CN106530618A - Nursing method and device of robot - Google Patents
Nursing method and device of robot Download PDFInfo
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- CN106530618A CN106530618A CN201611166189.7A CN201611166189A CN106530618A CN 106530618 A CN106530618 A CN 106530618A CN 201611166189 A CN201611166189 A CN 201611166189A CN 106530618 A CN106530618 A CN 106530618A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0438—Sensor means for detecting
- G08B21/0461—Sensor means for detecting integrated or attached to an item closely associated with the person but not worn by the person, e.g. chair, walking stick, bed sensor
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- General Health & Medical Sciences (AREA)
- Gerontology & Geriatric Medicine (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a nursing method and a nursing device of a robot, which solve the problem that the existing nursing robot cannot realize the real ''nursing'' function. The nursing method of the robot comprises the steps of: controlling the robot to perform rotational scanning within a preset angle range, stopping scanning once a person being nursed is detected, and carrying out positioning and tracking operation on the person being nursed; acquiring video images of the person being nursed in real time, judging injury degrees of the person being nursed according to color, temperature and flow of liquid newly added on body parts of the person being nursed in the video images, and taking corresponding remedy measures; and/or carrying out real-time voice monitoring, judging the possibility that the person being nursed is deceived according to the number of times preset sensitive words appear in the monitored speech, and taking corresponding remedy measures.
Description
Technical field
The present invention relates to intelligent robot technology field, and in particular to a kind of nurse method and device of robot.
Background technology
Official's as shown by data, ends 2015, and China there is 1.69 hundred million ageds, account for the 12% of total number of people,
And this ratio is presented the trend of cumulative year after year, and, Empty nest elderly therein can be more and more.In the face of this present situation, specially
Door presents wide commercial promise for the intelligence nurse robot of old people.
However, it is " company " that on market, the existing intelligence nurse robot for old people is mainly positioned, and old people
The real robot with " nurse " function for needing, is but still within the state of vacancy.
The content of the invention
In view of this, a kind of nurse method and device of robot is embodiments provided, existing nurse is solved
Robot can not realize the problem of real " nurse " function.
The invention provides maintaining method is seen by a kind of robot, including：Control robot is carried out in the range of predetermined angle
Rotation sweep, once detect that scanning is stopped immediately by ward, to being positioned by ward and being tracked operation；Real-time Collection
Including by the video image of ward, according in video image by the color of the newly-increased liquid of nurse human body part, temperature, flow
Judge by ward's injury degree, and take corresponding relief measure；And/or, real-time voice is monitored, according to the voice for listening to
The middle number of times for default sensitive word occur is judged by the cheated probability of ward, and takes corresponding relief measure.
Present invention also offers a kind of monitoring device of robot, including：Tracking module, for controlling robot default
Rotation sweep is carried out in angular range, once detect by ward stop immediately scanning, to by ward positioned and with
Track runs；Bleed detection module, include by the video image of ward for Real-time Collection, according in video image by ward
The color of the newly-increased liquid of body part, temperature, flow are judged by ward's injury degree, and take corresponding relief measure；With/
Or, anti-cheat module, monitors for real-time voice, judge to be nursed according to the number of times for occurring default sensitive word in the voice for listening to
The cheated probability of people, and take corresponding relief measure.
The nurse method and device of a kind of robot provided in an embodiment of the present invention, it is possible to achieve autonomous tracking is nursed
People, while can realize during tracking to by bleed detection and/or the anti-cheat detection of ward, realizing to by ward
Personal safety " nurse ".Specifically, after start machine people, robot rotates in situ the fixed number of turns first and is scanned,
After navigating to by ward, start tracking operation；During tracking operation, when discovery hemorrhage is occurred by ward
When, the order of severity that meeting automatic decision is bled, and take corresponding relief measure；Meanwhile, independently can analyze by ward is
It is no to there is situation about being swindled money, once analysis result shows possible cheated by ward, corresponding relief can be actively taken immediately
Measure.
Description of the drawings
Fig. 1 show a kind of flow chart for seeing maintaining method of robot provided in an embodiment of the present invention.
Fig. 2 show the flow chart for seeing maintaining method of the robot of another embodiment of the present invention offer.
Fig. 3 show the flow chart for seeing maintaining method of the robot of further embodiment of this invention offer.
Fig. 4 show the structured flowchart of the monitoring device of the robot of one embodiment of the invention offer.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.Based on this
Embodiment in invention, the every other reality obtained under the premise of creative work is not made by those of ordinary skill in the art
Example is applied, the scope of protection of the invention is belonged to.
Firstly the need of it is clear that, the technical scheme is that proposed with old artificial object of study, but not with this
It is limited, child, people with disability etc. is can be applicable in actual application, the old people being mentioned below is only to facilitate say
It is bright, it is not construed as limiting and is used.
Technical scheme is described specifically below by specific embodiment.
The invention provides maintaining method is seen by a kind of robot, the method includes：Control robot is in predetermined angle scope
Rotation sweep is carried out inside, once detect that scanning is stopped immediately by ward, to being positioned by ward and being tracked operation；It is real
When collection include by the video image of ward, according in video image by the color of the newly-increased liquid of nurse human body part, temperature
Degree, flow are judged by ward's injury degree, and take corresponding relief measure；And/or, real-time voice is monitored, according to monitoring
To voice in there is default sensitive word number of times judge by the cheated probability of ward, and take corresponding relief measure.
Maintaining method is seen by robot of the invention, it is possible to achieve independently track by ward, while can be in tracking
During realize to by ward bleed detection and/or anti-cheat detection, realize to the personal safety " nurse " by ward.
Specifically, after start machine people, robot rotates in situ the fixed number of turns first and is scanned, after navigating to by ward,
Start tracking operation；During tracking operation, when finding hemorrhage occurred by ward, meeting automatic decision is bled
The order of severity, and take corresponding relief measure；Meanwhile, independently can analyze by ward with the presence or absence of situation about being swindled money,
Once analysis result shows may be cheated by ward, corresponding relief measure can be actively taken immediately.
In one embodiment, the robot sees maintaining method is further included：Real-time detection is become by the height of ward
Change, the influence factor of the height change includes that falling head is poor, fall time interval, and in the time of low maintenance, according to
Falling head is poor, fall time interval, and judges whether fallen down by ward in the low time for maintaining, and takes corresponding
Relief measure.
Maintaining method seen according to the robot of present embodiment, be furthermore achieved that and detection fallen down by ward, work as inspection
Measure when being fallen down by ward, corresponding relief measure can be taken automatically, furthermore achieved that the personal safety to user " is seen
Shield ".
Technical scheme is described in detail below by specific embodiment.
Fig. 1 show a kind of flow chart for seeing maintaining method of robot provided in an embodiment of the present invention.The method is used to see
Shield robot, is especially suitable for, but not limited to the nurse of old people, it can be seen that the method includes：
Step S10, control robot carry out rotation sweep in the range of predetermined angle, once detect by ward immediately
Stop scanning, to being positioned by ward and being tracked operation.
In one embodiment, predetermined angle θ=(n*5) °, n=1,2,3.... (positive integer).Those skilled in the art
It is appreciated that predetermined angle given here is exemplary, does not do restriction and be used.
The implementation procedure of step S10 can be used for when robot just starts, it is also possible to during for tracking, with losing
During by ward.
In case of robot just starts, step S10 is specifically included：Store by ward in robot interior in advance
Facial information, the information such as human body outline data, afterwards, start machine people, robot can in situ in predetermined angle scope
Inner edge rotation side is scanned using thermal imaging, and by the image for scanning carry out after image procossing with prestore
Contrasted by ward's information, after detecting by ward, robot stops the rotation immediately, then to by ward's
Particular location is positioned, and autonomous operation is at by ward position, carries out round-the-clock from motion tracking.Should be from motion tracking mistake
Journey, distance can be arranged by the distance of ward.
And for tracking during, with losing by the situation of ward, above-mentioned identical implementation procedure can be adopted, it is also possible to
It is in one embodiment, before control robot carries out rotation sweep in the range of predetermined angle, to further include to transfer
Including the positional information finally occurred by ward in the video image by ward, control robot runs to relevant position.
The last positional information for occurring in video image by ward, can by the mounting and positioning device with by ward,
Such as GPS, the Big Dipper, ultra broadband positioning etc., are sent to server by the real-time positioning information of ward, and robot is again from service
Device is transferred；Can also be by graphical analyses acquisition being carried out comprising by the video image of ward to Real-time Collection, this obtains
The concrete implementation procedure for taking the positional information finally occurred in video image by ward adopts prior art, not superfluous here
State.
One of innovative point of the present invention is that how active detecting is to by the position of ward for robot, especially by what
The technology of kind carries out autonomous tracking and can be not belonging to present invention using prior art.
Step S11, Real-time Collection are included by the video image of ward.
Step S12, whether in the detecting video image color nursed by the newly-increased liquid of human body part is red；If
It is, execution step S13, if not, return to step S11.Image recognition technology can be adopted, newly-increased liquid and newly-increased liquid is judged
The color of body, when judged result is red, shows to be likely to occur the emergency bled by ward.
Whether step S13, analysis temperature of liquid are equal to preset temperature value；If it is, execution step S14, if not, returning
Step S11.Here temperature of liquid can be analyzed using thermal imaging, the preset temperature value is usually blood of human body temperature, i.e.,
(38±1)℃.May determine that by whether ward hemorrhage occurs by above-mentioned two step.
Whether step S14, analysis fluid flow exceed predetermined amount of flow value；If it is, execution step S15, if not, performing
Step S16.In actual implementation process, liquid flow can be estimated by the detection of flow rate detection binding time, liquid area detecting
Value.Here flow value artificially can be arranged, and be not construed as limiting herein.After it is determined that hemorrhage occurred by ward, enter one
Step judges the order of severity of the condition of the injury by flow detection, subsequently will make corresponding process according to the order of severity.
Step S15, puts through nearby hospitals and/or contact phone automatically.Nearby hospitals' phone can pass through GPS location
Search is obtained, and contact phone can be artificially stored in robot in advance.So far whole flow process terminates.
Whether step S16, voice inquiry are wanted help by ward, if receiving positive response or through certain hour
Reply, execution step S15 are not received.So far, whole flow process terminates.
Maintaining method seen according to the robot of present embodiment, judges whether stream occur by newly-increased liquid color, temperature
Blood situation, according to the order of severity that flow judges to bleed, can outwardly seek automatically side when occurring bleeding and situation is serious
Help, to be given treatment in time by ward, realize personal " nurse ".
Fig. 2 show the flow chart for seeing maintaining method of the robot of another embodiment of the present invention offer.Can from figure
Go out, this sees that maintaining method includes：
Step S20, control robot carry out rotation sweep in the range of predetermined angle, once detect by ward immediately
Stop scanning, to being positioned by ward and being tracked operation.Concrete implementation procedure is identical with method shown in Fig. 1, refuses herein
Repeat.
Step S21, real-time voice are monitored.
Whether step S22, the number of times for occurring default sensitive word in judging the voice for listening to face more than default sensitive word
Dividing value；If it is, execution step S23, if not, return to step S21.
Old people with social disconnection, is often become assistant's object of cheat, and is easy to go smoothly due to long-term.For deceiving
Son the means of swindling carry out big data analysis, can therefrom find identical key word, as such, it is possible to using these key words as
Default sensitive word is stored, and is monitored by real-time voice, is judged whether these default sensitive words occur, and these are default quick
The number of times that sense word occurs, judges whether be likely to be encountered cheat by ward with this.In one embodiment, preset sensitivity
Word include freely, tax, borrow money, transfer accounts in one or more.
Step S23, audio alert and/or automatic poking lead to contact phone.Audio alert is used for reminding by ward so as to
Enhance your vigilance.
Maintaining method seen according to the robot of present embodiment, by occur in the voice that listens to default sensitive word time
Whether number is judged by ward in the middle of cheated danger, when judged result shows by ward in the middle of cheated danger
When, voice message can be sent and/or outwardly asked for help automatically, be played a part of to prevent trouble before it happens, realize to being nursed
The property " nurse " of people.
In one embodiment, default sensitive word marginal value includes that the first sensitive word marginal value and the second sensitive word are critical
Value, wherein, the first sensitive word marginal value is less than the second sensitive word marginal value.In this case, before step S21, further
Including using face recognition technology, whether there is stranger in the video pictures for judging current collection；If it is, selecting first
Sensitive word marginal value, if not, selecting the second sensitive word marginal value.
Fig. 3 show the flow chart for seeing maintaining method of the robot of further embodiment of this invention offer.Can from figure
Go out, the method includes：
Step S31, real-time monitoring are included falling head by the height change of ward, the influence factor of the height change
Difference, fall time interval, and in the low time for maintaining.Implementing process can for example be, gather regarding by ward
Frequency image, builds the anthropometric dummy being made up of human body major joint, so by the real-time attitude of ward according to the video image
Just can be presented by the anthropometric dummy in real time, by the falling head for monitoring the anthropometric dummy it is poor, occur height change when
Between interval, the parameter such as time maintained in lower judge by the height change of ward.
Step S32, according to falling head difference and fall time interval calculation decrease speed, judges whether decrease speed exceedes
Pre-set velocity value；If it is, execution step S33, if not, return to step S31.
Whether voice inquiry is wanted help by ward.
Step S33, judges whether exceeded Preset Time in the low time for maintaining by ward；If it is, voice inquiry
Whether wanted help by ward, if not, return to step S31.
Step S34, if receiving positive response or not receiving reply within a certain period of time, puts through nearby hospitals automatically
And/or contact phone.Nearby hospitals' phone can be obtained by GPS search positioning, and contact phone can be pre- ancestor
To be stored in robot.
Maintaining method seen according to the robot of present embodiment, by real-time monitoring by the height change of ward, is judged
Whether fallen down by ward, when judged result shows to be fallen down by ward, can send whether voice inquiry is needed by ward
Help, and decide whether outwardly to ask for help according to by the voice response of ward, realize to by ward's person
" nurse ".
Robot shown in Fig. 1, Fig. 2, Fig. 3 sees that maintaining method can form new embodiment with combination in any, and this is new
Embodiment has the combined effect of each single method technique effect.
Fig. 4 show the structured flowchart of the monitoring device of the robot of one embodiment of the invention offer.Can from figure
Go out, the device includes：
Tracking module 40, carries out rotation sweep for controlling robot in the range of predetermined angle, once detect seen
Shield people stops scanning immediately, to being positioned by ward and being tracked operation.
Bleed detection module 41, include by the video image of ward for Real-time Collection, according to being seen in video image
The color of the newly-increased liquid of shield human body part, temperature, flow are judged by ward's injury degree, and take corresponding relief to arrange
Apply；And/or
Anti-cheat module 42, for judging cheated by ward according to the number of times for occurring default sensitive word in the voice for listening to
Probability, and take corresponding relief measure.Image capture module 41, includes by the video figure of ward for Real-time Collection
Picture.
In one embodiment, the monitoring device of robot as shown in Figure 4 is further included：
Attitude induction module 43, for real-time monitoring by the height change of ward, the influence factor of the height change wraps
Include that falling head is poor, fall time interval, and in the low time for maintaining, according to falling head is poor, fall time is spaced, with
And judge whether fallen down by ward in the low time for maintaining, and take corresponding relief measure.
The monitoring device of the robot of the present invention is described in detail below by specific embodiment.
In one embodiment, detection module 41 of bleeding is specifically included：Image capture module, for Real-time Collection include by
The video image of ward.Color detection module, for detecting in video image by the face of the newly-increased liquid of nurse human body part
Whether color is red.Temperature detecting module, for when the output result of color detection module is to be, whether analysis temperature of liquid
Equal to preset temperature value.Flow detection module, for when the analysis result of temperature detecting module is to be, analyzing fluid flow is
It is no more than preset flow value.Gsm communication module, near when the analysis result of flow detection module is to be, putting through automatically
Hospital and/or contact phone.Voice module, for when the analysis result of flow detection module is no, voice inquiry is seen
Whether shield people wants help, if receiving positive response or not receiving reply through certain hour, triggers gsm module.
Nurse robot provided in an embodiment of the present invention, can perform robot shown in Fig. 1 sees maintaining method, possesses execution
The corresponding functional module of method and beneficial effect.
In one embodiment, anti-cheat module 42 is specifically included：Module is monitored, is monitored for real-time voice.Judge module,
For judging whether the number of times for occurring default sensitive word in the voice for listening to exceedes predetermined critical.Alarm module and/or GSM
Module, is respectively used to when the output result of judge module is to be, audio alert and automatic poking lead to contact phone.
In one embodiment, anti-cheat module 42 is further included：Face recognition module, for using recognition of face skill
Whether art, there is stranger in the video pictures for judging current collection；If it is, the first sensitive word marginal value is selected, if not,
Select the second sensitive word marginal value.
Nurse robot provided in an embodiment of the present invention, can perform robot shown in Fig. 2 sees maintaining method, possesses execution
The corresponding functional module of method and beneficial effect.
In one embodiment, attitude induction module 43 is specifically included：Monitoring modular, for real-time monitoring by ward's
Height change.First judge module, for according to falling head difference and fall time interval calculation decrease speed, judging lower reduction of speed
Whether degree exceedes pre-set velocity value.Second judge module, for when the judged result of the first judge module is to be, judging to be seen
Whether shield people exceedes Preset Time in the low time for maintaining.Gsm module, receives positive response or in certain hour for working as
Reply is not inside received, nearby hospitals and/or contact phone is put through automatically.
Nurse robot provided in an embodiment of the present invention, can perform robot shown in Fig. 3 sees maintaining method, possesses execution
The corresponding functional module of method and beneficial effect.
Each functional module that the monitoring device of robot is constituted in above-mentioned different embodiments can be formed new in any combination
Embodiment, the monitoring device of the robot formed by the new embodiment, the combined effect with each functional module technique effect.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Within god and principle, any modification for being made, equivalent etc. should be included within the scope of the present invention.
Claims (10)
1. maintaining method is seen by a kind of robot, it is characterised in that include：
Control robot carries out rotation sweep in the range of predetermined angle, once detect that scanning is stopped immediately by ward, it is right
Positioned by ward and tracked operation；
Real-time Collection is included by the video image of ward, according to the face for being increased newly liquid in video image by nurse human body part
Color, temperature, flow are judged by ward's injury degree, and take corresponding relief measure；And/or,
Real-time voice is monitored, and is judged by the cheated possibility of ward according to the number of times for occurring default sensitive word in the voice for listening to
Property, and take corresponding relief measure.
2. maintaining method is seen by robot as claimed in claim 1, it is characterised in that further include：
By the height change of ward, the influence factor of the height change includes that falling head is poor, fall time to real-time monitoring
Interval, and in the low time for maintaining, according to falling head is poor, fall time interval, and sentences in the time of low maintenance
It is disconnected whether to be fallen down by ward, and take corresponding relief measure.
3. maintaining method is seen by robot as claimed in claim 1 or 2, it is characterised in that described according to being seen in video image
The color of the newly-increased liquid of shield human body part, temperature, flow are judged by ward's injury degree, and take corresponding relief measure
Including：
Detect by whether the color of the newly-increased liquid of nurse human body part is red；
If it is, whether analysis temperature of liquid is equal to preset temperature value；
If it is, whether analysis fluid flow exceedes predetermined amount of flow value；
If it is, putting through automatically nearby hospitals and/or contact phone.
4. maintaining method is seen by robot as claimed in claim 3, it is characterised in that further include：
If not, whether voice inquiry is wanted help by ward, and receive by the speech answering of ward；
If receiving positive response or reply not being received through certain hour, put through nearby hospitals and/or contact person automatically
Phone.
5. maintaining method is seen by robot as claimed in claim 1 or 2, it is characterised in that in the voice that the basis is listened to
The number of times for default sensitive word occur is judged by the cheated probability of ward, and takes corresponding relief measure to include:
Whether the number of times for occurring default sensitive word in the voice that judgement is listened to exceedes default sensitive word marginal value；
If it is, audio alert.
6. maintaining method is seen by robot as claimed in claim 5, it is characterised in that the default sensitive word marginal value includes
First sensitive word marginal value and the second sensitive word marginal value, wherein the first sensitive word marginal value is less than the second sensitive word marginal value,
Then, monitor in real-time voice, according to the number of times for occurring default sensitive word in the voice for listening to judge by ward it is cheated can
Energy property, and before taking corresponding relief measure, further include：
Whether stranger is occurred in the video pictures that current collection is judged using face recognition technology；If it is, it is quick to select first
Sense word marginal value, if not, selecting the second sensitive word marginal value.
7. maintaining method is seen by robot as claimed in claim 1, it is characterised in that when robot is with losing by ward,
Before control robot carries out rotation sweep in the range of predetermined angle, further include：
The positional information finally occurred by ward in transferring the video image included by ward, the operation of control robot
To relevant position.
8. maintaining method is seen by robot as claimed in claim 2, it is characterised in that it is described according to falling head it is poor, decline when
Between be spaced, and judge whether fallen down by ward in the low time for maintaining, and take corresponding relief measure to include：
According to falling head difference and fall time interval calculation decrease speed, judge whether decrease speed exceedes pre-set velocity value；
If it is, judging whether exceed Preset Time in the low time for maintaining；
If it is, whether voice inquiry is wanted help by ward；
If receiving positive response or not receiving reply within a certain period of time, nearby hospitals and/or contact person are put through automatically
Phone.
9. a kind of monitoring device of robot, it is characterised in that include：
Tracking module, carries out rotation sweep for controlling robot in the range of predetermined angle, once detect stood by ward
Stop scanning, to being positioned by ward and being tracked operation；
Bleed detection module, include by the video image of ward for Real-time Collection, according in video image by the nurse person
The color of the newly-increased liquid of body region, temperature, flow are judged by ward's injury degree, and take corresponding relief measure；With/
Or,
Anti-cheat module, monitors for real-time voice, judges to be seen according to the number of times for occurring default sensitive word in the voice for listening to
The cheated probability of shield people, and take corresponding relief measure.
10. it is as claimed in claim 9 to nurse robot, it is characterised in that to further include：
Attitude induction module, for real-time monitoring by the height change of ward, under the influence factor of the height change includes
Drop difference in height, fall time interval, and in the low time for maintaining, according to falling head is poor, fall time is spaced, Yi Ji
The low time for maintaining judges whether fallen down by ward, and takes corresponding relief measure.
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| CN111062283A (en) * | 2019-12-06 | 2020-04-24 | 湖南集思汇智电子有限公司 | Nursing method of nursing robot |
| CN112784676A (en) * | 2020-12-04 | 2021-05-11 | 中国科学院深圳先进技术研究院 | Image processing method, robot, and computer-readable storage medium |
| CN112859904A (en) * | 2021-01-25 | 2021-05-28 | 乐聚(深圳)机器人技术有限公司 | Method, device and equipment for recovering standing posture of robot and storage medium |
| CN113096330A (en) * | 2021-02-07 | 2021-07-09 | 华中科技大学同济医学院附属协和医院 | Portable emergency call device for nurse during night shift and use method |
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