a glass avoiding mode when receiving the glass matching success signal, sending a traveling control signal comprising an avoiding direction and an avoiding speed to the traveling driving motor in the glass avoiding mode so that the traveling driving motor controls the driving wheel to avoid a glass device in the foreground of the medical robot main body, and exiting the glass avoiding mode when receiving the glass matching failure signal.
In the automatic avoidance maternal aid recovery device:
the resolution adjusting unit adjusts the resolution of the foreground image shot by the foreground shooting device based on the texture variation amplitude of the pre-collected image, and comprises: the larger the texture variation amplitude of the pre-collected image is, the higher the resolution of the foreground image shot by the foreground shooting equipment is.
In the automatic avoidance maternal aid recovery device:
and the main control chip is also used for exiting the glass avoiding mode when receiving the glass matching failure signal.
The automatic elusive auxiliary recovery device for the lying-in woman can further comprise:
the ZIGBEE communication equipment is connected with the foreground shooting equipment and used for receiving the foreground image with the resolution adjusted;
wherein the ZIGBEE communication device is further configured to transmit the resolution-adjusted foreground image to a nearby medical service center via a bidirectional ZIGBEE wireless communication link.
Fig. 2 is a profile view of a maternal aid recovery device shown automatically eluding, according to an embodiment of the present invention.
Meanwhile, in order to overcome the defects, the invention also discloses an automatic avoiding method of the medical robot, which comprises the step of using the automatic avoiding auxiliary recovery device for the lying-in woman to make a corresponding avoiding mode in time when the situation that the glass device exists in front is determined.
In addition, ZigBee is a low power consumption local area network protocol based on the ieee802.15.4 standard. According to international standards, the ZigBee technology is a short-range, low-power consumption wireless communication technology. This name, also known as the purple bee protocol, is derived from the dance of bees in eight characters, since bees (bee) communicate the orientation information of pollen with partners by flying and "waving" (zig) flapping wings, i.e. bees form a communication network in the community by means of this. Its advantages are short distance, low complexity, self-organization, low power consumption and low data rate. The device is mainly suitable for the fields of automatic control and remote control, and can be embedded into various devices.
In short, ZigBee is an inexpensive and low-power-consumption short-range wireless networking communication technology. ZigBee is a wireless network protocol for low-speed short-distance transmission. The ZigBee protocol is, from bottom to top, a physical layer (PHY), a media access control layer (MAC), a Transport Layer (TL), a network layer (NWK), an application layer (APL), and the like. Wherein the physical layer and the medium access control layer comply with the provisions of the IEEE802.15.4 standard.
By adopting the auxiliary recovery device for the puerpera who automatically avoids, aiming at the technical problem that a medical robot in the prior art cannot avoid front glass equipment, various front glass equipment is effectively identified and driving wheels are correspondingly controlled to avoid on the basis of a targeted image acquisition mechanism and an image processing mechanism by utilizing the characteristic that the information amount brought by glass in imaging is relatively small, so that the accident of collision with the front glass equipment is avoided.
It is to be understood that while the present invention has been described in conjunction with the preferred embodiments thereof, it is not intended to limit the invention to those embodiments. It will be apparent to those skilled in the art from this disclosure that many changes and modifications can be made, or equivalents modified, in the embodiments of the invention without departing from the scope of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (4)
1. A method of wireless remote monitoring of maternal activity, the method comprising transmitting images of maternal activity to a nearby medical service center for monitoring using a maternal assisted recovery device comprising:
the medical robot main body comprises a left mechanical arm, a right mechanical arm, a seat between the left mechanical arm and the right mechanical arm, a direct current control motor and a main control chip;
the main control chip sends an arm driving signal to the direct current control motor, so that the direct current control motor controls the left mechanical arm and the right mechanical arm to realize various preset medical service operations;
the traveling driving motor is connected with the main control chip and used for receiving a traveling control signal sent by the main control chip;
a driving wheel disposed at a rear side below the medical robot main body and connected to the traveling driving motor;
wherein the driving wheel is used for receiving the advancing control signal and controlling the advancing direction or the retreating direction of the medical robot main body based on the advancing control signal;
the universal wheel is arranged on the front side below the medical robot main body and is used for following in all directions under the driving of the driving wheel;
the foreground shooting device is arranged at the front end of the medical robot main body and used for shooting the foreground of the medical robot main body and outputting a foreground image, a pre-acquisition unit, a texture detection unit and a resolution adjustment unit are arranged in the foreground shooting device, the pre-acquisition unit is used for pre-acquiring images of the environment in the visual field of the foreground shooting device to obtain pre-acquired images, the texture detection unit is connected with the pre-acquisition unit and used for receiving the pre-acquired images and estimating the texture change amplitude of the pre-acquired images, and the resolution adjustment unit is connected with the texture detection unit and used for adjusting the resolution of the foreground images shot by the foreground shooting device based on the texture change amplitude of the pre-acquired images;
the color saturation adjusting device is connected with the foreground shooting device and used for receiving the foreground image with the adjusted resolution and performing color saturation adjustment on the foreground image with the adjusted resolution to obtain and output a color saturation adjusting image;
the FLASH storage device is used for pre-storing a preset information quantity threshold value, a preset length and a preset angle;
the histogram processing device is connected with the color saturation adjusting device and is used for receiving the color saturation adjusting image, executing gray histogram processing on the color saturation adjusting image, acquiring the maximum gray value of gray values of all pixel points in the color saturation adjusting image as an upper gray value limit, and acquiring the minimum gray value of gray values of all pixel points in the color saturation adjusting image as a lower gray value limit;
a change parameter extraction device, connected to the FLASH storage device and the histogram processing device, respectively, and configured to receive the preset length, the preset angle, the upper limit of the gray value, and the lower limit of the gray value, and form a change parameter table in which the horizontal index is formed from the lower limit of the gray value to the upper limit of the gray value, and the vertical index is formed from the lower limit of the gray value to the upper limit of the gray value, where a numerical value of each element in the change parameter table is, in the color saturation adjustment image, a total number of pairs of pixel points in which a length from a pixel point in which the horizontal index of the gray value is the element to a pixel point in which the vertical index of the gray value is the element is smaller than a preset length at a preset angle;
the information quantity detection device is connected with the change parameter extraction device and used for taking a logarithm value taking a natural logarithm as a base as a first multiplication item and taking the value of each element in the change parameter table as a second multiplication item, multiplying the first multiplication item and the second multiplication item to obtain a to-be-processed value of each element, adding the to-be-processed values of all the elements in the change parameter table, and taking the negative number of the added sum to be output as an information quantity value;
the information quantity matching device is respectively connected with the FLASH storage device and the information quantity detection device and is used for receiving the information quantity value, matching the information quantity value with a preset information quantity threshold value, outputting a glass matching success signal when the information quantity value is less than or equal to the preset information quantity threshold value, and outputting a glass matching failure signal when the information quantity value is greater than the preset information quantity threshold value;
the main control chip is further connected with the information content matching device, and is used for entering a glass avoiding mode when receiving the glass matching success signal, sending a traveling control signal comprising an avoiding direction and an avoiding speed to the traveling driving motor in the glass avoiding mode so that the traveling driving motor controls the driving wheel to avoid a glass device in the foreground of the medical robot main body, and exiting the glass avoiding mode when receiving the glass matching failure signal.
2. The method of wireless remote monitoring of maternal activity as claimed in claim 1, wherein:
the resolution adjusting unit adjusts the resolution of the foreground image shot by the foreground shooting device based on the texture variation amplitude of the pre-collected image, and comprises: the larger the texture variation amplitude of the pre-collected image is, the higher the resolution of the foreground image shot by the foreground shooting equipment is.
3. The method of wireless remote monitoring of maternal activity as claimed in claim 2, wherein:
and the main control chip is also used for exiting the glass avoiding mode when receiving the glass matching failure signal.
4. The method of wireless remote monitoring of maternal activity as claimed in claim 3, wherein said device further comprises:
the ZIGBEE communication equipment is connected with the foreground shooting equipment and used for receiving the foreground image with the resolution adjusted;
wherein the ZIGBEE communication device is further configured to transmit the resolution-adjusted foreground image to a nearby medical service center via a bidirectional ZIGBEE wireless communication link.
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| CN204995681U (en) * | 2015-09-15 | 2016-01-27 | 北京万像兴兴数字科技有限公司 | Intelligent robot at home supports parents |
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2018
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| EP3103385A1 (en) * | 2015-06-12 | 2016-12-14 | Hill-Rom Services, Inc. | Image transmission or recording triggered by bed event |
| CN204995681U (en) * | 2015-09-15 | 2016-01-27 | 北京万像兴兴数字科技有限公司 | Intelligent robot at home supports parents |
| CN107457786A (en) * | 2016-06-02 | 2017-12-12 | 东北大学 | A kind of bionic nurse's system of operable PET/CT machines |
| CN106595631A (en) * | 2016-10-25 | 2017-04-26 | 纳恩博（北京）科技有限公司 | Method for avoiding obstacles and electronic equipment |
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