CN107895101A - The Nounou intelligent monitoring devices accompanied for health care for the aged - Google Patents
The Nounou intelligent monitoring devices accompanied for health care for the aged Download PDFInfo
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- CN107895101A CN107895101A CN201710929245.6A CN201710929245A CN107895101A CN 107895101 A CN107895101 A CN 107895101A CN 201710929245 A CN201710929245 A CN 201710929245A CN 107895101 A CN107895101 A CN 107895101A
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
- A61B5/165—Evaluating the state of mind, e.g. depression, anxiety
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/17—Emergency applications
-
- 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
- G08B21/0407—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons based on behaviour analysis
-
- 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
Abstract
The invention provides the Nounou intelligent monitoring devices that a kind of health care for the aged is accompanied, including body conformation monitoring unit, behavior act monitoring unit, the information induction element of Emotion expression monitoring unit, physiological situation monitoring unit and configuration.The intelligent monitoring device can be connected with information system, and described information system carries out information induction, processing, reception, transmission and storage.The intelligent monitoring device includes main body and can be relative to the pedestal of the body rotation, and the main body has Main Processing Unit, display, touch-control panel, touch key-press, audio-video sensing element and can be furnished with Worn type detection or sensing element.The intelligent monitoring device information fusion can be carried out by information processor and information division is handled, and carries out intelligentized deep learning to the behavior state of custodial person by neutral net.
Description
Technical field
, can the present invention relates to artificial intelligence field, more particularly to the intelligent monitoring device and system of aged family company
It is tracked and monitors for the body to household old man, health and safety situation.
Background technology
Ageing phenomenon is on the rise since this century, and many old men usually have the feeling of lonely away from society, in addition also
The problem of there may be daily nursing and medical security aspect.These problems are largely due to effective monitoring tool
Relative absence, custodial care facility and service fee is prohibitively expensive and the operation of custodial care facility is excessively complicated.Common custodial care facility
Lack of wisdom mechanism, it is impossible to effectively monitor the body and mind for including behavior, health and mood and characterizing of custodial person
Feature, such as can not effectively monitor the such as melancholy and anxiety of custodial person etc. the important sign about health status
And information.
The content of the invention
The intelligent guarding system that aged family health care provided by the invention is accompanied is not only able to effectively monitor custodial person
Psychophysical characteristics about behavior, health and mood sign etc., moreover it is possible to further carried according to the psychophysical characteristics
Building in time for the communication of accompanying and attending to custodial person in real time, with the communication contact of related personnel or facility and to custodial person
Negotiate peace help.
The invention provides a kind of Nounou intelligent monitor situations accompanied for health care for the aged, including：
For detecting the situation that custodial person includes behavior, physical signs and mood and characterized, the monitor device bag
Include：
Body posture monitoring unit, the image of the body posture of custodial person can be identified and be monitored；
Behavior act monitoring unit, the behavior act of custodial person can be identified and be monitored；
Mood characterizes monitoring unit, the mood of custodial person can be characterized and be identified and monitor；
Physical signs monitoring unit, the physical signs of custodial person can be identified and be monitored；
The monitor device may also be configured with sensing element, including wearable heart monitor for custodial person, can
Wrist strap is worn, wherein the sensing element can be used for obtaining induction information from the custodial person and can be to the intelligence
Monitor device transmits the induction information；
The intelligent monitoring device can be connected with information system, and described information system includes：
Information receiver, including the wireless senser that monitoring server uses；
Information processor, including high in the clouds computing unit, for handling the induction information, include the knowledge of information
Not, fusion and division；
Information carrying means, for the induction information acquired in the sensing element is transferred into described information processing
Device, and the processing information after the processing of described information processing unit is further transferred to described information reception device；
Information-storing device, including memory card and high in the clouds storage element, for storing the institute acquired in the sensing element
State the processing information after induction information and the processing of described information processing unit.
Wherein, the intelligent monitoring device can include wired connection or wireless connection with the connection of information system.
According to a kind of embodiment of the intelligent guarding system, the intelligent monitoring device includes：
Main body, including Main Processing Unit, display, positive photographing element, backward photographing element, touch-control panel, multiple touches
Button, connector, battery unit and power outlet；And
Pedestal, the main body are set on the body and can carried out using stepper motor relative to the main body
Rotate.
According to a kind of embodiment of the intelligent guarding system, the main body of the intelligent monitoring device is relative to the base
The rotation of seat provides the apparent energy naturally continuously rotated from the pedestal using slip ring to the rotatable main body to be made
Tracking closely can be carried out without being limited by rotation to custodial person by obtaining the intelligent monitoring device.
According to a kind of embodiment of the intelligent guarding system, the stepper motor of the intelligent monitoring device be by
Built-in controller is simultaneously controlled by the Main Processing Unit, using the teaching of the invention it is possible to provide the slewing rate of optimization and torque.
According to a kind of embodiment of the intelligent guarding system, the positive photographing element of the intelligent monitoring device
It is arranged within the monitoring arrangement front glass surface, is wide-angle imaging element, 175 degree of water is included using wide-angle lens
Look squarely angle and up to 90 degree of vertical angle of view；The backward photographing element includes two parts, is separately positioned on close to left and right two
Angular position, include up to 90 degree of horizontal view angle and up to 45 degree of vertical angle of view；So as to, the positive photographing element and
The backward photographing element can provide the full-time continuous omni-directional visual to surrounding environment.
According to a kind of embodiment of the intelligent guarding system, the touch-control panel of the intelligent monitoring device is electricity
Appearance formula touch screen, it is arranged on the positive middle part of the main body；The multiple button is two capacitance keys, is set respectively
Two side positions in the main body front touch-control panel are put, so as to which the custodial person can move conveniently by tactile
Make to carry out interaction with the intelligent monitoring device.
According to a kind of embodiment of the intelligent guarding system, the intelligent guarding system further comprises guarding electronics
System, including a variety of peripheral electronic devices being connected with the Main Processing Unit, contact panel, liquid crystal display, SD card interface, biography
Sound device, loudspeaker, microcontroller and shooting distributor plate；Wherein described microcontroller can carry out real-time programming, real-time to realize
Control, the shooting distributor plate use frequency multiplexing technique to realize panoramic vision.
According to a kind of embodiment of the intelligent guarding system, wherein the fusion of the induction information utilizes deep learning
Neutral net, its can regularly to user provide study sequence prompting, wherein, for specific induction information exist set
After determining the continuous mistake deciphering of number, or when not enough data can appropriately be understood to the induction information,
The study sequence will start, so as to which the intelligent monitoring device can be by the neutral net to each induction information
The display form of the corresponding custodial person carries out intelligentized study and the custodial person can be coordinated to provide accurately
Deciphering；Wherein described study sequence includes visual learning sequence and sense of hearing study sequence.
According to a kind of embodiment of the intelligent guarding system, described information processing unit have Function of Information Fusion and
Information splitting function.
Described intelligent guarding system includes data fusion processor, has Function of Information Fusion, wherein all senses
Answer information to be transferred to the data fusion processor and carry out information fusion；It is probability for having in the induction information
The information of feature uses Kalman filters, for receiving the reading information of particular sensor and by the reading with other sensors
Information fusion is taken to get up to form custodial person's pattern with high confidence level, so as to which the monitor device can be held at any time
High probability assessment continuously is carried out to the state of the custodial person.
Described information splitting function enables the intelligent guarding system to export the intelligent monitoring device and the quilt
Interactive effect information between observer, so as on the basis of being merged in described information to the custodial person and the prison
Shield server provides the suggestion related to monitoring or information respectively.
The intelligent guarding system that the family health care is accompanied can be to custodial person behavior, physical signs and mood
Sign is detected in real time, can carry out communication of accompanying and attending in real time with custodial person, and can also establish custodial person and bag
Include the real-time contacts of relatives and friends, health worker, physiotherapy mechanism etc. and exchange.So as to which the invention provides one kind to be directed to
The intelligent company of custodial person, status tracking, special feelings bulletin, the critical technical scheme sought help etc..
Brief description of the drawings
Above-mentioned briefly introduction and following detailed descriptions for the present invention, can be better understood with reference to accompanying drawing.
Fig. 1 describes the prison for being used for the intelligent guarding system that family health care is accompanied according to a kind of embodiment of the present invention
Protection unit.
Fig. 2 is the pedestal of monitor device and the decomposing schematic representation of rotatable components shown in description Fig. 1.
Fig. 3 A and 3B describe touch on the preceding screen of monitor device shown in Fig. 1, button, take pictures and arranged with display function position
A kind of embodiment.
Fig. 4 describes is for the intelligent guarding system of family health care company according to a kind of embodiment of the present invention
System framework.
Fig. 5 describes the electricity for being used for the intelligent guarding system that family health care is accompanied according to a kind of embodiment of the present invention
Sub- annexation.
Fig. 6 describes the taking the photograph for the intelligent guarding system of family health care company according to a kind of embodiment of the present invention
The annexation of element.
Fig. 7 describes the sense for being used for the intelligent guarding system that family health care is accompanied according to a kind of embodiment of the present invention
Answer the information fusion (fusion) and division (fission) mechanism of unit.
Fig. 8 describes the regarding for the intelligent guarding system of family health care company according to a kind of embodiment of the present invention
Feel study sequence.
Fig. 9 describe according to a kind of embodiment of the present invention be used for intelligent guarding system that family health care accompanies from
Right language learning sequence.
Figure 10 is described according to a kind of embodiment of the present invention for the intelligent guarding system of family health care company
Follow the trail of user pattern of the custodial person to be chosen.
Figure 11 is to be for the intelligent guarding system of family health care company according to a kind of embodiment of the present invention
System framework schematic diagram.
Figure 12 monitors flow chart according to the emergency of the intelligent guarding system accompanied for family health care.
Figure 13 is the ARTIK Cloud scheme schematic diagrames for the intelligent guarding system accompanied for family health care.
Figure 14 describes the electronics annexation according to the intelligent guarding system accompanied for family health care.
Figure 15 is the USB device tree graph of a relation of the description intelligent guarding system accompanied for family health care.
Figure 16 is that the power tree comprising power distribution of the description intelligent guarding system accompanied for family health care is closed
System's figure.
Figure 17 is the software architecture diagram of the description intelligent guarding system accompanied for family health care.
Figure 18 be the description intelligent guarding system accompanied for family health care artificial neural network based on feedforward
Information relationship schematic diagram.
Figure 19 be the description intelligent guarding system accompanied for family health care artificial neural network based on diverging-
Collect relation schematic diagram.
Figure 20 is used for the letter that the artificial neural network for the intelligent guarding system that family health care is accompanied includes described in description
Cease relation schematic diagram repeatedly.
Figure 21 is that description is described to be used for the intelligent guarding system that family health care is accompanied using information fusion and division mechanism
To combine the multimode of audio and image input/output construction.
Figure 22 A-22D describe the intelligent monitor system for being used for family health care according to a kind of embodiment of the present invention and accompanying
The user interface for being suitable to custodial person and using based on Android system of system.
Figure 23 is described according to a kind of embodiment of the present invention for the intelligent guarding system of family health care company
The positive animation shape of face of monitor device.
The FA Facial Animation that Figure 24 describes as described in Figure 23 in animation shape of face corresponding to different moods is expressed.
Embodiment
According to a kind of embodiment of the present invention, as depicted in figs. 1 and 2, the intelligent monitor accompanied for family health care
The monitor device 100 of system, or accompanied and attended to device, including front wide-angle imaging element, backward photographing element, touch screen for remote control
Face, both sides button, RJ45 connectors, battery frame and power outlet.
The monitor device 100 can be divided into two parts, as shown in figure 1, the i.e. rotatable upper body 110 of rhombus inclined
With round base 120.The pedestal 120 can be designed as more steady and utilize NEMA stepper motors (steppermotor)
102 enable the lighter main part 110 being mounted above to carry out the rotation relative to pedestal 120.The stepper motor
102 are by built-in electric machine controller 103 and are controlled by Main Processing Unit 104.The rotating mechanism make use of slip
Ring provides the apparent energy naturally continuously rotated from pedestal 170 to rotatable upper body 110.So as to the monitor device
100 can carry out tracking closely without being limited by rotation to custodial person.
The stepper motor 102 can deliver the torque to the pedestal by a series of spur gear (spur gears)
120 so that provide the slewing rate of optimization and torque, as shown in Figure 1.So as to can just provide pin by means of the rotating mechanism
Apparent naturally tracking to custodial person.The stepper motor 102 is by the overall plastics for being placed in and being connected with the pedestal 120
Within frame shell.The stepper motor 102 can be by closed loop feedback control device (closed loop feedback control) institute
Substitution, the controller includes point position device (potentiometer) and brush motor (brushed motor) or continuous rotate is watched
Take device.
The positive photographing element 106 using wide-angle lens include 175 degree horizontal view angle and up to 90 degree hang down
Look at angle straight.The wide-angle lens is arranged within the front glass surface 101 of monitoring arrangement 100.The backward shooting member
Part 107 is separately positioned on close to the position of left and right two corners.In this way, these photographing elements can be just provided to the complete of context
When Continuous Vision, that is, commonly referred to as omni-directional visual.The level that the backward photographic element includes up to 90 degree regards
Angle and up to 45 degree of vertical angle of view.These photographic elements are arranged within the frame of plastic shell of the upper body, only
Camera lens exposes from surface.Touch screen plate 108 is arranged on the middle part within the monitoring arrangement front glass surface.In addition,
The grade of loudspeaker 109 element described later also can be set.
The monitor device 100 can use battery and power outlet to be operated.Battery can provide long distance use with
And the interim usage time for using, 3 hours being able to maintain that under full-charge state.Battery case is arranged on rotatable upper body
110 rear side position, and carry easy-to-mount panel.Having the situation of socket and battery concurrently, socket can be set to acquiescence and set
Put.For example, in one embodiment, the power supply provided by battery or socket is 3 amperes 12 volts.It is described for the sake of flexibly
Power outlet can use the standard portable Socket for computor shown in Fig. 1.Specifically, the monitor device can be by internal battery
Or external receptacle provides power supply.In the situation using battery or socket, all carried out when electric current is transferred to the monitor device
Power modulation.
Fig. 3 A and 3B describe the monitor device 110 or the haptic interaction effect for being remotely controlled device of accompanying and attending to and respective element.
The haptic interaction effect is the capacitance key set by the positive capacitive touch screens 105A of remote control and side
What 105B, 105C, 105D were realized.So, custodial person easily can just be carried out only by tactile action with remote control
It is interactive.In another embodiment, the touch screen is resistance-type.The touch screen 105A and button 105B,
105C, 105D are arranged on below the face glass panel 101 of monitor device 100.
The touch screen 105 is arranged on the middle part of panel, in the front side of the rotatable upper body 110
Between two buttons 105B, 105C.Positive photographing element 106 is arranged on the top of the touch screen 105A, with the touch screen 105A
Towards identical.
Fig. 4 describes a kind of system architecture of the Nounou intelligent guarding systems 400 according to embodiment.The prison
Protecting system includes Nounou monitor devices 410, and it is configured with wearable heart monitor 421 and wearable wrist strap 422.Its
Its embodiment may also include wireless speaker, clip microphone or CCTV camera.Remote monitoring device 410 itself
The intelligent mechanism of system is also provided, can be exchanged and be connected by internet with high in the clouds 431 into racking with wireless device
Calculate and store.So, custodial person, such as the elderly, it becomes possible to pass through the single other senses of management system platform connection
Answer equipment or wearable device.Relevant information is stored by the remote control equipment, analyzed so that learnt, so as to further increase
Or the interactive experience in abundant future.
Specifically, the standard and the remote control that wireless induction element can be using Bluetooth4.0 and IEEE802.11n
Monitor device is attached.Internet of Things (IoT) device can be supervised by wired Internet or wireless Internet with the Nounou
Protection unit 410 is attached.In a kind of embodiment, the compatible wrist strap of bluetooth, the length of internet control are also used
The necklace of phase evolution (LTE) global positioning system (GPS), and 5GHz sleep heart rate monitors.
The wrist strap can be Internet of Things (IoT) element, can be filled by the wireless connection technology of such as bluetooth with monitoring
410 connections are put, and various other devices can also be connected to, such as mobile phone, notebook computer or desktop computer.Thus,
The wrist strap can have but be not limited to following function：Display and transmission such as time, heat consumption, distance and bearing, sleep
The monitoring informations such as state, pedimeter number, HR Heart Rate；Receive or store data by external or built-in SIM card or SD card；Even
It is connected to neutral net and uploads the information such as relevant user's data；Connect by elements such as external or built-in loudspeakers or loudspeaker
By or send audio-frequency information, such as conversed or called；Help carries out web search；With shooting, video show, such as electricity
The words data such as number such as show, played at the function；Vibration is produced to send the signals such as prompting, alarm or prompting to wearer；Institute
Signal can be received or send by stating in the case that monitor device is in abnormal operating state.
Bluetooth element be by touch screen navigate on user interface select to be attached with Android operation system.Local area radio
The connection of 2.4GHz or 5GHz devices can pass through the simple search for the IP address for downloading mating application program or related device
Carry out.Special purpose device can provide customization software, and open system has corresponding software support.The software is connected to described device
IP address and port numbers and obtain real time data be used for operated and analyzed.Custodial person, such as old man, it becomes possible to from
The data are seen on remote monitoring device 410.Internet of things device is matched using Internet connection with said apparatus.It is outside
The offer of IP address and port numbers is furnished with security password.The Internet of things device can be arranged on from anywhere in the world, passed through
It is wirelessly connected to internet, and connection of the service provider of internet to both and unrestricted.
Related data is also optionally stored in SD card 441 by the remote monitoring device 410, or by because of spy
Pass to high in the clouds 431 on the net.In this way, custodial person just can be easily selected by internet or SD card and doctor, medical care mechanism
Or kith and kin share information.In a kind of embodiment, monitored object can pass to relevant information in high in the clouds 431, then
Information will can also be stored in by mobile communication equipment 451 (such as mobile phone) and accompany and attend to mechanism or personnel's reading information
Then SD card is handed over to doctor or medical care mechanism 452.
Related data can be stored in SD card 441 by the Android operation system with utilization C++ and Java software, and described
Data can upload to high in the clouds 431 by the application programming interfaces (API) that cloud service business provides.When no high in the clouds connects,
Data can be postponed being stored in SD card 441, then, after recovery is connected, remote monitoring device is with regard to that can synchronize process.Institute
Synchronizing process is stated to the data of cloud service and local storage difference having time mark and identifying code.
Fig. 5 describes the composition of the electronic system in monitor device.For Main Processing Unit 501, there are various ancillary equipment point
Pick out and.The ancillary equipment includes contact panel 511, liquid crystal display (LCD) 512, SD card 513, microphone 514, raised one's voice
Device 515, microcontroller 521 and the distributor plate of photographing element 525.The photographing element 525 is with positive photographing element, rear left to taking the photograph
Element and rear right are to photographing element.The microcontroller 521 is grasped in real time to requirements such as stepper motor 522, LED and buttons
The other ancillary equipment made are controlled.
The Main Processing Unit 501 can be the compact processor of any operation Android operation system.In one embodiment,
Primary processor is the APQ 8016 assembled by the circuit boards of Inforce 6309.Generally speaking, the Main Processing Unit 501 can include
Any peripheral equipment and computing unit, as long as ancillary equipment that at least can be shown in control figure 5.The Main Processing Unit 501 itself
It is to be obtained from third party, is not belonging to the scope of the present invention.
Control is to be discharged into microcontroller in real time, and microcontroller can carry out real-time programming.In one embodiment,
The microcontroller used is ATMega 328.The microcontroller implements the control to controllor for step-by-step motor, touch key-press and LED
System.The microcontroller sends higher and relatively low signal to control LED, via it is traditional have resilience key circuit from touch by
The input sampling of key, and send pulse to controllor for step-by-step motor.
In other embodiment, may have potentiometer and motor rather than stepper motor, or have and watch
Take device.In the situation with potentiometer and motor, microcontroller can be exchanged with motor controller, and simulation water is read from potentiometer
Put down to close feedback control loop.With servomechanism situation, it can say that train of pulse is sent to motor.The electric power of the motor is that have battery
Or socket without regulation power supply provide.In other embodiment, the motor can be by the electricity through overregulating
Source provides electric power.
Touch-control panel and liquid crystal display may be coupled to mainboard, wherein being shown via high definition media interface (HDMI)
And carry out touch support via USB (USB).In one embodiment, touch-control panel is believed via low-voltage differential
Number (LVDS) display interface and touch-control panel interface are connected to mainboard.The touch-control panel can have any size to adapt to
The ratio of layout shown in Fig. 3.The LCD display can use light-emitting diode display to substitute.So, the remote monitoring device tool
There is high resolution display, and carry response touch interface.
Loudspeaker and microphone are encapsulated in inside remote monitoring device, and can be via analog signal or data signal
It is attached.Available numeral connection includes wireless Bluetooth standard, IEEE 802.11x standards, USB or HDMI audio pins.At this
In embodiment, analog signal provides audio to microphone from primary processor, and receives simulation letter from loudspeaker to primary processor
Number.
In order to support multichannel, such as 3 tunnels, camera data stream simultaneously, Fig. 6 is described with shooting serial line interface (CSI-2)
The imaging circuit plate of the multi-channel video technology of standard.In the present embodiment, including 3 road CSI Port Multipliers 601, using connecing for 51 pins
Head is as double CSI interfaces 602, and one is 4- passages, and another is 2 passages.The circuit board includes 2- channel circuit boards to three 2
Channel C SI interfaces, with the Port Multiplier controlled by general purpose I/O on Main Processing Unit.So, custodial person can just monitor all three
The full detail of individual video camera, and switching rate is below 1 microsecond.The hardware of the frequency multiplexing technique is the part of the present invention,
To support panoramic vision so as to improve the guard condition of custodial person and Ambient Transfer.
All ancillary equipment use the bus driver framework from Main Processing Unit, in addition to stepper motor.USB passes energy
Microcontroller is sent to, CSI transfers the energy to video camera, and LVDS transfers the energy to display and touch panel.Rotate electricity
Machine is to provide energy as unregulated power supply respectively to prevent the high electric noise caused by higher inductive load.
Fig. 7 describes the intelligent monitoring device system for being used for family health care according to a kind of embodiment of the present invention and accompanying
Sensor fusion algorithm, be related to the sensing unit of intelligent monitoring device system information fusion (fusion) and division
(fission) mechanism.Sensor includes extraction actual environment sample and is translated into the device of electric signal.In present embodiment
In, the sensor includes the sensing such as touch-control panel 711, touch controlled key, wireless module 712, video camera 713 and loudspeaker 714
Element.The wireless module 712 includes any wireless senser being connected with the remote monitoring device.The sensor can be with
Including exterior I oT elements, from passing through the varying environment of network connection, area or country with the remote monitoring device.It is described
Network is such as internet.
The initial data of each sensing element is obtained by respective connected mode, and the connected mode is included but not
It is limited to wireless Bluetooth, wireless IEEE 802.11x, cable network, USB or simulation input.So, the remote monitoring dress
Message sample can be obtained from the custodial person in actual environment by putting, so as in the information analysis of the remote monitoring device
Information fusion 710a and the division 710b processing of further information are carried out in processor 710.
The information fusion of sensor includes the neutral net for deep learning, utilizes such as tactile Jing Guo fusion treatment
The information of analysis, tidal data recovering analysis, computer vision, natural language processing and Emotion identification etc., pass through Nounou intelligence
The deep learning 720 of system is further analyzed processing.The deep learning provides a kind of by sensor reading information and quilt
The method that the natural performance or behavior of guardian such as old man is allocated.So as to which the sensor can adapt to and coordinate old
Different behaviors, physical trait, sound, ethnic background and the action of people.The neutral net is supervised deep learning
One kind application, the prompting of study sequence can be regularly provided user, for example, by soft including high in the clouds storage 725, Android
Part 727, stepper motor and microphone 727, image show that 728 are supplied to user, related to approach such as subscriber data SD cards 729
Personnel and organizations and aftertreatment systems.After being understood for some sensing reading information in the presence of 5 continuous mistakes, or
When not enough data can read information to sensing appropriately to be understood, the study sequence will start.So, institute
State remote monitoring device just can read the intelligentized study of performance progress corresponding to information to each sensing by neutral net
And person can be used cooperatively accurately deciphering is provided.
The study sequence provides the supervised learning of needs, and is unique for various kinds of sensors.The study
Sequence includes visual learning sequence and sense of hearing study sequence.Due to the wearable device being connected with remote monitoring device exist it is unknown
Selection situation, the present embodiment uses unsupervised learning.The remote monitoring device can be with the in the market during software development
Without wearable device.So, the remote monitoring device can just be directed to the data obtained from uncertain source and be supervised
Survey and learn.
Fig. 8 describes a kind of embodiment on visual learning sequence, it may for example comprise step 801-810.It is described
Study is started in the room of the omnidirection circumstance light source good illumination with optimization.It is exactly then custodial person, such as
The old man guarded, stand directly on the front of the remote monitoring device and in the centre position of wide angle cameras.At this
Between point, front display can show the image that monitor device is seen, so as to old man according to the Image Adjusting on display screen from
The left and right orientation and longitudinal separation that oneself stands.It is exactly the degree that displaying arm stretching, extension is required according to several postures in next step.Want
The posture profile asked can also show on a display screen.So, if user just according to posture profile be adjusted without
Instruction must be made to monitor device with listening.The visual learning is to show different postures in next step, including sit down and
Lie down.This is critically important, because monitor device can when old man falls down because of malfunction or posture or be injured
Monitored by pattern-recognition.Next step is exactly walking motion in a manner of the old man's walking that correctly judges.So, monitoring is worked as
To the quick acting of non-expectation, monitor device will start to pay attention to tumble or the injury that may occur.For this movement velocity,
Certain threshold value can be set to target tracking algorithm with rejecting abnormalities situation.
At any time point, when user wants to leave out or skips over some learning procedure, user just can so do
Do, need to only click the touch key-press on the left side.Any process being skipped may cause poor study, but can be by rear
Corrected in continuous successive learning.The continuous profile followed by monitoring old man's needs is also with auditory tone cues.So, supervised
The old man of shield, even if having the sense of hearing or dysopia, it can also follow study sequence.
Face recognition is a careful process, and a part for study sequence.Face recognition belongs to the monitoring dress
The key character put, for correctly identifying the old man in room, and user is differentiated.The study sequence will
The closely smiling face towards wide angle cameras is asked, so as to which facial characteristics is recorded and learnt.So, the monitor device is with regard to energy
It is enough that people in room is differentiated, including the smiling face of identification old man and identity.
Neutral net for deep learning is using forwardly and rearwardly transmission method and supervised learning.In order to avoid unified purchase god
Heavy computation burden when initially learning through layer, the original state of network are stored in SD card and when next needs learn
Time is recovered again.So, the situation of user's all neutral nets in monitor device can be just output, and in power breakdown
Or also it can be saved in the case of equipment transfer or maintenance.
Fig. 9 describes a kind of embodiment of the study sequence about natural language, such as including step 901-
905.The old man guarded first must be to language that it is thought.In next step be exactly from old man from word paragraph set in advance to
Monitor device is read out.The monitor device will be evaluated user's pattern using supervised learning.A little times are spent when old
People has read more word paragraphs to monitor device, and learning system can just reach to the certain of old man's speech understanding, such as
At least 90% or 95% accuracy.Point at any time, old man can be selected under the order of accuarcy for learning sequence at that time slightly
The step for crossing.So, monitor device just adapts to the especial sound of old man, can reach for the accuracy rate of any kind of speech like sound
More than 90%.By each word paragraph, old man can just have found by user's pattern in neutral net to which from display
It is incorrect that the estimating of a little words, which is sentenced,.
When sensing data is operated by the data fusion processor shown in Fig. 7, using from from unexpected
The unsupervised learning of sensing data.Old man can select to exempt sensor fusion steps, so as to which data would not be introduced to again
Data fusion processor.In this situation, the data will be stored within Android operation system by local.
Computer vision neutral net can be combined with image processing algorithm, specially basic filtering, feature detection, target point
Class and target tracking algorithm.So, the monitor device can be directed to custodial person and carry out image intelligent disposal and identification.
So, the identification that the monitor device is intended to for user is to be based on probabilistic judgement, but routine techniques
It is to be judged based on two condition.The natural reaction provided by the probability judgement of statistical analysis is like interpersonal reaction.
Thus, the monitor device can be well adapted for guardianship, the behaviors and habits of people.
In order to further support above-mentioned function, the monitor system further comprises mood detecting and alarm.With on monitor device
Other signals processing engine it is similar, mood detection learnt within a certain period of time by unsupervised learning using neutral net or
Solve the behavior act of user.
All induction informations are all transferred to data fusion processor, are fused together.According to except touch key-press and touch
The probability feature for the information that all the sensors transmit, employs Kalman filters outside control panel.The Kalman filterings
Device receives particular sensor and reads the probability characteristics of information and read information and the reading information of other sensors by described
Fusion gets up to have for being formed end user's pattern of confidence level as high as possible.
In one embodiment, sensor fusion treatment device by vision process and natural language detection all merged from
And monitor emergency health situation.So, the monitor device can just be formed credible using the various sensors connected
User's pattern detecting the state of user, including health status.
The state forecast, update and exported by Kalman filters is exactly user's pattern.User's pattern is such as
Shown in Figure 10.User pattern embodied user, i.e., between the mood of guardianship such as old man, posture and monitor device away from
From, whether speak, whether do gesture, health status, activity and whether in room.User's pattern is evaluated on time
And store, and each time block is updated when stylish sensor reads information by Kalman filters.
Kalman filters are the algorithms widely used, and its application is as a part of the invention.So, the monitor device can be
High probability assessment constantly is carried out to the state of user any time.
In other embodiment, the monitor device uses a kind of different data anastomosing algorithm, and it includes
Ordered Weighted average filter, Bayesian methods or Dempster Shafer methods.
User's pattern is used to do decision-making, so as to export interactive effect information, commonly referred to as sensor information point
Split or crack.The decision-making is asked using unsupervised learning to user's interaction to make up society isolation sense and related health
Topic.For example, monitor old man melancholy and impatience after may provide the suggestion of a series of Voice ＆ Video so as to help
The people that helps the elderly adjusts mood.After some times, unsupervised learning can just utilize the feedback information of old man, so as to correctly select
Select the type suitable for the Voice ＆ Video of audiovisual under specific mind state.Monitor device is provided by receiving or refusing suggestion
Feedback information.So, the monitor device can just be used cooperatively the hobby of person, so as to improve the health of old man, happiness, happy
With society relegation sense.
Another embodiment includes suggestiveness hygienic measures, to be asked in cardiac monitoring Sensor monitoring to heart
The problems such as being quivered when topic to the heart provides help.The suggestiveness hygienic measures includes but is not limited to suggest health worker, contact
Doctor, it is provided with and is concerned about the video to quiver, with there are the personnel of same cardiac problem to share information, providing relevant product information.
According to different embodiments, provided by the invention is not only a kind of single chassis robot product, but
Be related to an IoT social lives companion and health care robot and its system, help such as the elderly by guardianship sense
To less lonely and happier, more healthy.Nounou intelligent guarding systems can be that old man establishes complete thing at home
The networking ecosystem.
System architecture(System Architecture)
Figure 11 is to be for the intelligent guarding system of family health care company according to a kind of embodiment of the present invention
System framework schematic diagram.One of key advantages of the system are wireless connections.Nounou intelligent guarding systems comply fully with IoT's
Standard, for example, be compatible with ALLJoyn frameworks, bluetooth 4.0, Android 5.1, WiFi 802.11b/g/n 2.4GHz, GPS and
96Boards ARM.So as to really open the functional characteristic of the Nounou ecosystems, than if having with the market each
The connection of kind Android device and use, carry out wireless connection with various bluetooth equipments, follow the trail of the position of user, and connect
To various television equipments.
In addition to the physics ecosystem of interior, the also Internet of Things ecosystem of cloud computing.Figure 11 is according to this hair
A kind of bright embodiment is used for the system architecture schematic diagram for the intelligent guarding system that family health care is accompanied, it is shown that how
Contacted and linked up with high in the clouds with Nounou monitor devices.
The safe ecosystem of the elderly：Figure 12 is according to the urgent of the intelligent guarding system accompanied for family health care
Condition monitoring flow chart.Nounou intelligent guarding systems create Internet of Things Web robot's ecosystem of first old safety, because
Accompanied never to there is intelligent robot Internet of Things to accompany before as Nounou systems " 24/7 " are round-the-clock by guardianship, and
And understand that, predict and adapt to by the life-form structure of guardianship come improve they health and health care service so as to
It is enough to stay at home without living in home for destitute.Meanwhile in case of emergency, situation can also be circulated a notice of to family members and medical worker.
Learnt by using Nounou sensor fusion techniques and artificial intelligence machine, we create the ring of a safety and happiness
Border.Because Nounou is immanent, it becomes possible to whenever provide help " 24/7 " is round-the-clock.In this needs
In the case of, Nounou intelligent monitoring devices can send alarm immediately and call for help.
Merged using sensor, Nounou intelligent monitoring devices can be continued to monitor including following bursts and unexpected row
For：
- by the heart rate of wearing element sensing,
- by the acceleration and motion of wearing element sensing,
- video information obtained by photographing element,
The audio-frequency information of-the amplification obtained by the element that amplifies.
Then, Nounou intelligent monitoring devices can continue to inquire old person's development.Detected using speech recognition and emotion,
Nounou will can interpolate that whether the elderly wants help.If old man wants help, Nounou will send alarm, and notify institute
There is the local or neighbouring community where Nounou devices to be got in touch with programmed emergency.According to a kind of embodiment, figure
12 show the software flow for emergency monitoring.
Cloud storage framework (Cloud Storage Architecture)
Figure 13 is the ARTIK Cloud scheme schematic diagrames for the intelligent guarding system accompanied for family health care.With for
Iot Gateway intelligence innovation, Nounou systems need to link together with Intelligent internet of things cloud storage framework, and open
Data interchange platform is connected, and the platform is intended to connect all internet of things equipment.This cloud provides wieldy open
Application Program Interface (APIs) and powerful instrument are any from Nounou devices and other being collected, storing and handling
The data of the Medsensors sensor related to Nounou devices.Use these Application Program Interfaces and instrument, it is possible to fast
Fast ground introduces Nounou intelligent monitoring devices and system to the market, developing intellectual resource robot software operating service (SaaS) income body
System, and rapid growth business.
In the Internet of Things world, not only in size and number, and in terms of diversity, type and granularity, data with
Unprecedented scale is present.This cloud storage framework can be carried out to all data from Nounou and all connection equipment
Fusion and analysis.Because final goal be not data in itself, but our function that creates and valencys from the data of these collections
Value.Nounou can be extracted to the elderly etc. by the useful maximally related data of guardianship, and is conveyed to the family of the elderly
Front yard and third party caregiver, such as doctor, nurse, artificial intelligence device.
Internet of Things cloud storage framework will allow data fusion, and the different pieces of information signal from different sensors is mixed, and lead to
Our gateway is crossed by Nounou to calculate correlation and causality analysis.So, it is used to connect by the open cloud ecosystem
Equipment and establishment service, and using Internet of Things data, avoid all complexity of connection, storage and data access, keep simultaneously
High-caliber Information Security.
Nounou intelligent guarding systems are with being related to Samsung ARTIK cloud frameworks with three core principles：
(1) it is completely open：Data can come from any internet of things equipment, these equipment be probably any kind of equipment and
Any configuration file；
(2) it is unrelated with data：Form, size or coding regardless of data, can be absorbed.Nounou and other
The sensor of connection sends the data to ARTIK, for data analysis and pretreatment --- and normalization processing is carried out to data, made
It is easier to obtain and is easier to be understood and used by the family of third party Advanced Nursing personnel and the elderly.
(3) data bank of secret：Security and privacy are a big problem in Internet of Things, in ARTIK, Yong Huzong
It is to possess their data, and authorizes the access rights for the service that they are desirable for.The elderly and Nounou have sufficient
Safety and privacy contro, it is desirable to and authorize the access right to data.Samsung is not declared to by Nounou and other sensings
The data that device is collected possess ownership.
Electronic architecture (Electrical Architecture)
Nounou intelligent monitoring devices are run on a powerful single board computer, and this is Qualcomm 410c plates,
Wherein, calculate advanced algorithm and Android 5.1 is performed together.Real-time programming is in a single ATmega328 micro-control
Performed on device processed.Controllor for step-by-step motor and user interface button and indicator need to perform in real time.With reference to both processors,
The hardware of Nounou intelligent monitoring devices causes Nounou to turn into one of safeguard and supervision for the aged device the most intelligent.
Sensor：Fig. 3 A describe the monitor device or the haptic interaction effect for being remotely controlled device of accompanying and attending to and respective element.
Nounou intelligent monitoring devices are provided with multiple sensors, are merged by sensor with Kalman filter, to realize to standby prison
The understanding of the elderly of shield, it is therefore an objective to replicate the sensation of human interaction：Vision, the sense of hearing, tactile.
Nounou intelligent monitoring devices carry 3 cameras, just become first old shield for possessing 360 degree of visions
Manage robot.One wide angle camera is above covering 180 degree, the remaining 180 degree of two narrow lens camera covering.This is just as one
People is the same, and a complete spatial consciousness is provided for vision.Nounou intelligent monitoring devices also have a touch panel and side
Button, as shown in Figure 3A, to meet the touch perception of user.
Intelligent language is possessed by wired and wireless simulation microphone or the standard of bluetooth 4.0, Nounou intelligent monitoring devices
Sound identification function.Nounou intelligent monitoring devices are also the product of first customization, and it can pass through analog line output signal
Android audios are provided with Baffle Box of Bluetooth simultaneously.Nounou intelligent monitoring devices have merged all wireless microphones and artificial line
The audio on road.This allows the elderly to place loudspeaker and microphone around room, ecological with the Nounou inside completing
System.
Electronics annexation block diagram：Figure 14 describes the electricity according to the intelligent guarding system accompanied for family health care
Sub- annexation.The connectivity agreement between each component is described in detail in figure, and primary clustering is in itself.Its core is
Run the 410c plates of Android 5.1Lollipop operating systems.
Nounou intelligent monitoring devices are that earliest permission user preserves one of monitor device of personal information in SD card.This
Allow user to upgrade its Nounou device, and all machine learning of user are transferred to next Nounou devices.
Also allow user ID archives, to ensure safety.This is a key component as Nounou, just as a people.Originally,
Nounou devices just as stranger as being not aware that whom user is, but passage time process, can learn the emerging of user
Interest and preference, just imagine that friend is such, Nounou devices are it will be appreciated that old man, using the teaching of the invention it is possible to provide optimal treatment.
Nounou intelligent gateways can manage various IoTMedtech sensors, as blood glucose meter, heartbeat, blood pressure,
Scale, thin quality and body fat percentage, activity tracking, quality sleep length and quality, heat exercise, etc..
USB device tree：According to a kind of embodiment, Figure 15 is the description intelligence prison accompanied for family health care
The USB device tree graph of a relation of protecting system.For example, Nounou intelligent monitoring devices provide 2 main USB controllers from
Snapdragon processors.In order to which all required electronic components are connected into 410c plates, it is necessary to 2x3 ports USB set line
Device.It should be noted that only 1 USB controller can flow to 410c plates simultaneously.This means once can only at most have 2
Contemplate camera stream.In order to solve this problem, three magazine two need multi-channel Time to be multiplexed.Nounou intelligent monitors fill
Be equipped with a wide front camera, be most important one, behind have two cameras be used for for activity perception and 360 degree
Visual telephone.Best solution is that two rear cameras progress are time-multiplexed, and remains preposition wide-angle lens.
Power tree：Figure 16 is the work(for including power distribution of the description intelligent guarding system accompanied for family health care
Rate tree graph of a relation.The computing capability provided for Nounou intelligent monitoring devices, it is only needed in the most 3.5A of 12V, equivalent to
Most 42W.This is the situation of maximum, and routine operation estimation is about 20W, as the power of a small bulbs.
Nounou intelligent monitoring devices are operated on two power rails, 12V and 5V electric power rail.Stepping electricity
Machine is run on 12V, and main 410c plates are also run on 12V.In order to clear up power rail and isolate the noise of stepper motor, stepping electricity
The power supply of machine is cleared up with choke inductance.Pull-down adjuster is used to 12V being adjusted to 5V, is to greatest extent 2A.5V energy
It is usb hub to measure drafting, and it carries all ancillary equipment pointed in block diagrams.Touch-screen and LCD display also have
5V function.
Software architecture (Software Architecture)
Nounou intelligent monitoring devices can be different from other age-care's products due to its software used.Pass through language
Sound identification, face recognition, use pattern and sensor data analysis, Nounou intelligent monitoring devices are intended for most clever, most
Age-care's product of intelligence.
Nounou is run on Android 5.1 self-defined ROM.There are some patches to support to touch in hardware abstraction layer
Panel, and the patch in Java layers then provides a Consumer's Experience.Nounou UI/UX is first exclusively for the elderly's design
Android operation system, it is therefore an objective to simple, intuitive, but remain to make people pleasing.
Software stack：Figure 17 schematically illustrates the software configuration of the intelligent guarding system accompanied for family health care.
In bottom, it is not changed linux kernel.It is HAL layers (hardware abstraction layer) on kernel, herein, 410c has patch
To support 410c plates.This includes the ancillary equipment such as GPS, SD card, high speed, low-speed expansion port, usb driver, WiFi chip
Driver, including above-mentioned touch panel driver, and multi-media sensor fusion and division.
It is the boot script and c++ application programs of user on HAL layers, this is the core of Nounou softwares.Guide pin
This will start a series of software services for Nounou.These services are all being carried out at any time, and continue to monitor and respond user.
It means that at any time, Nounou is ready for a pleasing to the ear order, Nounou is already prepared to detect dynamic in room
Make, and Nounou also is prepared for tracking user, like tracking, one people is such.
This sound monitoring is the ReSpeaker Mic battle arrays based on ReSpeaker core boards and from Seeed Studio
Strake, it is a kind of hardware speech interface of opening, and the SDK of our Javaand C/c++ application programs is supported with one.
ReSpeaker provides a kind of robot noun of hands-free way with us and some using our robot of sound control
Order
When Nounou robots and internet are not in contact with, we are with vocabulary and audio file library come for ReSpeaker
Integrated speech identification engine PocketSphinx support is provided, enable it to when people speak to Nounou devices to key
Word and order are made a response.Once our Nounou robots, online, we just use the cognition speech recognition based on cloud
Software Amazon Alexa voice services.
ReSpeaker provides USB controls by MT7688wi-fi module for power supply by Atmel ATmega32u48-bit MCU
Device is powered.XVSM-2000Smart Microphone based on XMOS develop ReSpeaker Mic Array plates.The plate is whole
7 PDM for possessing following function microphones are closed：
- far field voice capture,
- auditory localization,
- noise suppressed.
The two plates and a USB are connected to 410C by the present inventor.The Linux drive program of standard have identified
ReSpeaker loudspeakers and core board.
In some cases, user may wish to a microphone and be removed from Nounou devices, thus can be in moveable house
Between when and user interaction.When user will go to toilet or go to kitchen, this is very convenient.Since the Linux of standard drives journey
Sequence no longer where applicable, custom software can carry out radio communication with 410C plates.
Connections of the UDP on WiFi is established in the port numbers of an agreement, and the word for anticipating (identification) is sent
Return Nounou devices.Word is explained by natural language processing (being different from speech recognition), then on the 410C plates of core
Calculate.
This reactive behavior is one of first family age-care for showing similar human behavior.It will also start
In the machine learning engine continuously run from the background.It is Nounou brain.All activities all by machine learning engine,
Record, analyze and update in SD card.
It is the Android application builds that can be started by user in the top of software stack.This will be helpful to
Android user image.The application program for having some default installations can be taken out in box, and because Nounou is
The version of Android 5.1, so any Android application programs can be installed when user needs.
Software interconnections (c++ application programs)：Fig. 7 describes is used for family health care according to a kind of embodiment of the present invention
The information fusion (fusion) and division (fission) mechanism of the sensing unit of the intelligent guarding system of company.With software stack
On the contrary, the figure illustrates the interconnection between software service in C++ layers.
This interconnection network helps to understand how Nounou software works, and is mutually passed between component primarily now
Delivery data.It is the various sources of sensor input on the left side, is merged by sensor.Sensor fusion has run some calculations
Method, including Kalman filter, speech recognition, motion detection, emotion detection etc..Once data are fused to sensor fusion side
One single delta state on boundary, data will be passed to Nounou brain.
Nounou brain is a software module, and it is new to operate (translation) by compared with state before
The state of user.Several states before it is stored by average filter, and operated in using machine learning algorithm from FastCV
On special 410c hardware.Decision exactly is sent to the most suitable order of sensor fission by this, to obtain the experience of people.
Periodically, brain can update SD card with new user profile.Each module of visible green is one
Single software module, the storehouse that it concurrently can be called as service operation or on API borders.These modules
In each write exclusively for Nounou.Using UDP data flow characteristic, realize and lead between the process based on slot
Letter.Software module can be write with C++.
Intelligent wearable sensors fusion and division：Nounou systems, which provide to set in family's ecosystem first, melts
Close the intelligent wearable sensors with splitting function.As it was previously stated, Nounou can be merged using sensor it is all to translate
Sensory information：
- contact panel；
- wireless module (bluetooth 4.0, WiFi802.11b/g/n, Iot),
- camera (computer vision),
- microphone (speech recognition, emotion detection).
Data are fused into a single state of a description user.Over time, based on this new state and with
Preceding state, Nounou brain will using machine learning come determine how with user mutual.This process is called sensor and split
Become.Nounou can be with user mutual：
- the cloud storage for data upload/download,
- it is any be mounted with Android application programs,
- stepper motor tracks user,
- figure shows.
The big function desktop computer with advanced processor is needed on this advanced technology tradition, however, Nounou
Hardware-accelerated same result can be realized by using the 410c of cloud computing and high pass.
Neutral net and pattern-recognition：Nounou carries out real-time mode recognizing and data analysis to all incoming datas.
When it determines next state, this is most brain.Nounou learns through experience, and runs into new use in first use
It may judge or produce the hypothesis of inaccuracy during family by accident.This is the basic step of machine learning.Conventional, engineer can deliver
Before product, a series of training video/vector/data are injected to teach algorithm.However, because each user is unique
, because the mankind innately have different individual characteies, Nounou can effectively be run with the knowledge of minimum.
Over time, Nounou study will be more and more, and can fully understand the thinking thinking of user.
Nounou is first using neutral net and the business safeguard and supervision for the aged device of pattern-recognition, and this pattern-recognition can be with
The use of user and develop.It is to be understood that being the hypothesis made by Nounou brains or judging whether correct, there are some buttons：
" no " and "Yes" can be used to require Nounou brain as feedback.
The cardinal principle for the neutral net that the present inventor uses is based on：
Three kinds of basic activation mathematical functions (representing shape function, radial function, linear function individually below)：
·Sigmoidal Function：
Radial Function, e.g., Gaussian：
·Linear Function
The artificial neural network of the present invention is to be based on feed-forward information, as shown in figure 18, which describes Nounou and intelligently supervises
The artificial neural network of protecting system based on feed-forward information relation.
The tissue of the neutral net of the present invention is based on difference as shown in figure 19 and convergent mechanism.
In the Nounou neutral nets of the present invention, fed information flows in one way, and input pattern produces a kind of defeated
Go out.The present inventor uses Elman net because from feedforward net unlike, before Elman net possesses the memory of state or
Time is felt.Elman net is a kind of with local recurrent feedforward network.Thus, machine-learning process can be more quickly and effectively.
Figure 20 is used for the letter that the artificial neural network for the intelligent guarding system that family health care is accompanied includes described in description
Relation schematic diagram repeatedly is ceased, wherein relation includes repeatedly described in representing：
- node connects back to itself or is connected to other nodes,
- information flow be it is multidirectional,
The time of-previous state and memory.
Language based on Elman obtains and processing experiment (Elman1990), benevolence definition of the present invention：
- task：Continuous word in Elman Net prediction sentences；
- data：Set sentence (such as my son is phoned, my heart disease doctor is phoned, phones my doctor
It is raw)；Word is to input one by one.
- representation：Each word using binary representation (such as：" doctor " is 00110011, and " son " is
00111010)。
- training method：Backpropagation (Back propagation).
For other regions of neutral net, Nounou uses another unit in RNN (Recognition with Recurrent Neural Network), its quilt
Referred to as LSTM units.LSTM units support shot and long term memory.These special units for low-power consumption embeded processor (such as
410C) there is optimum performance, due to its highly-parallel computing capability.Traditionally, it is necessary on a high performance desktop computer
It is trained, but the present invention can bring user it now.
410C plates play a crucial effect herein, because programmer can face rudimentary program.With OpenCL
In code it is similar, 410C provides the access to Hexagon DSP (digital signal processor).This allows single kernel is straight
Meet write-in DSP and calculated in the case where not influenceing CPU pipelines.
External user configuration file：Nounou is the safeguard and supervision for the aged system of first support external user configuration, and it can be with
Preserve all preferences of user.Machine learning is adaptive, and each the elderly can be formed as an entirely different configuration text
Shelves.Generally, in most products, this user configuration document is stored in the region that can not be retrieved in single file.On the contrary,
It is dispersed in multiple files, and is closely integrated with software.
The shortcomings that conventional system is that the summary file can not be transferred to another machine, can not back up the summary text of user
Part.However, the present invention changes this situation.The personal information of user is periodically stored in an outside SD card, and user can be with
Be transferred to other Nounou devices in an environment, for example, from family to hospital or another kinsfolk family.This
Outside, this configuration file can back up like a dream, it might even be possible to other being compared by monitoring old man.
The SD card technology that the present invention uses includes：
- SD standard -2GB SD storage cards use the file system of FAT 12 and 16,
- SDHC standards-use FAT32 file system more than 2gb-32gb SDHC storage cards.
This sharing function allows people and most important doctor and researcher to go through the disease with same disease
The behavior of people.The collection of these data is priceless, is the huge resource of medical research exploitation, contributes to the elderly of standby monitoring
And doctor.
All data all be secrecy, and no the elderly agree in the case of, in confidence, safely, not with appoint
Who am shared.
Nounou is from the data of the sensor collections such as all IoT Medtech Glucometer, including heart rate, blood pressure, body
Weight can be stored in user with weight reducing index and body fat percentage, electrocardiogram, sleep length and quality, heat exercise etc. information
In configuration documentation, it is provided with post analysis and calculates and analyzed for the causal correlation for guarding medication.
UI/UX designs lift more preferable HRI：
Nounou is with unique man-machine interaction (HRI) mechanism.Merged using acoustic control/part split with machine learning it is old to improve
The accessibility and availability of year people.Allow to have the elderly of cognitive disorder easily to be exchanged with machine., Nounou has multimode
Formula function,, can be with 24h/ by fusion process combination sound and figure input and by fission process combination sound and images outputting
7d it is round-the-clock in house exist and and can be used.
Nounou has a kind of figure support system, with sound interaction function.Pair between Nounou and custodial person
Connect and two kinds of different patterns (interface i.e. based on voice and based on figure) be present, so as to considerably increase may have access to for Nounou
Property.
It is most important that gracefulness, interactivity, terseness and dynamic inspection are that user uses in daily household or Advanced Nursing's environment
Factor.Exactly this feature make it that Nounou is attractive for the elderly in daily household or Advanced Nursing's environment.
It is to be specifically designed as the elderly to provide a kind of Consumer's Experience directly perceived, interactive and interesting.
Figure 21 is that description is described to be used for the intelligent guarding system that family health care is accompanied using information fusion and division mechanism
To combine the multimode of audio and image input/output construction.
Consumer's Experience UX：With advancing age, the elderly has three kinds of problems：Visual loss, hearing disability and memory
Decline.
- eyesight
The vision loss of the elderly is a main health problem.About 1/3rd people suffered from certain at 65 years old
The eye illness of eyesight is reduced in kind degree.The most common reason of the elderly's visual loss be senile macular degeneration, glaucoma, it is white in
Barrier and diabetic retinopathy.The characteristics of senile macular degeneration is to lose maincenter eyesight.
Therefore, the problem of Nounou is concerned about including following several respects：The contrast of word, color contrast, concise journey
Degree, and the icon of convenient expression implication.
Present invention uses some ratios-colour cell standardization to adjust and define optimal color combination and optimal contrastive colours
For the App shown on the Show Button and Nounou screens, it is used for strengthening the old age for having visual problem with best visual color
Readability of the people for information.
Hearing
Hearing loss is the natural result of aging.In people more than 60 years old, the people of a quarter has measurable hearing
Loss.In crowd more than 70 years old, numeral rises to half.People is more old to be more possible to that dysaudia can be run into.Cause
This, Nounou carries built-in loudspeaker, and connects Baffle Box of Bluetooth all to home, to ensure that old man can correctly hear institute
Some information and dialogue.
Memory
Most of elderly population are influenceed (memory, notice, note by isolated decline with age-related cognitive ability of society
Power of anticipating etc.).User interface that is clear and simply carrying 3 button interactions and voice activation as shown in Figure 22 A-C, specifically for
The elderly design, be easy to exchange and consider including it is following the problem of：
- distribution task and multiple screens (needing to carry out internal memory to former operation) are avoided,
- simple action is taken,
- concentrate on and act step by step.
In a word, technical characteristic of the invention includes voice/Graphics Fusion division, voice/visual machine study, color group
Conjunction and contrastive colours ratio are the innovations that Android shows liquid crystal applications and man-machine interaction etc..
User interface (UI)：Nounou user-interface designs are simple (such as Figure 22 A), easily used by all the elderlys,
Consider the various physical disturbances of the elderly.
Push-botton operation (right/left) and the change of bottom, it is allowed to the happiness simple to operate of user.The human body work of Nounou devices
Cheng Xue designs are to allow the elderly of technology illiteracy to find of interest and conveniently.
Nounou devices have used the homepage form of carrousel formulas, can increase visual interest, avoid confusion.It is this
Form uses in many places, because this very simple mode can with the addition of a large amount of contents, and is easy to navigate.
Mounted cast designs：One main design challenge is that Nounou devices are designed as into company formula machine by designing
People.With the development of intelligence, in order to directly perceived, function and the simple design of complexity are matched.It is any that outward appearance is integrated into it
Inside, the hospital in the kitchen in personal house, parlor.Its shape, but have to comply with each space, however, de- grain husk and
Go out, attract notice.Here it is Nounou theory：Pursue, observe, perceiving emotion, bringing Social Happiness and safeguard life.
Nounou devices based on rotational circle by being arranged on rhombus pedestal.Both smooth plastic material can be carried
Manufactured fillet, thereby using safety, gracefulness and safeguard simple.It must also be large enough to handle powerful technical problem in addition for example steady
Qualitative, durability, integration.
The interarea of rhombus is a kind of translucent glass surface of black, is easy to and user mutual, built-in camera, and makes screen
Curtain and button disappear in shutdown.This digitizer surface causes the elderly in different angles from more than 45 degree inclined designs
Can effectively it be used with distance.
On the component of black translucent glass, Nounou major part is its LCD capacitance touch screen, it is allowed to Yong Hu
Interacted under activity pattern with system.In addition, in the both sides of screen and bottom (three angles at four square angles), sensitivity
Button be revealed.When not in use, these buttons are sufficiently large, easily can identify and access in use.
Android software kit：Monitor device and the interaction mechanism of user have carried out complete customized to Android operation system
Improve, including bifurcated, modification etc. improve, so as to provide the interface for being suitable for old man and using.The interface such as Figure 22 A-22D
It is shown.For example, button body is larger in Figure 22 A, the general image with intuition, more eye-catching word indicating is also equipped with.It is this
Interface can carry out searching choosing by sound instruction, limb action or touch.Therefore, this user interface uses more clever
It is living, and for there is the old man of touch, movement or voice disorder to be also applicable.
Each a kind of big square icon is employed corresponding to the application of every kind of Android and lower section also carries word indicating.These
Application software is arranged by class, can be selected by carrying the membrane keyboard of icon on display screen, and the Android of standard operates
It is unclassified.During the installation of new Android application software, user, which can choose new Android application in advance, to return
The classification entered.In the case where not chosen to classification, Android application will be assigned to general miscellany.
Two embodiments shown in Figure 22 B and 22C show the feelings of the monitor device display screen under two kinds of concrete conditions
Shape.For example, Figure 22 B present the relevant social or alternative icon membrane keyboard of exchange way on display screen, and Figure 22 C are in then
The alternative icon membrane keyboard of relevant health status on display screen is showed.
Again as shown in figure 22d, using the control button being located on display screen on three angles, the option that can be directed to menu enters
Row searches choosing, wherein three buttons intuitively point to different directions respectively.So, provide for convenient, flexible in addition to touch-screen
Search player's section.
For the modification realized the user for being related to other sound and action behavior interactive and carried out to Android operation system
And adjustment, carry out the modification and adjustment to Android kernel, Android hardware abstraction layer (HAL) and Android Java superficial layers.As
A part for technical solution of the present invention, there is provided the monitor device user interface easy to use of the old man based on Android system so as to
Enough it is applied to the situation of various old man's behaviors limitation.
In a kind of embodiment, the Android interface can utilize be connected with Bluetooth or Iot without traditional thread binding
Put and be controlled.These devices include remote control pointer, wheelchair accessory, glasses tracker or ECG interpreter.
It is unselected so as to supervising when monitor device is being spoken or listened to, or in touch interface or LCD display
Protection unit is in the state of wait, and the Android user interface will be changed and show the animated face table shown in Figure 23
Feelings.These animated face expressions can include various types of expression forms described in Figure 24, including talk, listen attentively to, it is glad and
It is sad.So, the monitor device can just utilize animated face icon to show the various facial expressions for simulating people to old man.
More than embodiment be for being further described and demonstrated to technical solution of the present invention, not be used for pair
The scope of the present invention is limited.The equivalent knot that the specification and claim of those skilled in the art application present invention is done
The change of structure or step, belongs to protection scope of the present invention.
Claims (7)
1. it is a kind of for health care for the aged accompany Nounou intelligent monitoring devices, for detect custodial person include behavior,
The situation that physical signs and mood characterize, the monitor device include：
Body posture monitoring unit, the image of the body posture of custodial person can be identified and be monitored；
Behavior act monitoring unit, the behavior act of custodial person can be identified and be monitored；
Mood characterizes monitoring unit, the mood of custodial person can be characterized and be identified and monitor；
Physical signs monitoring unit, the physical signs of custodial person can be identified and be monitored；
The monitor device is also configured with sensing element, including wearable heart monitor, wearable wrist for custodial person
Band, wherein the sensing element can be used for obtaining induction information from the custodial person and can filling to the intelligent monitor
Put the transmission induction information；
The intelligent monitoring device can be connected with information system, and described information system includes：
Information receiver, including the wireless senser that monitoring server uses；
Information processor, including high in the clouds computing unit, for handling the induction information, including information identification,
Fusion and division；
Information carrying means, for the induction information acquired in the sensing element is transferred into described information processing dress
Put, and the processing information after the processing of described information processing unit is further transferred to described information reception device；
Information-storing device, including memory card and high in the clouds storage element, for storing the sense acquired in the sensing element
Answer the processing information after information and the processing of described information processing unit；
Wherein, the intelligent monitoring device can include wired connection or wireless connection with the connection of information system.
2. the intelligent monitoring device described in claim 1, including：
Main body, including Main Processing Unit, display, positive photographing element, backward photographing element, touch-control panel, multiple touch key-press,
Connector, battery unit and power outlet；And
Pedestal, the main body are set on the body and can turned using stepper motor relative to the main body
It is dynamic.
3. the intelligent monitoring device described in claim 2, wherein the main body utilizes slip ring relative to the rotation of the pedestal
The apparent energy naturally continuously rotated is provided to the rotatable main body cause the intelligent monitoring device from the pedestal
Tracking closely can be carried out to custodial person without being limited by rotation.
4. the intelligent monitoring device described in claim 2, wherein the stepper motor is by built-in controller and by described
Main Processing Unit is controlled, using the teaching of the invention it is possible to provide the slewing rate of optimization and torque.
5. the intelligent monitoring device described in claim 2, wherein the positive photographing element is arranged at the monitoring arrangement front portion
Be wide-angle imaging element within glass surface, using wide-angle lens include 175 degree horizontal view angle and up to 90 degree hang down
Look at angle straight；The backward photographing element includes two parts, be separately positioned on close to or so two angular positions, include up to 90 degree
Horizontal view angle and up to 45 degree of vertical angle of view；So as to which the positive photographing element and the backward photographing element can carry
For the full-time continuous omni-directional visual to surrounding environment.
6. the intelligent monitoring device described in claim 2, wherein the touch screen face is capacitive touch screens, it is arranged on the master
The positive middle part of body；The multiple button is two capacitance keys, and it is described tactile to be separately positioned on the main body front
Two side positions of panel are controlled, so as to which the custodial person can act to enter with the intelligent monitoring device conveniently by tactile
Row is interactive.
7. the intelligent monitoring device described in claim 2 further comprises guarding electronic system, it includes contact panel, liquid crystal
Show device, SD card interface, microphone, loudspeaker, microcontroller, shooting distributor plate and be connected with the Main Processing Unit a variety of outer
Enclose electronic equipment；Wherein described microcontroller can carry out real-time programming, and to realize control in real time, the shooting distributor plate uses
Frequency multiplexing technique is realizing panoramic vision.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016108759118 | 2016-10-03 | ||
| CN201610875911.8A CN107016224A (en) | 2016-10-03 | 2016-10-03 | The Nounou intelligent monitoring devices accompanied for health care for the aged |
Publications (1)
| Publication Number | Publication Date |
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| CN107895101A true CN107895101A (en) | 2018-04-10 |
Family
ID=59439527
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|---|---|---|---|
| CN201610875911.8A Pending CN107016224A (en) | 2016-10-03 | 2016-10-03 | The Nounou intelligent monitoring devices accompanied for health care for the aged |
| CN201710929245.6A Withdrawn CN107895101A (en) | 2016-10-03 | 2017-10-01 | The Nounou intelligent monitoring devices accompanied for health care for the aged |
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| Application Number | Title | Priority Date | Filing Date |
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| CN107658016A (en) * | 2016-10-03 | 2018-02-02 | 朴植 | The Nounou intelligent guarding systems accompanied for health care for the aged |
| CN110116416A (en) * | 2019-06-17 | 2019-08-13 | 北京大学深圳医院 | It is a kind of old to accompany administration health care robot and its medication |
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| CN108814567A (en) * | 2018-04-16 | 2018-11-16 | 东南大学 | A kind of family endowment intelligently guards robot system |
| CN108877942A (en) * | 2018-06-11 | 2018-11-23 | 天津科技大学 | A kind of safe assistance system based on artificial intelligence |
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| CN107016224A (en) | 2017-08-04 |
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