CN106227216B - Home-services robot towards house old man - Google Patents
Home-services robot towards house old man Download PDFInfo
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- CN106227216B CN106227216B CN201610796039.8A CN201610796039A CN106227216B CN 106227216 B CN106227216 B CN 106227216B CN 201610796039 A CN201610796039 A CN 201610796039A CN 106227216 B CN106227216 B CN 106227216B
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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 discloses a kind of home-services robot towards house old man, the program finds Falls Among Old People by the robot of autonomous cruise, so that monitoring dead angle greatly reduces, and will not influence the daily life of old man；And realize that vision guided navigation can reduce the number of sensors in robot using processor, it is very big to reduce use cost；In addition, artificial landmark can according to need arrangement, it can satisfy in the needs in different house type cruises, can realize cruise function by simply establishing behind path, it is stronger to environmental suitability, it is universal to be also easier to.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of home-services robots towards house old man.
Background technique
Currently used for the system of indoor discovery Falls Among Old People, there are mainly of two types: the first is examined using monitoring camera
Falls Among Old People is surveyed, the picture in family is shot, if there is old man once falling, if system can issue letter in camera view
Number；Second is the Falls Among Old People detection based on wearing sensor, and such as accelerometer sensor is worn with old man, passes through biography
The signal of sensor judges Falls Among Old People.
But the first be at home it is difficult to ensure that old man's moment in camera view, can not solve old man is poured on and takes the photograph
As the situation of head edge, and if installed in each room, processing video needs more computing resources；Second of wearing
Inconvenience influences old man's action.
Summary of the invention
The object of the present invention is to provide a kind of home-services robot towards house old man, by robot indoors from
Main cruise, can be more convenient obtain the visual field of old man, detection Falls Among Old People is more accurate.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of home-services robot towards house old man, comprising: robot mobile unit, mobile control are sentenced with tumble
Order member and Master Control Unit；Wherein:
The robot mobile unit includes: single-chip microcontroller, motor and driver；The single-chip microcontroller input control is instructed to drive
Dynamic device, is run by driver driving motor, so that the wheel with mobile robot rotate, thus realizes that robot moves；
The mobile control and tumble judging unit include: two cameras and a processor；Wherein, the first camera
It places upwards for acquiring road sign visual information, second camera is placed forward for acquiring ambient enviroment image；The processing
Device is used for determining direction of travel according to the collected road sign visual information of the first camera and exporting corresponding control instruction
In determining whether there is Falls Among Old People according to the collected ambient enviroment image of second camera；
The Master Control Unit, the control instruction for exporting processor are sent to single-chip microcontroller, to realize robot certainly
Main cruise.
The road sign visual information is artificial landmark, unique identification is contained in each artificial landmark, and guide machine
The angle information of people's moving direction.
The processor is also used to pre-establish the walking path of robot, and its step are as follows:
After interior arranges road sign visual information in advance, the unique identification that is included by each road sign visual information
And angle information is packaged into a data structure, and each data structure is successively stored in file by walking sequence desirably,
To the walking path of one robot of composition.
It is described to realize that robot autonomous cruise includes:
Step a, robot moves from the off；
Step b, after the first camera collects the image comprising road sign visual information, processor is using in Hough transformation
Border circular areas is found in image, then is intercepted border circular areas image and detected angle information therein, obtained angle information and row
The angle information for walking to correspond to road sign visual information in path compares, then rotates differential seat angle, then by postrotational circle
Area image road sign visual information corresponding in walking path is matched, and successful match then indicates that robot is according to walking
Path is mobile, and hereafter, processor exports corresponding control instruction to control the underface that robot is moved to road sign visual information；
Step c, after robot runs to the underface of road sign visual information, processor exports corresponding control instruction again
It is rotated to control robot, makes to provide in angle information and walking path in the collected road sign visual information of the first camera
The angle information of road sign visual information is consistent；Later, processor exports corresponding control instruction and is continued forward with controlling robot
It is mobile；
D, repeat the above steps b~c, so that robot is mobile according to the walking path pre-established, to realize machine
People's autonomous cruise.
The angle when robot rotates is detected by gyroscope built-in in Master Control Unit.
The angle information is straight line obliquity information, is converted using Hough straight line and is believed come the straight line inclination angle in border circular areas figure
Breath.
Described the step of determining whether there is Falls Among Old People includes:
Method is made the difference using background, the ambient enviroment image that second camera acquires when recording no old man is as Background
Picture；
Using currently to the ambient enviroment image of second camera acquisition and background image progress image registration: firstly, making
With SURF characteristic matching, possible matched characteristic point pair in ambient enviroment image and background image is found, RANSAC is recycled to calculate
Method eliminates error hiding；Then, three pairs of calculating affine transformation matrixs are taken at random from finally obtained characteristic point centering, and verify this
Affine transformation matrix meets the requirements: affine by multiplying the coordinate for belonging to the characteristic point of ambient enviroment image in each characteristic point pair
Transformation matrix, obtained coordinate is compared with the coordinate of characteristic point in background image, if unanimously, then it represents that affine transformation matrix meets
It is required that ambient enviroment image is then multiplied affine transformation matrix；Finally, transformed ambient enviroment image makes the difference with background image；
The color space conversion of ambient enviroment image after making the difference is at YCrCb color space, then in Cr and Cb two
It is made the difference on component, and by difference value, using foreground area is obtained after global binaryzation, i.e. old man may be in region；
The histograms of oriented gradients feature of foreground area is extracted, and combines and falls down to the ground what sample was trained using old man in advance
Classifier judges histograms of oriented gradients feature, has determined whether Falls Among Old People.
As seen from the above technical solution provided by the invention, Falls Among Old People is found by the robot of autonomous cruise,
So that monitoring dead angle greatly reduces, and it will not influence the daily life of old man；And processor is used to realize that vision guided navigation can be with
The number of sensors in robot is reduced, it is very big to reduce use cost；In addition, artificial landmark can according to need arrangement,
It can satisfy in the needs in different house type cruises, by that can realize cruise function after simply establishing path, to ring
Border adaptability is stronger, universal to be also easier to.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the schematic diagram of internal structure of the home-services robot provided in an embodiment of the present invention towards house old man；
Fig. 2 is artificial landmark schematic diagram provided in an embodiment of the present invention.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
The embodiment of invention, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, belongs to protection scope of the present invention.
A kind of home-services robot towards house old man is provided in the embodiment of the present invention, as shown in Figure 1, it is mainly wrapped
It includes: robot mobile unit, mobile control and tumble judging unit and Master Control Unit；Wherein:
The robot mobile unit includes: single-chip microcontroller, motor and driver；The single-chip microcontroller input control is instructed to drive
Dynamic device, is run by driver driving motor, so that the wheel with mobile robot rotate, thus realizes that robot moves；
The mobile control and tumble judging unit include: two cameras and a processor；Wherein, the first camera
It places upwards for acquiring road sign visual information, second camera is placed forward for acquiring ambient enviroment image；The processing
Device is used for determining direction of travel according to the collected road sign visual information of the first camera and exporting corresponding control instruction
In determining whether there is Falls Among Old People according to the collected ambient enviroment image of second camera；
The Master Control Unit, the control instruction for exporting processor are sent to single-chip microcontroller, to realize robot certainly
Main cruise.
The home-services robot (hereinafter referred to as robot) towards house old man of the embodiment of the present invention mainly realizes two
A function: whether autonomous cruise and judgement old man fall.It elaborates below for the implementation of the two functions.
1, autonomous cruise.
In the embodiment of the present invention, autonomous cruise needs to guide the moving direction of robot by road sign visual information；Institute
Stating road sign visual information can be artificial landmark, and unique identification is contained in each artificial landmark, and guide robot mobile
The angle information in direction.
Illustratively, image shown in Fig. 2 can be used to realize in artificial landmark；Two images in Fig. 2 are artificial road
It marks, the circle in each artificial landmark is unique identification, for distinguishing the feature of artificial landmark, so that one of robot regards
It is not in identical road sign in open country.Straight line in each artificial landmark is angle information, when robot is moved to artificial road
When immediately below target, the direction of travel of robot can be determined according to straight line in artificial landmark；Therefore road sign not only has navigation
Function, also want can to robot provide traveling angle reference, facilitate robot to adjust, be led with this to make up hardware error
What is caused walks not straight situation.
In addition, for ease of description, hereinafter also directly adopt artificial landmark and be illustrated as road sign visual information,
But what the concrete form of road sign visual information can be set according to the actual situation by user, it is not limited to artificial landmark.
In the embodiment of the present invention, artificial landmark is usually all pasted on the ceiling for needing to turn indoors, such robot
When needing to turn turning action can be executed by artificial landmark.It requires to carry out under robot goes to road sign
Adjustment, is equivalent to reset, to eliminate accumulated error, this process will describe in detail later.
In the embodiment of the present invention, when the autonomous cruise of robot, the direction of travel of each step all issues phase by processor
The control instruction answered, and robot mobile unit is passed to execute by Master Control Unit；Detailed process is as follows:
1) walking path of robot is pre-established by processor, its step are as follows: user arranges indoors as needed
Artificial landmark, for the ease of demarcating the direction of travel of each step, artificial landmark needs to arrange on the ceiling；When indoor pre-
After first arranging road sign visual information, robot walks one time in path first desirably, meanwhile, it is successively adopted by the first camera
Collect the image of each artificial landmark, then the unique identification and angle information that are included by each road sign visual information by processor are sealed
A data structure is dressed up, and each data structure is successively stored in file by walking sequence desirably, thus composition one
The walking path of robot.The purpose that this walking path is established is not only may be used also for the route for identifying desired robot ambulation
For correcting the direction of travel of robot, to eliminate accumulated error.
2) after establishing the walking path of robot, can robot can start carry out autonomous cruise, steps are as follows:
Step a, robot moves from the off；
Step b, after the first camera collects the image comprising road sign visual information, processor is using in Hough transformation
Border circular areas is found in image, then is intercepted border circular areas image and detected angle information therein, obtained angle information and row
The angle information for walking to correspond to road sign visual information in path compares, then rotates differential seat angle, then by postrotational circle
Area image road sign visual information corresponding in walking path is matched, and successful match then indicates that robot is according to walking
Path is mobile, and hereafter, processor exports corresponding control instruction to control the underface that robot is moved to road sign visual information；
Step c, after robot runs to the underface of road sign visual information, processor exports corresponding control instruction again
It is rotated to control robot, makes to provide in angle information and walking path in the collected road sign visual information of the first camera
The angle information of road sign visual information is consistent；Later, processor exports corresponding control instruction and is continued forward with controlling robot
It is mobile；
D, repeat the above steps b~c, so that robot is mobile according to the walking path pre-established, to realize machine
People's autonomous cruise.
Further, it is built-in with gyroscope in Master Control Unit, to detect angle when robot rotation.
Further, the angle information be straight line obliquity information (i.e. straight line in Fig. 2), using Hough straight line convert come
Straight line obliquity information in border circular areas figure.
In the embodiment of the present invention, also determine whether old man falls according to second camera acquired image by processor
；Its step are as follows:
Method is made the difference using background, the ambient enviroment image that second camera acquires when recording no old man is as Background
Picture；
Using currently to the ambient enviroment image of second camera acquisition and background image progress image registration: firstly, making
With SURF characteristic matching, possible matched characteristic point pair in ambient enviroment image and background image is found, RANSAC is recycled to calculate
Method eliminates error hiding；Then, three pairs of calculating affine transformation matrixs are taken at random from finally obtained characteristic point centering, and verify this
Affine transformation matrix meets the requirements: affine by multiplying the coordinate for belonging to the characteristic point of ambient enviroment image in each characteristic point pair
Transformation matrix, obtained coordinate is compared with the coordinate of characteristic point in background image, if unanimously, then it represents that affine transformation matrix meets
It is required that ambient enviroment image is then multiplied affine transformation matrix；Finally, transformed ambient enviroment image makes the difference with background image；
Since RGB color is vulnerable to illumination effect, the color space conversion of the ambient enviroment image after making the difference
It at YCrCb color space, then makes the difference on two components of Cr and Cb, and by difference value, is obtained using after global binaryzation
To foreground area, i.e. old man may be in region；
The histograms of oriented gradients feature of foreground area is extracted, and combines and falls down to the ground what sample was trained using old man in advance
Classifier judges histograms of oriented gradients feature, has determined whether Falls Among Old People.
In the embodiment of the present invention, classifier can be support vector machines (SVM) classifier, be fallen down to the ground in advance with a large amount of old man
Sample trains classifier by the method for machine learning, then, the histograms of oriented gradients feature of foreground area is directly defeated
Enter into classifier, can determine whether Falls Among Old People from the output of classifier.
The above scheme of the embodiment of the present invention finds Falls Among Old People by the robot of autonomous cruise, so that monitoring dead angle
Greatly reduce, and will not influence the daily life of old man；And realize that vision guided navigation can be reduced in robot using processor
Number of sensors, it is very big to reduce use cost；In addition, artificial landmark can according to need arrangement, can satisfy
The needs of different house type cruises, can realize cruise function by simply establishing behind path, stronger to environmental suitability,
It is universal to be also easier to.
It is apparent to those skilled in the art that for convenience and simplicity of description, only with above-mentioned each function
The division progress of module can according to need and for example, in practical application by above-mentioned function distribution by different function moulds
Block is completed, i.e., the internal structure of device is divided into different functional modules, to complete all or part of function described above
Energy.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Within the technical scope of the present disclosure, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (6)
1. a kind of home-services robot towards house old man characterized by comprising robot mobile unit, mobile control
System and tumble judging unit and Master Control Unit；Wherein:
The robot mobile unit includes: single-chip microcontroller, motor and driver；The single-chip microcontroller input control is instructed to driving
Device is run by driver driving motor, so that the wheel with mobile robot rotates, thus realizes that robot is mobile；
The mobile control and tumble judging unit include: two cameras and a processor；Wherein, the first camera is upward
It places for acquiring road sign visual information, second camera is placed forward for acquiring ambient enviroment image；The processor is used
In determining direction of travel according to the collected road sign visual information of the first camera and exporting corresponding control instruction, it to be used for basis
The collected ambient enviroment image of second camera determines whether there is Falls Among Old People；
The Master Control Unit, the control instruction for exporting processor are sent to single-chip microcontroller, to realize robot autonomous patrol
Boat；
Described the step of determining whether there is Falls Among Old People includes:
Method is made the difference using background, the ambient enviroment image that second camera acquires when recording no old man is as background image；
Using currently to the ambient enviroment image of second camera acquisition and background image progress image registration: firstly, using
SURF characteristic matching finds possible matched characteristic point pair in ambient enviroment image and background image, recycles RANSAC algorithm
Eliminate error hiding；Then, three pairs of calculating affine transformation matrixs are taken at random from finally obtained characteristic point centering, and it is imitative to verify this
It penetrates transformation matrix to meet the requirements: by the way that the coordinate for belonging to the characteristic point of ambient enviroment image in each characteristic point pair is multiplied affine change
Matrix is changed, obtained coordinate is compared with the coordinate of characteristic point in background image, if unanimously, then it represents that affine transformation matrix conforms to
It asks, then ambient enviroment image is multiplied into affine transformation matrix；Finally, transformed ambient enviroment image makes the difference with background image；
The color space conversion of ambient enviroment image after making the difference is at YCrCb color space, then in Cr and two components of Cb
On make the difference, and by difference value, using foreground area is obtained after global binaryzation, i.e. old man may be in region；
The histograms of oriented gradients feature of foreground area is extracted, and combines and is fallen down to the ground the classification that sample is trained using old man in advance
Device judges histograms of oriented gradients feature, has determined whether Falls Among Old People.
2. a kind of home-services robot towards house old man according to claim 1, which is characterized in that the road sign
Visual information is artificial landmark, unique identification is contained in each artificial landmark, and guide the angle of robot moving direction
Information.
3. a kind of home-services robot towards house old man according to claim 1, which is characterized in that the processing
Device is also used to pre-establish the walking path of robot, and its step are as follows:
After interior arranges road sign visual information in advance, the unique identification for being included by each road sign visual information and angle
Information encapsulation is spent into a data structure, and each data structure is successively stored in file by walking sequence desirably, thus
Form the walking path of a robot.
4. a kind of home-services robot towards house old man according to claim 3, which is characterized in that the realization
Robot autonomous cruise includes:
Step a, robot moves from the off；
Step b, after the first camera collects the image comprising road sign visual information, processor is using image in Hough transformation
In find border circular areas, then intercept border circular areas image and detect angle information therein, obtained angle information and walking road
The angle information that road sign visual information is corresponded in diameter compares, then rotates differential seat angle, then by postrotational border circular areas figure
Picture road sign visual information corresponding in walking path is matched, and successful match then indicates that robot is according to walking path
Mobile, hereafter, processor exports corresponding control instruction to control the underface that robot is moved to road sign visual information；
Step c, after robot runs to the underface of road sign visual information, processor exports corresponding control instruction again to control
Robot rotation processed, makes regulation road sign in the angle information and walking path in the collected road sign visual information of the first camera
The angle information of visual information is consistent；Later, processor exports corresponding control instruction and is continued to move to forward with controlling robot；
D, repeat the above steps b~c, so that robot is mobile according to the walking path pre-established, to realize robot certainly
Main cruise.
5. a kind of home-services robot towards house old man according to claim 4, which is characterized in that the machine
Angle when people rotates is detected by gyroscope built-in in Master Control Unit.
6. according to a kind of described in any item home-services robots towards house old man of claim 4, which is characterized in that institute
Stating angle information is straight line obliquity information, is converted using Hough straight line come the straight line obliquity information in border circular areas figure.
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| JP7022547B2 (en) * | 2017-09-22 | 2022-02-18 | パナソニック株式会社 | robot |
| CN108253955B (en) * | 2017-12-27 | 2020-12-22 | 重庆柚瓣家科技有限公司 | Old man's auxiliary system that goes out based on outdoor guide type walking robot |
| CN108426580B (en) * | 2018-01-22 | 2021-04-30 | 中国地质大学（武汉） | Unmanned aerial vehicle and intelligent vehicle collaborative navigation method based on image recognition |
| CN108776478B (en) * | 2018-06-05 | 2021-05-07 | 北京智行者科技有限公司 | Planning method of operation path |
| CN115003399A (en) * | 2021-01-28 | 2022-09-02 | 深圳市迪迪金科技有限公司 | Tape programmer, electric toy and control method thereof |
| CN113870524A (en) * | 2021-09-18 | 2021-12-31 | 深圳Tcl数字技术有限公司 | Monitoring method, monitoring device and storage medium |
| CN117944055B (en) * | 2024-03-26 | 2024-06-11 | 中科璀璨机器人(成都)有限公司 | Humanoid robot limb cooperative balance control method and device |
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