CN108253955A - Old man's trip auxiliary system based on outdoor leading type walking robot - Google Patents

Old man's trip auxiliary system based on outdoor leading type walking robot Download PDF

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Publication number
CN108253955A
CN108253955A CN201711444454.8A CN201711444454A CN108253955A CN 108253955 A CN108253955 A CN 108253955A CN 201711444454 A CN201711444454 A CN 201711444454A CN 108253955 A CN108253955 A CN 108253955A
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CN
China
Prior art keywords
information
module
old man
processing module
voice
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CN201711444454.8A
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Chinese (zh)
Inventor
潘晓明
彭罗
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重庆柚瓣家科技有限公司
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Priority to CN201711444454.8A priority Critical patent/CN108253955A/en
Publication of CN108253955A publication Critical patent/CN108253955A/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1116Determining posture transitions
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1116Determining posture transitions
    • A61B5/1117Fall detection

Abstract

This patent application discloses a kind of old man's trip auxiliary systems based on outdoor leading type walking robot, are related to auxiliary tool field of walking.Including the external subsystem in processing module, radio receiving transmitting module, GPS positioning module, information storage module, the cloud server of daily update cartographic information and setting outdoors leading type walking robot;The external subsystem includes walking module, voice module and photographing module capable of recording, and walking module is for driving robot ambulation, and voice module is used to make a sound prompt message to old man, and photographing module is used to acquire image information and old man's sound instruction information.The present invention solves the not comprehensive enough of auxiliary old man trip consideration in the prior art, suitable for auxiliary old man's trip.

Description

Old man's trip auxiliary system based on outdoor leading type walking robot

Technical field

The present invention relates to walking auxiliary tool field, more particularly to a kind of old men based on outdoor leading type walking robot Trip auxiliary system.

Background technology

The 21 century in China be an aging of population epoch, the old man to China in 2014 more than 60 years old dashed forward Broken 200,000,000, more than 30% will be risen in the population proportion of following decades the elderly, and a large amount of old man causes to look after old man It is undermanned, nobody accompanies and attends to undoubtedly breakneck when old man needs outgoing.

In order to solve the problems, such as unmanned nurse old man, Chinese invention CN103914948B discloses a kind of based on intelligent mobile The old man care system of terminal, system is by the gravity sensor, acceleration transducer, camera shooting that are set on intelligent mobile terminal Head, receiver, global position system GPS, health analysis module, safety analysis module, communication module, loud speaker composition.Method is: The information that gravity sensor, acceleration transducer, camera, receiver are acquired, is separately input to health analysis module and safety In analysis module, rhythm of the heart, amount of exercise statistics, urgent SOS callings, Indoor Video, the prompting of appliance door window safe, kitchen are realized Event prompting, health account management, the monitoring of trip whereabouts, intelligent navigation are gone home ten functions.

Wherein, acquisition information by, camera, receiver and global position system GPS acquire by the movement of nurse old man And voice messaging.When the trip that old man clicks monitors button, the old man current location longitude and latitude of global position system GPS acquisition Coordinate information, and safety analysis mould trip monitoring unit in the block is entered into, the trip rail of old man is shown on intelligent terminal Mark.Safety analysis mould voice help-asking unit in the block puts through the phone for the people being previously set;Indoor Video unit, intelligent navigation return Family's unit, calls communication module to send an SMS to the people being previously set respectively;Appliance door window safe reminding unit triggers loud speaker Alarm reminds it to close electric appliance door and window;Kitchen event reminding unit, timing terminate, and trigger loud speaker alarm prompt.Reaching makes always People's various aspects in daily life obtain the purpose of comprehensive nurse.

People is susceptible to when being passed through stair due to the agings of body parts function, during trip due to being short of physical strength The accident fallen down, but using said program, not careful for the path planning of old man's trip, said program only calculates Path, but old man safe may not alone arrive at, while go on a journey to the old man time needed and arrival mesh Ground time without, it is expected that old man may go out after until darkness has not arrived destination, and darkness is for the blurring of image It is also to be easy to cause the factor that old man falls down for old man.Therefore being gone on a journey using said program auxiliary old man, it is not complete enough to consider Face, it is therefore desirable to the more complete old man's trip auxiliary system of a function.

Invention content

The trip auxiliary system of the old man based on outdoor leading type walking robot in this programme, including:Processing module, nothing Line transceiver module, GPS positioning module, information storage module, the cloud server of daily update cartographic information and setting are outdoors External subsystem on leading type walking robot;

The external subsystem includes walking module, voice module and photographing module capable of recording, and walking module is used to drive Mobile robot is walked, and voice module is used to make a sound prompt message to old man, and photographing module is for acquiring image information and old Voice sound command information;

The GPS positioning module is used for the current location information to processing module distribution of machine people, radio receiving transmitting module point It is not connect with processing module and cloud server signal, information storage module is stored with identification character, and cloud server is used to lead to It crosses radio receiving transmitting module and sends cartographic information to processing module, processing module sends the cartographic information to information storage module, believes For breath memory module for storing cartographic information, the cartographic information includes the information of special obstacle;

The processing module is connect respectively with walking module, voice module and photographing module signal, and processing module is used for will By the way that the information processing of photographing module the image collected is into No.1 walking information and being sent to walking module drives walking module Robot follows old man, and processing module is used to calculate the speed for driving robot when following old man and is sent to information Memory module;

Processing module is used to read the identification character in information storage module, and processing module is used to believe old man's sound instruction Breath is converted into order text information, and whether processing module is additionally operable to judge in order text information, comprising identification character, be judged as When being, processing module is by the Content Transformation after the identification character in order text information for endpoint information, and processing module is by GPS The current location that locating module is sent is converted to origin information, processing module according to endpoint information, origin information, cartographic information and The information passage path planning algorithm of special obstacle calculates optimal path and path total length;

Processing module is used to read speed of the robot of information storage module memory storage when following old man, then basis The temporal information being calculated after path total length and path total length divided by old man's speed of travel is converted to No.1 acoustic information, Then No.1 acoustic information is sent to voice module by processing module;

After the voice module receives No.1 acoustic information, No.1 acoustic information is played to old man.

Special obstacle of the present invention includes underpass, overpass and ladder.

The present invention working principle and beneficial effect be:

In technical solution of the present invention, external subsystem is used to make old man's trip based on outdoor leading type walking robot auxiliary Auxiliary system is interacted with the external world, and including walking module, voice module and photographing module capable of recording, processor is taken the photograph for handling The image information and old man's sound instruction information sent as module, processor is by image information and old man's sound instruction information processing After obtain No.1 walking information and No.1 acoustic information, the No.1 walking information-driven machine that walking module is sent according to processing module Device human action, language module drive robot to play sound to old man according to the No.1 acoustic information that processing module is sent.

Compared with prior art, old man's trip auxiliary system provided by the invention based on outdoor leading type walking robot By the special obstacle information being included in cartographic information, make old man when the robot for using the present invention carries out path planning, Can obtain a path for avoiding special obstacle, special obstacle herein include underpass, overpass, ladder or its His old man by when the place had any problem, old man is enable to be arrived at by more easily path of walking;The present invention is also logical Cross old man sound instruction information of the processing module processing from photographing module so that old man is i.e. controllable by speaking to robot Robot planning route;The present invention is also calculated by speed of the recorder people when following old man and with reference to path total length The time required to old man arrives at, enable old man is clearer to specify the plan of travel of oneself;The present invention passes through voice module The No.1 acoustic information obtained after receiving processing module processing, makes old man not need to the i.e. audible optimal path of robot Particular content and path total length and the time required to covering this paths.

Further, the cloud server is additionally operable to update Weather information daily, and cloud server is additionally operable to by wireless Transceiver module sends Weather information to information storage module, and processing module is used to Weather information being converted to No. two acoustic informations simultaneously No. two acoustic informations are sent to voice module.

In this way set after, old man can according to it is outgoing when weather decide whether band umbrella or freeze prevention measure, so as to avoid Old man is after trip due to the equipment of offhand corresponding weather and by wind and weather.

Further, when processing module, which can not calculate optimal path, to be led to not obtain path total length, terminal is believed Passage path planning algorithm calculates once to obtain program results again together for breath, origin information and cartographic information.

After setting in this way, avoid the occurrence of old man and go on a journey alone when robot can not calculate optimal path and lead to old man It goes on the way and occurs surprisingly.

Further, processing module is additionally operable to the type and quantity conversion of the special obstacle included in the information by special obstacle For No. three acoustic informations, No. three acoustic informations are played after voice module plays No.1 sound.

After setting in this way, when old man determines to go on a journey using the program results for being not suitable for old man's trip, the elderly can be allowed to determine It is fixed to carry out the preparation needed across special obstacle before travel.

Further, the content that the three bugle call sound includes further includes miscue.

When old man needs to pass through special obstacle, the time that old man on the way spends can not be accurately calculated (by multiple spies Different obstacle, which exists to compare, does not pass through the physical power loss bigger of special obstacle), it is theoretical prestissimo to remind old man's scheduled time, and It needs through special obstacle object.

Further, equipped with networking telephone unit, processing module is used to be converted to origin information the cloud server Networking telephone voice signal, the processing module are additionally operable to that the posture of human body is identified by image information, recognize people Body posture is fallen for paralysis after state, and processing module recognizes human body paralysis again by image information after ten minutes and falls, processing module hair The networking telephone unit in distress signal and networking telephone voice signal to cloud server is sent, networking telephone unit, which receives, to be asked 120 calling emergency tenders are put through after rescuing signal and send origin information to phone recipient after putting through.

When old man fall accidentally or suddenly seizure of disease cause paralysis be poured on ground ten minutes or more when, it can be determined that Lao Renjin Enter crisis state, call 120 first aids at this time, avoid unserviced the elderly causes to treat difficulty increase because not seeing a doctor in time Happen, the image information that photographing module is collected into is identified using processing module, when old man is in crisis state When can other people be notified by the networking telephone.

Further, the cloud server will be inputted equipped with the input unit for user input data, input unit Signal be sent to information storage module and be stored as family members' phone information, when processing module sends distress signal to the networking telephone It during unit, while reads family members' phone information and family members' phone information is sent to networking telephone unit, networking telephone unit connects After receiving family members' phone information, family members' phone information as telephone number is transferred to and is sent after putting through to phone recipient Point information.

When old man occurs surprisingly, not only needing first aid, it is also desirable to which the company of household avoids 120 first-aid centres and anticipates Emergency tender can not be arranged to lead to the situation for being delayed first aid opportunity outside, stored the phone storage of family members to information using input unit In unit, networking telephone unit notifies household after enabling old man's generation crisis situations.

Further, the cloud server is handled equipped with clock unit, clock unit for providing current time information Module is used to read current time information after calculating temporal information, is then added current time information the time of temporal information Time, obtain scheduled time and the scheduled time of being converted to information, processing module is additionally operable to current time information and pre- timing Between information be converted into No. four acoustic informations and be sent to voice module, voice module plays after receiving No. four acoustic informations to old man No. four acoustic informations.

After voice module is the time required to optimal path is covered in report, reports present time and arrival time causes old man Can modification be made to the plan of trip according to the now time and the time of arrival.

Further, the clock unit includes the date information of date, and the GPS positioning module is sent to processing module Current location information include longitude and latitude, processing module is used to according to longitude and latitude, date information and Weather information calculate sunset Time and conversion, No. five acoustic informations were sent to voice module, and five bugle call are played after voice module plays No.1 sound module Sound module.

After setting in this way, old man can according to sunset time time for arriving at of judgement that robot is prompted whether day It is black, if darkness, old man can go out before with regard to determine be to give up torch of going out or take, avoid old man's darkness and go outside It walks to occur unexpected.

Description of the drawings

Fig. 1 is that the present invention is based on the flows of the embodiment 1 of the old man of outdoor leading type walking robot trip auxiliary system Figure;

Fig. 2 is that the present invention is based on the walkings of the embodiment 2 of the old man of outdoor leading type walking robot trip auxiliary system The front view of the device of module.

Specific embodiment

Below by the further details of explanation of specific embodiment:

Embodiment is substantially as shown in Figure 1:

Old man's trip auxiliary system based on outdoor leading type walking robot in the present embodiment, including processing module, nothing Line transceiver module, GPS positioning module, information storage module, daily update cartographic information and Weather information cloud server and External subsystem on leading type walking robot outdoors, the outdoor leading type walking robot used in the present embodiment are set For Atlas anthropomorphic robot.

The external subsystem includes walking module, voice module and photographing module capable of recording, and walking module is used to drive Mobile robot is walked, and voice module is used to make a sound prompt message to old man, and photographing module is for acquiring image information and old Voice sound command information based on Bayes's debugging method person's particular model of establishing language in the present embodiment, utilizes established language person special Cover half type is identified the sound of old man in noisy environment, and utilizes Mei Er pilot tones spectral coefficient and gauss hybrid models to old The voice signal of people is identified old man's sound instruction information being converted into order text information.

The GPS positioning module is used for the current location information to processing module distribution of machine people, radio receiving transmitting module point It is not connect with processing module and cloud server, information storage module is used to store the information of cloud server transmission, and information is deposited Storage module is additionally operable to storage identification character, and cloud server is used to send map to information storage module by radio receiving transmitting module Information and Weather information, the cartographic information include the information of special obstacle, and the information of the special obstacle in the present embodiment is Manually add.

The processing module is connect respectively with walking module, voice module and photographing module signal, and processing module is used for will By the way that the information processing of photographing module the image collected is into No.1 walking information and being sent to walking module drives walking module Robot follows old man, and processing module is used to calculate the speed for driving robot when following old man and is sent to information Memory module identifies old man in the present embodiment using the graphic feature obtained based on Gaussian process regression model from image information With the posture for obtaining old man.

Equipped with networking telephone unit, processing module is used to origin information being converted to the networking telephone cloud server Voice signal, the processing module are additionally operable to that the posture of human body is identified by image information, and recognizing human body attitude is Paralysis falls after state, and processing module recognizes human body paralysis again by image information after ten minutes and falls, and processing module sends emergency letter Number and networking telephone voice signal to cloud server in networking telephone unit, after networking telephone unit receives distress signal It puts through 120 calling emergency tenders and sends origin information, the networking telephone used in the present embodiment to phone recipient after putting through Unit is the Skype networking telephones.

The cloud server sends out the signal of input equipped with the input unit for user input data, input unit It is sent to information storage module and is stored as family members' phone information, when processing module sends distress signal to networking telephone unit, It reads family members' phone information simultaneously and family members' phone information is sent to networking telephone unit, networking telephone unit receives family members After phone information, family members' phone information as telephone number is transferred to and sends origin information to phone recipient after putting through.

The cloud server is equipped with clock unit, and clock unit for providing current time information, use by processing module Current time information is read after temporal information is calculated, then by the time of temporal information plus current time information when Between, scheduled time and the scheduled time of being converted to information are obtained, processing module is additionally operable to current time information and scheduled time letter Breath is converted into No. four acoustic informations and is sent to voice module.

Processing module is used to read the identification character in information storage module, and processing module is used to believe old man's sound instruction Breath is converted into order text information, and whether processing module is additionally operable to judge in order text information, comprising identification character, be judged as When being, processing module is by the Content Transformation after the identification character in order text information for endpoint information, and processing module is by GPS The current location that locating module is sent is converted to origin information, processing module according to endpoint information, origin information, cartographic information and The information passage path planning algorithm of special obstacle calculates optimal path and path total length, when processing module can not calculate When optimal path leads to not obtain path total length, endpoint information, origin information and cartographic information together passage path are advised Cost-effective method calculates once to obtain program results again, and the path planning algorithm in the present embodiment is dijkstra's algorithm, this The speed of service of algorithm is slow compared to BFS algorithms, but can guarantee and find a shortest path, so as to ensure that is selected for old man Path will not make old man consume unnecessary muscle power.

Processing module is used to read speed of the robot of information storage module memory storage when following old man, then basis The temporal information being calculated after path total length and path total length divided by old man's speed of travel is converted to No.1 acoustic information, Then No.1 acoustic information is sent to voice module by processing module, and processing module is additionally operable to Weather information being converted to two bugle call Message ceases and No. two acoustic informations is sent to voice module, and processing module is additionally operable to the spy included in the information by special obstacle The type and quantity of different obstacle are converted to No. three acoustic informations, and the content that the three bugle call sound includes further includes miscue.

The voice module receives No.1 acoustic information, No. two acoustic informations, No. three acoustic informations and No. four acoustic informations Afterwards, No.1 acoustic information, No. two acoustic informations, No. three acoustic informations and No. four acoustic informations are played to old man successively.

The working principle and beneficial effect of the present embodiment is:

In the present embodiment technical solution, external subsystem is used to that the old man based on outdoor leading type walking robot to be made to go on a journey Auxiliary system is interacted with the external world, and including walking module, voice module and photographing module capable of recording, processor is used to handle The image information and old man's sound instruction information, processor that photographing module is sent will be at image informations and old man's sound instruction information No.1 walking information and No.1 acoustic information, the No.1 walking information-driven that walking module is sent according to processing module are obtained after reason Robotic movement, language module drive robot to play sound to old man according to the No.1 acoustic information that processing module is sent.

Compared with prior art, the old man provided in this embodiment based on outdoor leading type walking robot, which goes on a journey, assists system System makes old man carry out path planning in the robot for using the present embodiment by the special obstacle information being included in cartographic information When, a path for avoiding special obstacle can be obtained, special obstacle herein include underpass, overpass, ladder or Other old men of person by when the place had any problem, old man is enable to be arrived at by more easily path of walking;

The present embodiment also handles old man's sound instruction information from photographing module by processing module so that old man passes through Robot programme path can be controlled by speaking to robot;Speed of the present embodiment also by recorder people when following old man And calculate old man with reference to path total length and arrive at required time, enable old man is clearer to specify the trip meter of oneself It draws;The No.1 acoustic information that the present embodiment obtains after being handled by voice module receiving processing module, makes old man not need to The particular content and path total length of robot, that is, audible optimal path and the time required to covering this paths;

The present embodiment is also by playing the particular content of optimal path and path total length to old man and covering this Play Weather information after the time required to path, enable old man according to it is outgoing when weather decide whether band umbrella or cold-proof arrange Apply, so as to avoid old man after trip due to the equipment of offhand corresponding weather and by wind and weather;

The present embodiment will also be converted into three bugle call sound signals by processor about the information of special obstacle, then make processing Three bugle call sound signals are sent to voice module by device, when making old man's decision using the program results trip for being not suitable for old man's trip, The elderly can be allowed to determine to carry out the preparation needed across special obstacle before travel;Meanwhile three the content that includes of bugle call sound further include Miscue, when this so that old man needs to pass through special obstacle, the time that old man on the way spends can not be accurately calculated (by more A special obstacle, which exists to compare, does not pass through the physical power loss bigger of special obstacle), it is theoretical most quick to remind old man's scheduled time Degree, and need through special obstacle object;

When processing module can not calculate optimal path and lead to not obtain path total length, by endpoint information, rise Passage path planning algorithm calculates once again together for point information and cartographic information, after setting in this way, avoids the occurrence of old man in machine Device people goes on a journey alone when can not calculate optimal path and old man is caused to go on the way and is occurred surprisingly;

Beyond the clouds on server carry networking telephone unit after, when old man fall accidentally or suddenly seizure of disease lead to paralysis Be poured on ground ten minutes or more when, it can be determined that old man enters crisis state, calls 120 first aids at this time, avoids unserviced The elderly leads to treatment difficulty is increased happens because not seeing a doctor in time, the figure being collected into using processing module to photographing module As information is identified, can other people be notified by the networking telephone when old man is in crisis state;

After being carried on server for the input unit of user input data beyond the clouds, when surprisingly, not only needing occurs in old man Want first aid, it is also desirable to the company of household, avoid 120 first-aid centres occur it is unexpected when can not arrange the emergency tender to cause to be delayed first aid The situation of machine using input unit by the phone storage to information memory cell of family members, makes old man that net after crisis situations occur Network telephone unit can notify household;

After carrying clock unit on server beyond the clouds, after voice module is the time required to optimal path is covered in report, broadcast Report present time and arrival time enable old man to be done according to the now time and the time of arrival to the plan of trip Go out modification.

Embodiment 2, the reference numeral of the present embodiment are tire 1, lappet 2, connecting rod 3, spring 4, survey slide bar 5, is pressure-sensitive Sensor 6, rubber pad 7, non-slipping block 8.

As shown in Figure 2, the present embodiment is substantially the same manner as Example 1, and the difference lies in the outdoor leading types to walk The device of the walking module of robot is tire 1 and lappet 2, is fixedly connected below lappet 2 and robot, tire 1 connects Below lappet 2, connecting rod is connected between tire 1 and lappet 2, the both sides of lappet 2 are equipped with non-slipping block 8, wherein non-slipping block 8 For trapezoidal rubber, lappet 2 is equipped with one layer of rubber pad 7, and tire 1 is equipped with the spring 4 of buffering, leaf with 2 junction of lappet Voltage sensitive sensor 6, controller are additionally provided on daughter board 2 and surveys slide bar 5, voltage sensitive sensor 6 is connect with controller signals, and controller connects Controls connecting rod is lifted up after receiving the pressure suddenly change signal of the transmission of voltage sensitive sensor 6, and tire 1 is made to press on lappet 2 Rubber pad 7.

After setting in this way, using surveying the pressure brought after the frictional force that slide bar 5 is subject on ground becomes smaller to voltage sensitive sensor 6 Also can become smaller, therefore controller meeting controls connecting rod is lifted up when road is slided so that tire 1 and the leaf being connected on connecting rod The reduction of the distance between daughter board 2, connecting rod lifts all the way up so that the tire 1 being connected on connecting rod is also pressed in lappet 2 always The rubber pad 7 of bottom end avoids the tire 1 of rotation from entire robot vibration, tire 1 being driven to be arrived after lifting after being contacted with lappet 2 Non-slipping block 8 is contacted with ground, and the total weight of robot is pressed on non-slipping block 8, up to the purpose for making 1 deceleration slip of tire.

Above-described is only the embodiment of the present invention, and the common sense such as well known concrete structure and characteristic are not made herein in scheme Excessive description, technical field that the present invention belongs to is all before one skilled in the art know the applying date or priority date Ordinary technical knowledge can know the prior art all in the field, and with using routine experiment hand before the date The ability of section, one skilled in the art with reference to self-ability can improve and implement under the enlightenment that the application provides This programme, some typical known features or known method should not implement the application as one skilled in the art Obstacle.It should be pointed out that for those skilled in the art, without departing from the structure of the invention, it can also make Go out several modifications and improvements, these should also be considered as protection scope of the present invention, these all do not interfere with the effect that the present invention is implemented Fruit and practical applicability.The scope of protection required by this application should be based on the content of the claims, the tool in specification The records such as body embodiment can be used for explaining the content of claim.

Claims (9)

  1. The auxiliary system 1. old man based on outdoor leading type walking robot goes on a journey, including:Processing module, radio receiving transmitting module, GPS positioning module, information storage module, the cloud server of daily update cartographic information and setting leading type vehicle with walking machine outdoors External subsystem on device people;
    The external subsystem includes walking module, voice module and photographing module capable of recording, and walking module is used for driving machine Device people walks, and voice module is used to make a sound prompt message to old man, and photographing module is used to acquire image information and old man's sound Sound command information;
    The GPS positioning module be used for processing module distribution of machine people current location information, radio receiving transmitting module respectively with Processing module is connected with cloud server, and information storage module is used to store the information of cloud server transmission, information storage mould Block is additionally operable to storage identification character, and cloud server is used to information storage module transmission map believe by radio receiving transmitting module Breath;
    It is characterized in that:The cartographic information includes the information of special obstacle;The processing module respectively with walking module, language Sound module is connected with photographing module signal, and processing module is for will be by the information processing of photographing module the image collected into No.1 Walking information and be sent to walking module make walking module driving robot old man is followed, processing module for calculate drive Speed of the mobile robot when following old man is simultaneously sent to information storage module;
    Processing module is used to read the identification character in information storage module, and processing module is used to turn old man's sound instruction information Changing order text information into, processing module is additionally operable to judge in order text information whether include identification character, when being judged as YES, Processing module is by the Content Transformation after the identification character in order text information for endpoint information, and processing module is by GPS positioning The current location that module is sent is converted to origin information, and processing module is according to endpoint information, origin information, cartographic information and special The information passage path planning algorithm of obstacle calculates optimal path and path total length;
    Processing module is used to read speed of the robot of information storage module memory storage when following old man, then according to path The temporal information being calculated after total length and path total length divided by old man's speed of travel is converted to No.1 acoustic information, then No.1 acoustic information is sent to voice module by processing module;
    After the voice module receives No.1 acoustic information, No.1 acoustic information is played to old man.
  2. The auxiliary system 2. old man according to claim 1 based on outdoor leading type walking robot goes on a journey, feature exist In:The cloud server is additionally operable to update Weather information daily, and cloud server is additionally operable to through radio receiving transmitting module to letter It ceases memory module and sends Weather information, processing module is used to Weather information being converted to No. two acoustic informations and by two bugle call messages Breath is sent to voice module.
  3. The auxiliary system 3. old man according to claim 1 based on outdoor leading type walking robot goes on a journey, feature exist In:When processing module, which can not calculate optimal path, to be led to not obtain path total length, by endpoint information, origin information and Passage path planning algorithm calculates once to obtain program results cartographic information again together.
  4. The auxiliary system 4. old man according to claim 3 based on outdoor leading type walking robot goes on a journey, feature exist In:The type and quantity that processing module is additionally operable to the special obstacle included in the information by special obstacle are converted to three bugle call messages Breath plays No. three acoustic informations after voice module plays No.1 sound.
  5. The auxiliary system 5. old man according to claim 4 based on outdoor leading type walking robot goes on a journey, feature exist In:The content that the three bugle call sound includes further includes miscue.
  6. The auxiliary system 6. old man according to claim 1 based on outdoor leading type walking robot goes on a journey, feature exist In:Equipped with networking telephone unit, processing module is used to origin information being converted to the networking telephone voice cloud server Signal, the processing module are additionally operable to that the posture of human body is identified by image information, recognize human body attitude and fallen for paralysis After state, processing module recognizes human body paralysis again by image information after ten minutes and falls, processing module send distress signal and Networking telephone unit in networking telephone voice signal to cloud server, networking telephone unit are put through after receiving distress signal 120 calling emergency tenders simultaneously send origin information after putting through to phone recipient.
  7. The auxiliary system 7. old man according to claim 6 based on outdoor leading type walking robot goes on a journey, feature exist In:The signal of input is sent to by the cloud server equipped with the input unit for user input data, input unit Information storage module is simultaneously stored as family members' phone information, when processing module sends distress signal to networking telephone unit, simultaneously It reads family members' phone information and family members' phone information is sent to networking telephone unit, networking telephone unit receives family members' phone After information, family members' phone information as telephone number is transferred to and sends origin information to phone recipient after putting through.
  8. The auxiliary system 8. old man according to claim 1 based on outdoor leading type walking robot goes on a journey, feature exist In:The cloud server is equipped with clock unit, and for providing current time information, processing module is used to calculate clock unit Current time information is read after going out temporal information, then the time of temporal information is added to the time of current time information, obtained Scheduled time and the scheduled time of being converted to information, processing module are additionally operable to current time information and scheduled time information being converted into No. four acoustic informations are sent to voice module, and voice module receives and plays four bugle call messages to old man after No. four acoustic informations Breath.
  9. The auxiliary system 9. old man according to claim 8 based on outdoor leading type walking robot goes on a journey, feature exist In:The clock unit includes the date information of date, and the GPS positioning module is sent to the present bit confidence of processing module Breath includes longitude and latitude, and processing module is used to calculate sunset time and conversion five according to longitude and latitude, date information and Weather information Number acoustic information is sent to voice module, and No. five sound modules are played after voice module plays No.1 sound module.
CN201711444454.8A 2017-12-27 2017-12-27 Old man's trip auxiliary system based on outdoor leading type walking robot CN108253955A (en)

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