CN110211330A - A kind of miniature early warning robot of child's danger persecution - Google Patents

A kind of miniature early warning robot of child's danger persecution Download PDF

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Publication number
CN110211330A
CN110211330A CN201910593611.4A CN201910593611A CN110211330A CN 110211330 A CN110211330 A CN 110211330A CN 201910593611 A CN201910593611 A CN 201910593611A CN 110211330 A CN110211330 A CN 110211330A
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CN
China
Prior art keywords
child
danger
robot
early warning
persecuted
Prior art date
Application number
CN201910593611.4A
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Chinese (zh)
Inventor
李洪安
王佳莹
邢金莎
李薇
张寒
Original Assignee
西安科技大学
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Application filed by 西安科技大学 filed Critical 西安科技大学
Priority to CN201910593611.4A priority Critical patent/CN110211330A/en
Publication of CN110211330A publication Critical patent/CN110211330A/en

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    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00Alarms responsive to a single specified undesired or abnormal operating condition and not elsewhere provided for
    • G08B21/02Alarms for ensuring the safety of persons
    • G08B21/0202Child monitoring systems using a transmitter-receiver system carried by the parent and the child
    • G08B21/0205Specific application combined with child monitoring using a transmitter-receiver system
    • G08B21/0208Combination with audio or video communication, e.g. combination with "baby phone" function
    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00Alarms responsive to a single specified undesired or abnormal operating condition and not elsewhere provided for
    • G08B21/02Alarms for ensuring the safety of persons
    • G08B21/0202Child monitoring systems using a transmitter-receiver system carried by the parent and the child
    • G08B21/0205Specific application combined with child monitoring using a transmitter-receiver system
    • G08B21/0211Combination with medical sensor, e.g. for measuring heart rate, temperature
    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00Alarms responsive to a single specified undesired or abnormal operating condition and not elsewhere provided for
    • G08B21/02Alarms for ensuring the safety of persons
    • G08B21/0202Child monitoring systems using a transmitter-receiver system carried by the parent and the child
    • G08B21/0291Housing and user interface of child unit

Abstract

The invention discloses a kind of child's danger to persecute miniature early warning robot, comprising: pendant fish robot body, radio micro camera, heart rate sensor, master switch button, charge port, SIM card card slot, shock sensor;The miniature artificial pendant fish shape of early warning machine is persecuted in child's danger, and radio micro camera, heart rate sensor are arranged at pendant flake eyeball.The present invention increases concealment using the ornaments of the daily wearing of child as carrier;To identify based on the micro- expression of contactee and human body abnormal behaviour, danger early warning is carried out to monitor supplemented by child's body abnormality situation;If detecting abnormal behaviour, analysis result is informed into its guardian to carry out secondary judgement, while being positioned in real time to wearer, the probability of erroneous judgement is greatly lowered with this;Manual alarm device is increased, i.e., with fingerprint identification technology come initiative alarming;The function of danger signal concealment prompt.

Description

A kind of miniature early warning robot of child's danger persecution
Technical field
The present invention relates to robots, and in particular to a kind of miniature early warning robot of child's danger persecution.
Background technique
Currently, the development of science and technology brings social progress, but the following social safety problem also can not be ignored.In recent years Come, have in society many childs unfortunately experience property invade, be of wretched appearance, kidnapping, the events such as lost contact;But in contrast child is to many crimes Behavior is unconscious, and is difficult to inform household at the first time when murder.The case where being murdered for child, currently on the market mostly Number is all self-saving product, such as: high-decibel alarm, 360- children's wrist-watch 3S, rice rabbit children wrist-watch, positioning children's footwear.These Product mainly realizes the functions such as positioning, alarm, call, but they for concealment offender and are not suitable for.Mainly deposit The problem of have: product function needs wearer actively to enable, and at this moment, danger may have occurred and that;Product uses substantially The mode of vibration carries out dangerous tip, and concealment is difficult to ensure;Special dangerous situation is not accounted for into, and product function is not It is enough comprehensive;The false alarm rate of product is higher.
Summary of the invention
The present invention is in view of the above-mentioned problems, provide a kind of miniature early warning robot of child's danger persecution.
The technical solution adopted by the present invention is that: a kind of miniature early warning robot of child's danger persecution, comprising: pendant fish machine Human body, radio micro camera, heart rate sensor, master switch button, charge port, SIM card card slot, shock sensor;Child The miniature artificial pendant fish shape of early warning machine is persecuted in danger, and radio micro camera, heart rate sensor are arranged at pendant flake eyeball; SIM card card slot is arranged at pendant fish fin;Master switch button is arranged at fish mouth;Charge port is arranged in fish belly portion;Vibration passes Sensor is arranged in pendant fish body interior;It can be separated with front at pendant fish robot body fish tail, pendant fish robot body Fingerprint initiative alarming device is equipped at fish tail, pendant fish robot body fish tail and front junction are equipped with Fingerprint Identification Unit;Pendant Fish robot body fish tail is clip, can be clipped in the position of cuff, pocket, to prevent offender from bundling the hand of wearer And it can not alarm;Pendant fish robot body is connect with chain sling by card slot.
Further, the radio micro camera:
It is mounted on doorway, parlor, bedroom, router is wirelessly connected, and can be connected with mobile phone, and 360 degree monitor without dead angle.
Further, it includes human body abnormal behavior identification function that miniature early warning robot is persecuted in child's danger:
When child stays alone, robot can acquire machine by camera video and obtain the video of surrounding, carry out image vision Analysis and processing, at detection in video human body behavior, posture, gesture, expression including human body, these visual cues integrate Potentially it is intended to and the information of mood to express other side;Detect and understand the various actions of people, including simple single movement Behavior, interpersonal interaction, the group movement of more people and the complicated interaction of the things in human and environment are transported Dynamic behavior;In combination with the scene in video, purpose to human body behavior and the information to be transmitted carry out semantic description with Expression, and judge whether human body behavior has exception;Subsequent robot is to detecting to include that the video of abnormal behaviour is sent to Guardian timely judges so that guardian has hazardous act that may be present around child;
When get child for a period of time in video after, be based on video obtained, robot do foreground target extract, target Divide in identification, target motion tracking and goal behavior analysis;
Foreground target extracts: going out moving target and background separation in the video that the camera being embedded in robot is monitored Come, obtains the profile or overall region of target;
Target Segmentation is in identification: Target Segmentation is will to be schemed using original triple channel image according to colouring information and gradient information Target Segmentation as in is at independent part;When encountering the case where blocking, being overlapped, the effect superiority and inferiority of image segmentation is also directly determined Determine the recognition accuracy in later period;Target identification is the profile information according to target, extracts its characteristic information and carries out stencil matching, most Classified afterwards;
Target motion tracking: being the information using target successive frame, summarizes its mass center, and the motion feature of track tracks in real time And save the characteristic information of each targeted mass;
Goal behavior analysis: including defining abnormal behaviour and proposing the foundation of abnormal behaviour differentiation.
Further, it further includes being detected based on palmic rate sensor that miniature early warning robot is persecuted in child's danger Auto-alarm function: based on palmic rate sensor detection module by reflection infrared sensor, single-chip microcontroller and light-emitting diode display Composition;Its major function is according to tissue translucence as heartthrob changes, and detects this by infrared sensor One variation, signal is amplified and is utilized by specific integrated circuit, to obtain the frequency of heartbeat;Robot passes through palmic rate Sensor acquires the palmic rate of child in real time and is transferred to palmic rate processing control apparatus, and whether which judges reception value Within the scope of normality threshold, if not in the normal range, the abnormality of guardian child is reminded by prior-warning device.
Further, it further includes real-time navigation capability that miniature early warning robot is persecuted in child's danger:
Be positioned in real time child it is in the hole when robot can navigate to specific location, start rescue position be provided for the police Confidence breath, reduces the time of rescue;Robot can timely send location information when detecting danger that may be present.
Further, it further includes automatic identification danger function that miniature early warning robot is persecuted in child's danger:
Miniature early warning robot will be persecuted in child's danger the concealed safety of progress to be prevented in the form of carry-on ornaments or pendant Shield, including necklace, bracelet, hair fastener;It is provided with camera inside, can be carried out prolonged video record and to the people in video Body behavior is analyzed and is identified that the people mainly contacted to wearer identifies, identifies the abnormal behaviour of people, and carry out Unusual checking early warning;Child's danger persecutes miniature early warning robot and can store phone and can connect with alternating current equipment It connects, including wechat, QQ;The phone of friends and family and wechat are stored and are connected in early warning robot by wearer.
Further, it further includes actively starting warning function that miniature early warning robot is persecuted in child's danger:
The finger print information for storing wearer in miniature early warning robot is persecuted in child's danger, can be known by the manual fingerprint of wearer Do not start prior-warning device, is equally sent to mobile phone and positioning in real time with telephone rings, video to inform that household takes effectively Measure.
Further, it further includes induction warning function that miniature early warning robot is persecuted in child's danger:
While can not carry out accurate Activity recognition, victim has little time to carry out independently to start persecution prior-warning device again when, Child's danger persecute miniature early warning robot can by detecting the physical condition of wearer to determine whether be subjected to persecuting, and And starting prior-warning device informs household.
Further, it further includes danger warning function that miniature early warning robot is persecuted in child's danger:
If persecute prior-warning device starting, and confirm via household, start hazard detection system;Child's danger persecution is micro- Type early warning robot selects prompting mode in setting: specific frequency the tinkle of bells;Slight vibration;Such mode carries out concealment Prompt wearer take care, dangerous generation.
Advantages of the present invention:
One kind of the invention is miniature to have concealed child's danger early warning robot, is to carry with the ornaments of the daily wearing of child Body increases concealment;To identify based on the micro- expression of contactee and human body abnormal behaviour, to monitor supplemented by child's body abnormality situation To carry out danger early warning;If detecting abnormal behaviour, analysis result is informed into its guardian to carry out secondary judgement, while right Wearer is positioned in real time, and the probability of erroneous judgement is greatly lowered with this;Manual alarm device is increased, that is, uses fingerprint recognition skill Art carrys out initiative alarming;The function of danger signal concealment prompt.
The present invention is used for the minor of different age group, whether is it having is non-judgement, it can be in the person When safety is by threatening, effective safeguard procedures are taken, to reduce the generation of aggrieved event.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention. Below with reference to figure, the present invention is described in further detail.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.
Fig. 1 is the structural schematic diagram that miniature early warning robot is persecuted in a kind of child's danger of the invention;
Fig. 2 is the combination for the chain sling connection that miniature early warning robot is persecuted in a kind of child's danger of the invention
Structural schematic diagram;
Fig. 3 is the combination for the fish tail connection that miniature early warning robot is persecuted in a kind of child's danger of the invention
Structural schematic diagram;
Fig. 4 is the automatic identification danger function that miniature early warning robot is persecuted in a kind of child's danger of the invention
It can flow chart;
Fig. 5 be a kind of child's danger of the invention persecute miniature early warning robot actively start early warning function
It can flow chart;
Fig. 6 is the induction warning function stream that miniature early warning robot is persecuted in a kind of child's danger of the invention
Cheng Tu.
Appended drawing reference:
1 be radio micro camera, 2 be heart rate sensor, 3 be master switch button, 4 be charge port,
5 it is SIM card card slot, 6 is shock sensor.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.
Referring to figs. 1 to Fig. 3, as shown in Figure 1 to Figure 3, miniature early warning robot is persecuted in a kind of child's danger, comprising: pendant Fish robot body, radio micro camera 1, heart rate sensor 2, master switch button 3, charge port 4, SIM card card slot 5, vibration Sensor 6;The miniature artificial pendant fish shape of early warning machine is persecuted in child's danger, and radio micro camera 1, heart rate sensor 2 are arranged At pendant flake eyeball;SIM card card slot 5 is arranged at pendant fish fin;Master switch button 3 is arranged at fish mouth;Charge port 4 is set It sets in fish belly portion;Shock sensor 6 is arranged in pendant fish body interior;It can be with preceding part at pendant fish robot body fish tail From equipped with fingerprint initiative alarming device, pendant fish robot body fish tail and front junction at pendant fish robot body fish tail Equipped with Fingerprint Identification Unit;Pendant fish robot body fish tail is clip, the position of cuff, pocket can be clipped in, to prevent crime The hand of wearer is bundled and can not be alarmed by molecule;Pendant fish robot body is connect with chain sling by card slot.Fingerprint is actively reported Alert device is alarmed after identifying fingerprint by Fingerprint Identification Unit.
The radio micro camera:
The places such as doorway, parlor, bedroom are mounted on, easy to use, router is wirelessly connected, and can be connected with mobile phone, and 360 degree without dead Angle monitoring.
It includes human body abnormal behavior identification function that miniature early warning robot is persecuted in child's danger:
When child stays alone, robot can obtain the video of surrounding by the video acquisitions machine such as video camera, carry out image vision Analysis and processing, at detection in video human body behavior, posture, gesture, expression including human body, these visual cues are comprehensive Get up to express other side to be potentially intended to and the information such as mood;Detect and understand the various actions of people, including simple single fortune Dynamic behavior, interpersonal interaction, the group movement of more people and the complicated interaction of the things in human and environment Motor behavior;In combination with the scene in video, the description of purpose and the information progress semanteme to be transmitted to human body behavior And expression, and judge whether human body behavior has exception;Subsequent robot is to detecting to include that the video of abnormal behaviour is sent To guardian, timely judge so that guardian has hazardous act that may be present around child;
When get child for a period of time in video after, be based on video obtained, robot do foreground target extract, target Divide in identification, target motion tracking and goal behavior analysis;
Foreground target extracts: going out moving target and background separation in the video that the camera being embedded in robot is monitored Come, obtains the profile or overall region of target;
Target Segmentation is in identification: Target Segmentation is will to be schemed using original triple channel image according to colouring information and gradient information Target Segmentation as in is at independent part;When encountering the case where blocking, being overlapped, the effect superiority and inferiority of image segmentation is also directly determined Determine the recognition accuracy in later period;Target identification is the profile information according to target, extracts its characteristic information and carries out stencil matching, most Classified afterwards;
Target motion tracking: being the information using target successive frame, summarizes its mass center, and the motion features such as track track in real time And save the characteristic information of each targeted mass;
Goal behavior analysis: including defining abnormal behaviour and proposing the foundation of abnormal behaviour differentiation.
It includes the automatic alarm function based on the detection of palmic rate sensor that miniature early warning robot is persecuted in child's danger Can: it is made of based on palmic rate sensor detection module reflection infrared sensor, single-chip microcontroller and light-emitting diode display;It is main Function is according to tissue translucence as heartthrob changes, and detects this variation by infrared sensor, passes through Signal is amplified and is utilized by specific integrated circuit, to obtain the frequency of heartbeat;Robot is real-time by palmic rate sensor It acquires the palmic rate of child and is transferred to palmic rate processing control apparatus, whether which judges reception value in normality threshold In range, if not in the normal range, the abnormality of guardian child is reminded by prior-warning device.
It includes real-time navigation capability that miniature early warning robot is persecuted in child's danger:
Be positioned in real time child it is in the hole when robot can navigate to specific location, start rescue position be provided for the police Confidence breath, reduces the time of rescue;Robot can timely can send position when detecting danger that may be present Confidence breath.
It further includes automatic identification danger function that miniature early warning robot is persecuted in child's danger:
Miniature early warning robot will be persecuted in child's danger the concealed safety of progress to be prevented in the form of carry-on ornaments or pendant Shield, including necklace, bracelet, hair fastener;It is provided with camera inside, can be carried out prolonged video record and to the people in video Body behavior is analyzed and is identified that the people mainly contacted to wearer identifies, identifies the abnormal behaviour of people, and carry out Unusual checking early warning;Child's danger persecutes miniature early warning robot and can store phone and can connect with alternating current equipment It connects, including wechat, QQ;The phone of friends and family and wechat are stored and are connected in early warning robot by wearer.
It further includes actively starting warning function that miniature early warning robot is persecuted in child's danger:
The finger print information for storing wearer in miniature early warning robot is persecuted in child's danger, can be known by the manual fingerprint of wearer Do not start prior-warning device, is equally sent to mobile phone and positioning in real time with telephone rings, video to inform that household takes effectively Measure.
It further includes induction warning function that miniature early warning robot is persecuted in child's danger:
While can not carry out accurate Activity recognition, victim has little time to carry out independently to start persecution prior-warning device again when, Child's danger persecute miniature early warning robot can by detecting the physical condition of wearer to determine whether be subjected to persecuting, and And starting prior-warning device informs household.
It further includes danger warning function that miniature early warning robot is persecuted in child's danger:
If persecute prior-warning device starting, and confirm via household, start hazard detection system;Child's danger persecution is micro- Type early warning robot selects prompting mode in setting: specific frequency the tinkle of bells;Slight vibration;Such mode carries out concealment Prompt wearer take care, dangerous generation.
The present invention is designed as the form of children pendant fish to realize concealment and practicability.It is designed as at flake eyeball Miniature webcam and heart rate sensor;SIM card card slot is designed as at fin;Fish mouth is product master switch;There is charge port in fish belly portion (and common Android mobile phone is general interface);Shock sensor is inside fish body;It can be separated at fish tail, be designed as fingerprint Initiative alarming device, extraction section are Fingerprint Identification Unit, and tail portion is that clip can be clipped in the positions such as cuff, pocket, prevent crime point The hand of wearer is bundled and can not be alarmed by son.
Radio micro camera:
Traditional camera, video recorder volume are big, eye-catching, but also with line, are easy to be found to be lost by criminal's damage Value, it is handy to can not show a candle to wireless camera.Currently popular is radio micro camera, can not only real-time remote monitoring, function Also more powerful.The application of radio micro camera on the market has many now, such as: have it is a can be in the feelings that do not connecing electricity Under condition, its same can deploy troops on garrison duty is up to five days as long as, and advanced human body sensing technology can be sensed abnormal mobile immediately and be sent It reminds to your mobile phone, this miniature webcam concealment is strong, has net to see in the same old way without net, it can also be shot in the region of not light, And do not shine, mobile phone remote can check live broadcast in real time, can a long-range key go out indicator light, avoid arousing attention;It is a Generous home network camera handsome in appearance, may be mounted at the places such as doorway, parlor, bedroom, easy to use, router without Line connection, can be connected with mobile phone, and 360 degree monitor without dead angle.
So the present invention is due to concealment and miniature demand, persecuting in miniature early warning robot in child's danger also makes With this radio micro camera, the size diameter of camera is about 1 centimetre, operating voltage 1.8V, in the left side flake of necklace It is set as camera at eyeball, is imaged in real time, and increases concealment.
Heart rate inductor:
There are many kinds of the methods of rhythm of the heart, but what the present invention used is a kind of photoelectricity transmissometry, in principle for just It is that the sensor of product and skin contact can issue light beam and beat the light for measuring reflection/transmission on the skin.Because blood is to spy The long light of standing wave has an absorption, and when each cardiac pumping, which all can largely be absorbed, and be assured that heartbeat with this. The function of Intelligent bracelet or wrist-watch monitor heart rate at present on the market is mostly to use photoelectricity transmissometry.Size is about 1 Centimetre or so, installation site at flake eyeball, can be detected with skin-proximal on the right of this product.
Fingerprint recognition:
Fingerprint almost becomes the synonym of living things feature recognition since it is with unchangeable property, uniqueness and convenience. Fingerprint refers to the convex recessed uneven streakline generated of the positive surface skin of the finger tips of people.The regular arrangement of streakline forms different lines Type.Being applied in our miniature child persecution early warning robot has more professional identity authentication to it, at present fingerprint collecting head It can more minimize, and price can be more cheap.Miniature fingerprint recognition used by us is entitled using one The team of CrucialTek has issued a kind of miniature Fingerprint Identification Unit, and the minimal surface area that it can be recognized only has 8 squares of millis Rice.Count external packaging in, this sensor only takes up 18.72 square millimeters of areas.
Positioning system:
Existing location technology is divided into two kinds, and one is the positioning based on GPS, and one is determining for the base station based on mobile operation network Position.
Positioning based on GPS is to receive the signal that GPS satellite issues using GPS positioning module, is carried out using these signals Navigator fix.Base station location is to determine mobile phone location to the distance exam distance of mobile phone using base station, needs network fixed Position information sends over.In China, base station location still falls within secure content at present, it is impossible to take accurate base station position data Library, country do not allow mobile operator to provide base station position information yet.And GPS location precision is higher, therefore select GPS positioning with Base station location combines to realize and be accurately positioned.
The product of present GPS locator series all needs flow to transmit location information, if only positioning, Flow is few, usually uses 2G network, 30M is sufficient within one month.
The present invention has function below:
The identification of human body abnormal behavior:
When child stays alone, robot can obtain the video of surrounding by the video acquisitions machine such as video camera, carry out image view The analysis and processing of feel, at detection in video human body behavior, such as posture, gesture, the expression of human body etc., these visual cues It integrates and expresses other side and be potentially intended to and the information such as mood.Detect and understand the various actions of people, including simple single People's motor behavior, interpersonal interaction, the group movement of more people and things in human and environment it is complicated Reciprocal motion behavior etc..In combination with the scene in video, purpose and the information to be transmitted of human body behavior are carried out semantic Description and expression, and judge whether human body behavior has exception.Subsequent robot to detect include abnormal behaviour view It takes place frequently and gives guardian, timely judge so that guardian has hazardous act that may be present around child.
When get child for a period of time in video after, be based on video obtained, robot do foreground target extract, Target Segmentation analyzes several aspects in identification, target motion tracking and goal behavior.1. foreground target extraction refers in robot Moving target (namely prospect) is come out with background separation in the video that the camera of middle insertion is monitored, obtains the profile of target Or overall region.This is the first step of process flow, since the processing in later period is all based on the foreground image, its place Reason effect quality will directly affect the recognition accuracy of whole system.Common foreground extracting method has optical flow method, successive frame Frame differential method and calculus of finite differences based on context update.2. Target Segmentation, in identification, Target Segmentation is to utilize original threeway Road image, according to colouring information and gradient information, by the Target Segmentation in image at independent part.It blocks, be overlapped encountering The case where when, the effect superiority and inferiority of image segmentation also directly determine the later period recognition accuracy.Target identification is the wheel according to target Wide information extracts its characteristic information and carries out stencil matching, finally classified.3. target motion tracking is to utilize target successive frame Information, summarize its mass center, the motion features such as track track in real time and save the characteristic information of each targeted mass.4. mesh Mark most important two parts of behavioural analysis are the foundations for how defining abnormal behaviour and proposing abnormal behaviour differentiation.
Unusual checking applies more and more extensive, proposed by the invention intelligent robot to pass through view in daily life The defeated behavior to perceive the external world is kept pouring in, vision, the sense of hearing, smell, tactile etc. are had with regard to machine.Current intelligent robot is Through simple communication, recognition of face, gesture identification etc. can be carried out with people, visual perception external complex can also be passed through Environment realizes the understanding of human body behavior in conjunction with human body gesture and behavior.
Automatic alarm based on the detection of palmic rate sensor:
At present about the basic realization principle of heart rate detection by two major classes:
Doppler radar technique is combined with igh-speed wire-rod production line technology, realizes Fast Fourier Transform (FFT) and frequency response curve Very steep filter function can thus extract heart rate signal specific to human body from mixed and disorderly echo-signal.
Detection device is made by infrared sensor and obtains heart rate signal by contacting human body surface, with heartthrob, Tissue translucence changes correspondingly, and when blood is pushed into artery by heart, the translucence of blood tissues lowers, and is transferred to Infrared ray on light-sensitive device dies down, and the output signal of infrared receiver is smaller, to realize the sampling to heartbeat signal.
Tester is made of reflection infrared sensor, single-chip microcontroller and light-emitting diode display.It is mainly according to tissue As heartthrob changes this principle, (i.e. when blood is sent to tissue, the translucence of tissue reduces translucence; When blood flows back to heart, the translucence of tissue increases), this variation is detected by infrared sensor, by dedicated integrated Signal is amplified and is utilized by circuit, to obtain the frequency of heartbeat.Our robot is adopted in real time by palmic rate sensor Collect the palmic rate of child and be transferred to palmic rate processing control apparatus, whether which judges reception value in normality threshold model In enclosing, if not in the normal range, the abnormality of guardian child is reminded by prior-warning device
Positioning in real time:
Robot can navigate to specific location when real-time positioning proposed by the invention is in the hole for child, be The police, which start rescue, provides location information, reduces the time of rescue.Because when child is in dangerous situation, for example being lured It turns to strange land, environment is strange for child at this time, has no ability to implement to save oneself;Or when child's experience property is invaded, child can not It distinguishes and inability is revolted.The persecution situation being likely encountered about child have one what is common is that criminal can all select it is hidden The preferable place crime of covering property.If our robot can detect it is that may be present danger when can be timely Send location information, we also can much sooner to make action.
With the fast development of science and technology.Location technology is the research hotspot of robot field, present most of machines People uses laser and vision positioning, either laser or vision, there is certain limitation, for example operand is big, environment is suitable The problems such as answering property is poor;UWB is a kind of no-load communication techniques, is transmitted using the non-sinusoidal waveform burst pulse of nanosecond to picosecond pole Data, by the signal for transmitting extremely low power on wider frequency spectrum.Advantage is transimission power height, small power consumption, anti-interference energy Power and penetration capacity are strong, in high precision with the positioning of high accuracy, to realize specific objective.UWB location technology is first in ring Some anchor points are arranged in border, and later based on wireless measurement object at a distance from anchor point or the time, the position of object is calculated. No matter UWB positioning is received or hair, corresponding RF radio frequency mould group is required, mould group can be respectively set to label and anchor point, and anchor point is solid Fixed motionless, label is placed in the robot of movement.The base station UWB only needs to power, and does not need access network, right from display terminal After label completes configuration, label can select base station appropriate to be positioned according to the location of oneself.Calculated result is straight It connects and is output to the control of robot and sponsors, and at the same time real time position is output to display terminal by onboard wifi module On.
With reference to Fig. 4, as shown in figure 4, automatic identification danger function:
Miniature early warning robot will be persecuted in child's danger the concealed safety of progress to be prevented in the form of carry-on ornaments or pendant Shield, such as necklace, bracelet, hair fastener that child wears.Be provided with camera inside, can carry out prolonged video record and It is analyzed and is identified that the people mainly contacted to wearer identifies to the human body behavior in video, identify the exception of people Behavior, and carry out unusual checking early warning.This child's danger persecute miniature early warning robot can store phone and It can be attached with alternating current equipment, such as: wechat, QQ.The phone of friends and family and wechat are stored and are connected to by wearer In early warning robot.
For young child, some concealed hazardous act children can not correctly be identified, this robot The extraneous abnormal behaviour for carrying out video analysis and pedestrian can be identified in real time, when discovery has abnormal behavior to occur, to depositing The telephone number of storage sends short message prompt, and sends message notifying to associated wechat number and send positioning in real time, Robot will also be detected abnormal behaviour video and intercept in the way of short-sighted frequency to be sent to hung WeChat ID simultaneously On code, child parent and household are notified, and the whether dangerous property of the behavior of pedestrian is further differentiated by household.In this way into one The advantage of the judgement of step is, some products directly carry out alarm or prompt carries out warning device, it is possible to which have an erroneous judgement can Can property, and the hazardous act of anticipation can only be presented to parent as anticipation in the form of video (the first visual angle) by machine, Parent restarts hazard detection system when differentiating genuine dangerous.
With reference to Fig. 5, as shown in figure 5, actively starting warning function:
Since the robot of this product is mainly prejudged according to the identification of the abnormal behaviour of human body, for some offenders in table There is no the behavior of nocuity on face, but abducted or cheated on language, wearer is discovering dangerous situation Under can carry out manually booting early warning.The finger print information that wearer is stored in miniature early warning robot is persecuted in child's danger, it can To start prior-warning device by wearer manual fingerprint recognition, mobile phone and in real time equally is sent to telephone rings, video Positioning is to inform that household takes effective measures.After in most cases, being known that aftersensation discovery is taken in after inveigler, It is difficult to adopt an effective measure and save oneself, therefore the starting warning function of this product can help victim to carry out effectively certainly It rescues.
With reference to Fig. 6, as shown in fig. 6, induction warning function:
There are many kinds of the modes that is afflicted by persecution of victim, for example offender does not carry out means of crime in front, but takes The surprise attack of behind, while can not carry out accurate Activity recognition, victim has little time to carry out independently starting persecution again When prior-warning device, miniature early warning robot is persecuted in child's danger can be by detecting the physical condition of wearer to determine whether It is subjected to persecuting.And starts prior-warning device and inform household.
Danger warning function:
If persecute prior-warning device starting, and confirm via household, start hazard detection system.Child's danger persecution is micro- Type early warning robot selects prompting mode in setting: specific frequency the tinkle of bells;Slight vibration.Such mode carries out concealment Prompt wearer take care, may dangerous generation.
General product carries out the mode of the prompting mode flashing to victim, but such mode is not very It is hidden.This product can be chosen according to sound only some ages of some frequencies small talent hears, and is more than certain age bracket The sound of this frequency can not be just heard later, so such frequency tone carries out prompt and has concealment.Human ear can be heard Audio range 20 Dao 20k hertz, and child can hear the sound of slightly above this frequency.And this product design uses use The frequency acoustic the tinkle of bells that child can just hear is as prompt tone, 25000~40000 hertz of sound wave.Age is smaller, more clearly listens To such the tinkle of bells.Certainly it is also an option that some hearing are not that good user prompts by slight vibration prompting.
One kind of the invention is miniature to have concealed child's danger early warning robot, and the ornaments with the daily wearing of child are Carrier increases concealment;To identify based on the micro- expression of contactee and human body abnormal behaviour, it is to monitor child's body abnormality situation It is auxiliary to carry out danger early warning;If detecting abnormal behaviour, analysis result is informed into its guardian to carry out secondary judgement, simultaneously Wearer is positioned in real time, the probability of erroneous judgement is greatly lowered with this;Manual alarm device is increased, that is, uses fingerprint recognition Technology carrys out initiative alarming;The function of danger signal concealment prompt.
The present invention is used for the minor of different age group, whether is it having is non-judgement, it can be in the person When safety is by threatening, effective safeguard procedures are taken, to reduce the generation of aggrieved event.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.

Claims (9)

1. miniature early warning robot is persecuted in a kind of child's danger characterized by comprising pendant fish machine
Device human body, radio micro camera (1), heart rate sensor (2), master switch button (3), charge port (4), SIM card card Slot (5), shock sensor (6);The miniature artificial pendant fish shape of early warning machine, radio micro camera (1), the heart are persecuted in child's danger Rate sensor (2) is arranged at pendant flake eyeball;SIM card card slot (5) is arranged at pendant fish fin;Master switch button (3) is set It sets at fish mouth;Charge port (4) is arranged in fish belly portion;Shock sensor (6) is arranged in pendant fish body interior;Pendant fish machine It can be separated with front at human body's fish tail, fingerprint initiative alarming device, pendant fish machine are equipped at pendant fish robot body fish tail Human body's fish tail and front junction are equipped with Fingerprint Identification Unit;Pendant fish robot body fish tail is clip, can be clipped in cuff, mouth The position of bag can not alarm to prevent offender from bundling the hand of wearer;Pendant fish robot body and chain sling are logical Cross card slot connection.
2. miniature early warning robot is persecuted in child's danger according to claim 1, which is characterized in that
The radio micro camera:
It is mounted on doorway, parlor, bedroom, router is wirelessly connected, and can be connected with mobile phone, and 360 degree monitor without dead angle.
3. miniature early warning robot is persecuted in child's danger according to claim 1, which is characterized in that
It includes human body abnormal behavior identification function that miniature early warning robot is persecuted in child's danger:
When child stays alone, robot can acquire machine by camera video and obtain the video of surrounding, carry out image vision Analysis and processing, at detection in video human body behavior, posture, gesture, expression including human body, these visual cues integrate Potentially it is intended to and the information of mood to express other side;Detect and understand the various actions of people, including simple single movement Behavior, interpersonal interaction, the group movement of more people and the complicated interaction of the things in human and environment are transported Dynamic behavior;In combination with the scene in video, purpose to human body behavior and the information to be transmitted carry out semantic description with Expression, and judge whether human body behavior has exception;Subsequent robot is to detecting to include that the video of abnormal behaviour is sent to Guardian timely judges so that guardian has hazardous act that may be present around child;
When get child for a period of time in video after, be based on video obtained, robot do foreground target extract, target Divide in identification, target motion tracking and goal behavior analysis;
Foreground target extracts: going out moving target and background separation in the video that the camera being embedded in robot is monitored Come, obtains the profile or overall region of target;
Target Segmentation is in identification: Target Segmentation is will to be schemed using original triple channel image according to colouring information and gradient information Target Segmentation as in is at independent part;When encountering the case where blocking, being overlapped, the effect superiority and inferiority of image segmentation is also directly determined Determine the recognition accuracy in later period;Target identification is the profile information according to target, extracts its characteristic information and carries out stencil matching, most Classified afterwards;
Target motion tracking: being the information using target successive frame, summarizes its mass center, and the motion feature of track tracks in real time And save the characteristic information of each targeted mass;
Goal behavior analysis: including defining abnormal behaviour and proposing the foundation of abnormal behaviour differentiation.
4. miniature early warning robot is persecuted in child's danger according to claim 1, which is characterized in that
It further includes the auto-alarm function based on the detection of palmic rate sensor that miniature early warning robot is persecuted in child's danger: It is made of based on palmic rate sensor detection module reflection infrared sensor, single-chip microcontroller and light-emitting diode display;Its major function It is according to tissue translucence as heartthrob changes, this variation is detected by infrared sensor, by dedicated Signal is amplified and is utilized by integrated circuit, to obtain the frequency of heartbeat;Robot is acquired in real time by palmic rate sensor The palmic rate of child is simultaneously transferred to palmic rate processing control apparatus, and whether which judges reception value in normality threshold range It is interior, if not in the normal range, the abnormality of guardian child is reminded by prior-warning device.
5. miniature early warning robot is persecuted in child's danger according to claim 1, which is characterized in that
It further includes real-time navigation capability that miniature early warning robot is persecuted in child's danger:
Be positioned in real time child it is in the hole when robot can navigate to specific location, start rescue position be provided for the police Confidence breath, reduces the time of rescue;Robot can timely send location information when detecting danger that may be present.
6. miniature early warning robot is persecuted in child's danger according to claim 1, which is characterized in that
It further includes automatic identification danger function that miniature early warning robot is persecuted in child's danger:
Miniature early warning robot will be persecuted in child's danger the concealed safety of progress to be prevented in the form of carry-on ornaments or pendant Shield, including necklace, bracelet, hair fastener;It is provided with camera inside, can be carried out prolonged video record and to the people in video Body behavior is analyzed and is identified that the people mainly contacted to wearer identifies, identifies the abnormal behaviour of people, and carry out Unusual checking early warning;Child's danger persecutes miniature early warning robot and can store phone and can connect with alternating current equipment It connects, including wechat, QQ;The phone of friends and family and wechat are stored and are connected in early warning robot by wearer.
7. miniature early warning robot is persecuted in child's danger according to claim 1, which is characterized in that
It further includes actively starting warning function that miniature early warning robot is persecuted in child's danger:
The finger print information for storing wearer in miniature early warning robot is persecuted in child's danger, can be known by the manual fingerprint of wearer Do not start prior-warning device, is equally sent to mobile phone and positioning in real time with telephone rings, video to inform that household takes effectively Measure.
8. miniature early warning robot is persecuted in child's danger according to claim 1, which is characterized in that
It further includes induction warning function that miniature early warning robot is persecuted in child's danger:
While can not carry out accurate Activity recognition, victim has little time to carry out independently to start persecution prior-warning device again when, Child's danger persecute miniature early warning robot can by detecting the physical condition of wearer to determine whether be subjected to persecuting, and And starting prior-warning device informs household.
9. miniature early warning robot is persecuted in child's danger according to claim 1, which is characterized in that
It further includes danger warning function that miniature early warning robot is persecuted in child's danger:
If persecute prior-warning device starting, and confirm via household, start hazard detection system;Child's danger persecution is micro- Type early warning robot selects prompting mode in setting: specific frequency the tinkle of bells;Slight vibration;Such mode carries out concealment Prompt wearer take care, dangerous generation.
CN201910593611.4A 2019-07-03 2019-07-03 A kind of miniature early warning robot of child's danger persecution CN110211330A (en)

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