CN111283695A - Intelligent household robot integrating security, protection and nursing - Google Patents
Intelligent household robot integrating security, protection and nursing Download PDFInfo
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- CN111283695A CN111283695A CN202010188966.8A CN202010188966A CN111283695A CN 111283695 A CN111283695 A CN 111283695A CN 202010188966 A CN202010188966 A CN 202010188966A CN 111283695 A CN111283695 A CN 111283695A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
Abstract
An intelligent household robot integrating security and nursing comprises a robot main body (1), wherein an intelligent control security module (2), an intelligent control nursing module (3) and an intelligent master control core module (4) are arranged on the robot main body (1); the robot comprises a robot main body (1) and is characterized in that the robot main body comprises an upper portion and a lower portion, the upper portion is provided with an intelligent control security module (2) and an intelligent control nursing module (3), the lower portion is provided with a rotary driving motor, an output shaft at the upper end of the rotary driving motor is in transmission connection with the upper portion, and the bottom surface of the lower portion is provided with an electric universal moving device. The invention belongs to the artificial intelligence industry and the intelligent manufacturing equipment industry, and discloses a service robot; can control intelligent robot work through speech mode, security protection mobility is strong, has multiple interchange and accompanies the communication mode of nursing, and the function of accompanying and attending to is comprehensive, and intelligent degree is high, is fit for using at home.
Description
Technical Field
The invention belongs to the artificial intelligence industry and the intelligent manufacturing equipment industry, relates to the technical field of automatic control and intelligent home management, and particularly relates to an intelligent home robot integrating security and protection and nursing.
Background
In recent years, with the rapid development of computer technology and artificial intelligence science, intelligent robot technology gradually becomes a hotspot in the field of modern robot research and development, and intelligent robots are gradually moving into people's lives from science fiction. With the improvement of the living standard of people, the intelligent robot is applied to the field of home services and is an important target for robot research and development in recent years.
The robot technology is regarded as strategic high-tech technology, is deeply valued by all countries in the world, and the service robot is regarded as the most active field of the forward high-tech research, and is more concerned about, and the function of the domestic service robot in the market is single, mainly is some clean robots and children accompanying robots, and can not satisfy the requirements of users on practicability and diversity.
With the progress of society, the living standard of people is gradually improved, and the protection consciousness of people on private property is continuously enhanced. Traditional mechanical security systems, such as anti-theft nets and anti-theft windows, have exposed more and more potential safety hazards in practical applications, and cannot achieve the anti-theft purpose. The technical development of the smart home system in the aspect of security and theft prevention has become a hot item of concern in the industry. The traditional intelligent home security system adopts the technology of combining a fixed-point monitor and a background control unit, and the technology has the problems that the monitoring visual field is limited by the number of monitors, and certain visual field dead angles and safety defense dead zones exist under the condition that the room area is large enough. How to overcome the above problems is a technical subject that needs to be considered by those skilled in the art to provide 360-degree blind-corner-free omnibearing security monitoring for a living room.
In addition, through market research, the current family has the family of solitary old man or teenager children, generally has the worry to the safety and the accompany of family, to can satisfy the safety and the accompany to parents and family children, solve simultaneously that the use is hindered, household communication control and family remote education etc. multipurpose domestic service robot, has very big market demand. Along with the continuous progress of scientific technology and the continuous development of robot technology, the intelligent robot has gradually gone into thousands of families, has also appeared on the market that many intelligent robots bring convenience and enjoyment for people's life, wherein, the robot of accompanying and attending to is as one kind of intelligent robot, can assist old person and child's life and study, brings convenience for the life.
However, the existing accompanying robot has the following defects: the communication accompanying mode is single, and if only voice communication accompanying is available; the interactive understanding is poor, the accuracy rate is low when the interactive information is understood, and the practicability of the accompanying robot is greatly reduced; the device has no electric appliance control function and is inconvenient to use; the function of the accompanying robot is single due to the fact that no intelligent home furnishing linkage function exists, and home furnishing intellectualization cannot be achieved; and the remote management function of the intelligent terminal is not available, and the detection data cannot be remotely checked and managed through the intelligent terminal.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent household robot integrating security and nursing. The invention belongs to the artificial intelligence industry and the intelligent manufacturing equipment industry, and discloses a service robot; can control intelligent robot work through speech mode, security protection mobility is strong, has multiple interchange and accompanies the communication mode of nursing, and the function of accompanying and attending to is comprehensive, and intelligent degree is high, is fit for using at home.
The invention adopts the technical scheme that the intelligent household robot integrates security and nursing into a whole, and comprises a robot main body, wherein an intelligent control security module, an intelligent control nursing module and an intelligent master control core module are arranged on the robot main body; the robot main body comprises an upper part and a lower part, the upper part is provided with an intelligent control security module and an intelligent control nursing module, the lower part is provided with a rotary driving motor, an output shaft at the upper end of the rotary driving motor is in transmission connection with the upper part, and the bottom surface of the lower part is provided with an electric universal moving device;
the intelligent control security module comprises a tour camera shooting collecting and processing device, a sound monitoring collecting and processing device, a sensing positioner and an alarm device; the patrol camera shooting acquisition processing device comprises an image acquisition device and an image processing unit, wherein the image acquisition device comprises a central camera shooting collector, the left side and the right side of the central camera shooting collector are provided with a left side camera shooting collector and a right side camera shooting collector which are symmetrically arranged, the upper side and the lower side of the central camera shooting collector are provided with an upper side camera shooting collector and a lower side camera shooting collector which are symmetrically arranged, and the output end of the image acquisition device is connected with the image processing unit; the image processing unit comprises an image retention component, an image comparison analysis component and an image information output component, wherein the image retention component comprises an image shooting device, an image processor and an image analysis synthesizer, and the image comparison analysis component comprises an information memory, a feature recognizer and a feature comparator;
the sound monitoring, collecting and processing device comprises a sound processor, a sound memory, a high-resolution sound recording system and a sound monitoring and analyzing unit, wherein the sound memory is used for storing sound information, the sound processor can analyze and process the collected sound information, the high-resolution sound recording system is used for acquiring audio information of target sound, the analog audio information is converted into segmented digital audio information through an analog-to-digital conversion circuit, and the segmented digital audio information is sequentially marked through the sound processor; the sound processor is in signal connection with the sound memory, and the obtained standard sound characteristic parameters are stored through the sound memory; the sound monitoring and analyzing unit comprises a comparison recorder for acquiring and recording the audio information to be identified, wherein an analog-to-digital conversion circuit is arranged in the comparison recorder; the sound processor is also used for receiving the sound emitted by the non-human body, so that the sound robot can perform camera monitoring on the place where the non-human body sound is emitted;
the alarm device comprises a local alarm and a remote alarm, and the sensing positioner is used for rapidly sensing the position and the distance of a human body;
the intelligent control nursing module comprises a mental state detection system, a physiological state detection system, an extreme behavior detection system and a mental emotion soothing system, wherein the mental state detection system comprises a voice emotion recognition system and a facial expression recognition system, the mental state is recognized by adopting a voice and video dual-mode emotion recognition layered fusion algorithm with a parallel feature layer and a decision layer, the physiological state detection system comprises an induction analysis unit, a data recording unit and a health guidance unit, the extreme behavior detection system comprises a voice detection unit, a video detection unit and an abnormal behavior decision unit, and the mental emotion soothing system comprises an entertainment program soothing unit, a conversation soothing unit and a self-adaptive learning unit;
the intelligent master control core module comprises a central processing unit, a voice interaction control unit, a wireless communication unit and an intelligent terminal remote connection unit; the robot main body monitors the family environment information, and controls a corresponding module or device to execute corresponding actions after the family environment information is analyzed and processed by the central processing unit; the voice interaction module is used for acquiring voice information of a user and outputting voice of the voice robot to realize interaction with the intelligent terminal remote connection unit, and the wireless communication unit is used for realizing interaction with the intelligent terminal remote connection unit and home equipment; the intelligent terminal remote connection unit is used for realizing control input of a user, and is respectively communicated with the intelligent control security module and the intelligent control nursing module to control information transmission of the modules.
Preferably, except for utilizing voice commands, the intelligent master control core module performs the control of the intelligent control nursing module, the patrol camera shooting acquisition and processing device identifies the monitored facial information of the human body, and when the monitored facial information identified by the image comparison and analysis component is old people or children stored in the voice robot system, the intelligent master control core module automatically inquires whether the user needs to start the intelligent control nursing module to nurse the old people or children.
In any of the above schemes, preferably, the central image pickup collector is used for shooting the front face information of the monitored human body, an included angle between the left image pickup collector and the right image pickup collector is 80 to 120 degrees, the included angle is used for shooting the two side face information of the monitored human body, and an included angle between the upper image pickup collector and the lower image pickup collector is 80 to 120 degrees, the included angle is used for shooting the upper and lower face information of the monitored human body; the image analysis synthesizer is used for synthesizing the pictures shot by the camera shooting collector into a three-dimensional image; the image contrast analysis component is used for extracting characteristic information of the synthesized image of the image analysis synthesizer.
In any one of the above aspects, it is preferable that the speech monitoring collection processing apparatus further includes an acoustic wave filter, and the acoustic wave filter is disposed between the speech processor and the high-resolution speech recording system, and is configured to filter an acoustic signal.
In any of the above schemes, preferably, the sensing and analyzing unit is provided with a bone node sensor, a gravity acceleration sensor and an infrared body temperature sensor, the bone node sensor is used for acquiring bone node data of a user, the gravity acceleration sensor is used for acquiring gravity acceleration data of the user, the infrared body temperature sensor is used for adopting body temperature data of the user, the acquired bone node data, gravity acceleration data and body temperature data are analyzed by the sensing and analyzing unit, the data recording unit stores and records an analysis result, and then the analysis result is sent to the intelligent master control core module through the health guidance unit, and finally a corresponding interaction instruction is sent to the voice robot.
In any of the above schemes, preferably, the electric universal moving device includes a universal wheel, a dc gear motor and a motor driving system, the universal wheel is connected to the dc gear motor, and the dc gear motor is connected to the intelligent master control core module through the motor driving system.
The invention is obtained according to years of practical application practice and experience, adopts the best technical means and measures to carry out combined optimization, obtains the optimal technical effect, is not simple superposition and splicing of technical characteristics, and has obvious significance.
The invention has the beneficial effects that:
1. the intelligent household voice robot integrating security and nursing has strong security and protection mobility, can automatically recognize and collect signals along with sound and human body positions, has no limit in moving direction, provides 360-degree omnibearing safety monitoring without dead angles, and is more flexible. The intelligent remote safety device can collect picture signals at different heights, has the functions of emergency dialing and sending out alarm short messages, integrates multiple functions, is particularly suitable for families with old people and children at home, can realize remote intelligent safety and is convenient to use.
2. The intelligent household voice robot integrating security and nursing can be controlled through the voice and intelligent control terminal, accurately judges whether a visitor is a guest or a sneak person under the dual matching identification of the face information and the voice information, sends monitoring information to the intelligent control terminal after the visitor is identified as the sneak person, and simultaneously gives an alarm, so that the reliability of household security is further improved; the intelligent control security module is also used for receiving sounds emitted by a non-human body, so that the intelligent home voice robot can perform camera monitoring on the places emitting the non-human body sounds, and the user can be ensured to know other abnormal conditions occurring in the home in time; the intelligent household voice robot system integrating security and nursing has various functions, can realize remote control, has strong practicability, and is suitable for popularization in the field.
3. The intelligent control security module provided by the invention can accurately identify the monitored human face, so that the accuracy of face identification of the device is improved, and the security reliability is greatly improved.
4. The sound monitoring, collecting and processing device provided by the invention is used for calculating the sound characteristic vector of the collected sound, and has filtering processing in the operation process, so that the influence of external noise on sound identification can be greatly reduced, and the identification accuracy rate during the operation of the system is improved. In addition, the invention also has the advantages of simple structure system, easy installation and maintenance, and the like.
5. The intelligent household voice robot integrating security and nursing can comprehensively guard the old and children at home, so that a safe, comfortable and comfortable environment is constructed for the old and children; the emotion detection precision of the old and children is improved, and more effective soothing is realized; the detection precision of abnormal behaviors of the old and children is improved, the condition is monitored in real time, and response measures are taken at the first time when an accident occurs, so that the personal safety is guaranteed; the invention has the characteristics of high integrity, strong practicability and low construction cost.
Brief description of the drawings
Fig. 1 is a simple view of the overall structure of a security and nursing integrated smart home robot according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples, but the scope of the claims is not limited thereto.
Example 1
Referring to fig. 1, an intelligent household robot integrating security and nursing comprises a robot main body 1, wherein an intelligent control security module 2, an intelligent control nursing module 3 and an intelligent master control core module 4 are arranged on the robot main body 1; the robot main body 1 comprises an upper part and a lower part, wherein the upper part is provided with an intelligent control security module 2 and an intelligent control nursing module 3, the lower part is provided with a rotary driving motor, an output shaft at the upper end of the rotary driving motor is in transmission connection with the upper part, and the bottom surface of the lower part is provided with an electric universal moving device;
the intelligent control security module 2 comprises a tour camera shooting collecting and processing device, a sound monitoring collecting and processing device, a sensing positioner and an alarm device; the patrol camera shooting acquisition processing device comprises an image acquisition device and an image processing unit, wherein the image acquisition device comprises a central camera shooting collector, the left side and the right side of the central camera shooting collector are provided with a left side camera shooting collector and a right side camera shooting collector which are symmetrically arranged, the upper side and the lower side of the central camera shooting collector are provided with an upper side camera shooting collector and a lower side camera shooting collector which are symmetrically arranged, and the output end of the image acquisition device is connected with the image processing unit; the image processing unit comprises an image retention component, an image comparison analysis component and an image information output component, wherein the image retention component comprises an image shooting device, an image processor and an image analysis synthesizer, and the image comparison analysis component comprises an information memory, a feature recognizer and a feature comparator;
the sound monitoring, collecting and processing device comprises a sound processor, a sound memory, a high-resolution sound recording system and a sound monitoring and analyzing unit, wherein the sound memory is used for storing sound information, the sound processor can analyze and process the collected sound information, the high-resolution sound recording system is used for acquiring audio information of target sound, the analog audio information is converted into segmented digital audio information through an analog-to-digital conversion circuit, and the segmented digital audio information is sequentially marked through the sound processor; the sound processor is in signal connection with the sound memory, and the obtained standard sound characteristic parameters are stored through the sound memory; the sound monitoring and analyzing unit comprises a comparison recorder for acquiring and recording the audio information to be identified, wherein an analog-to-digital conversion circuit is arranged in the comparison recorder; the sound processor is also used for receiving the sound emitted by the non-human body, so that the sound robot can perform camera monitoring on the place where the non-human body sound is emitted;
the alarm device comprises a local alarm and a remote alarm, and the sensing positioner is used for rapidly sensing the position and the distance of a human body;
the intelligent control nursing module 3 comprises a mental state detection system, a physiological state detection system, an extreme behavior detection system and a mental emotion soothing system, wherein the mental state detection system comprises a voice emotion recognition system and a facial expression recognition system, the mental state is recognized by adopting a voice and video dual-mode emotion recognition layered fusion algorithm with a parallel feature layer and a decision layer, the physiological state detection system comprises an induction analysis unit, a data recording unit and a health guidance unit, the extreme behavior detection system comprises a voice detection unit, a video detection unit and an abnormal behavior decision unit, and the mental emotion soothing system comprises an entertainment program soothing unit, a conversation soothing unit and a self-adaptive learning unit;
the intelligent master control core module 4 comprises a central processing unit, a voice interaction control unit, a wireless communication unit and an intelligent terminal remote connection unit; the robot main body 1 monitors the family environment information, and controls a corresponding module or device to execute corresponding actions after the family environment information is analyzed and processed by a central processing unit; the voice interaction module is used for acquiring voice information of a user and outputting voice of the voice robot to realize interaction with the intelligent terminal remote connection unit, and the wireless communication unit is used for realizing interaction with the intelligent terminal remote connection unit and home equipment; the intelligent terminal remote connection unit is used for realizing control input of a user, and is respectively communicated with the intelligent control security module 2 and the intelligent control nursing module 3 to control information transmission of the modules.
Except for utilizing a voice command, the intelligent master control core module 4 controls the intelligent control nursing module 3, the patrol camera shooting acquisition and processing device identifies the monitored facial information of the human body, and when the monitored facial information identified by the image comparison and analysis component is old people or children stored in the voice robot system, the intelligent master control core module 4 automatically inquires whether a user needs to start the intelligent control nursing module 3 to nurse the old people or the children. Thus, the intelligent and convenient operation can be realized.
The central camera shooting collector is used for shooting the monitored front face information of the human body, the included angle between the left camera shooting collector and the right camera shooting collector is 80-120 degrees, the included angle is used for shooting the two side face information of the monitored human body, the included angle between the upper camera shooting collector and the lower camera shooting collector is 80-120 degrees, and the included angle is used for shooting the upper face information and the lower face information of the monitored human body; the image analysis synthesizer is used for synthesizing the pictures shot by the camera shooting collector into a three-dimensional image; the image contrast analysis component is used for extracting characteristic information of the synthesized image of the image analysis synthesizer.
The voice monitoring, collecting and processing device is also provided with a sound wave filter which is arranged between the voice processor and the high-resolution voice recording system and is used for filtering voice signals.
The intelligent general control system is characterized in that the induction analysis unit is provided with a bone node sensor, a gravity acceleration sensor and an infrared body temperature sensor, the bone node sensor is used for collecting bone node data of a user, the gravity acceleration sensor is used for collecting gravity acceleration data of the user, the infrared body temperature sensor is used for adopting body temperature data of the user, the collected bone node data, gravity acceleration data and body temperature data are analyzed by the induction analysis unit, the data recording unit stores and records an analysis result, sends the analysis result to the intelligent general control core module 4 through the health guidance unit, and finally sends a corresponding interaction instruction to the voice robot.
The electric universal moving device comprises universal wheels, a direct current speed reducing motor and a motor driving system, the universal wheels are connected with the direct current speed reducing motor, and the current speed reducing motor is connected with the intelligent master control core module 4 through the motor driving system.
Example 2
Referring to fig. 1, an intelligent household robot integrating security and nursing comprises a robot main body 1, wherein an intelligent control security module 2, an intelligent control nursing module 3 and an intelligent master control core module 4 are arranged on the robot main body 1; the robot main body 1 comprises an upper part and a lower part, wherein the upper part is provided with an intelligent control security module 2 and an intelligent control nursing module 3, the lower part is provided with a rotary driving motor, an output shaft at the upper end of the rotary driving motor is in transmission connection with the upper part, and the bottom surface of the lower part is provided with an electric universal moving device;
the intelligent control security module 2 comprises a tour camera shooting collecting and processing device, a sound monitoring collecting and processing device, a sensing positioner and an alarm device; the patrol camera shooting acquisition processing device comprises an image acquisition device and an image processing unit, wherein the image acquisition device comprises a central camera shooting collector, the left side and the right side of the central camera shooting collector are provided with a left side camera shooting collector and a right side camera shooting collector which are symmetrically arranged, the upper side and the lower side of the central camera shooting collector are provided with an upper side camera shooting collector and a lower side camera shooting collector which are symmetrically arranged, and the output end of the image acquisition device is connected with the image processing unit; the image processing unit comprises an image retention component, an image comparison analysis component and an image information output component, wherein the image retention component comprises an image shooting device, an image processor and an image analysis synthesizer, and the image comparison analysis component comprises an information memory, a feature recognizer and a feature comparator;
the sound monitoring, collecting and processing device comprises a sound processor, a sound memory, a high-resolution sound recording system and a sound monitoring and analyzing unit, wherein the sound memory is used for storing sound information, the sound processor can analyze and process the collected sound information, the high-resolution sound recording system is used for acquiring audio information of target sound, the analog audio information is converted into segmented digital audio information through an analog-to-digital conversion circuit, and the segmented digital audio information is sequentially marked through the sound processor; the sound processor is in signal connection with the sound memory, and the obtained standard sound characteristic parameters are stored through the sound memory; the sound monitoring and analyzing unit comprises a comparison recorder for acquiring and recording the audio information to be identified, wherein an analog-to-digital conversion circuit is arranged in the comparison recorder; the sound processor is also used for receiving the sound emitted by the non-human body, so that the sound robot can perform camera monitoring on the place where the non-human body sound is emitted;
the alarm device comprises a local alarm and a remote alarm, and the sensing positioner is used for rapidly sensing the position and the distance of a human body;
the intelligent control nursing module 3 comprises a mental state detection system, a physiological state detection system, an extreme behavior detection system and a mental emotion soothing system, wherein the mental state detection system comprises a voice emotion recognition system and a facial expression recognition system, the mental state is recognized by adopting a voice and video dual-mode emotion recognition layered fusion algorithm with a parallel feature layer and a decision layer, the physiological state detection system comprises an induction analysis unit, a data recording unit and a health guidance unit, the extreme behavior detection system comprises a voice detection unit, a video detection unit and an abnormal behavior decision unit, and the mental emotion soothing system comprises an entertainment program soothing unit, a conversation soothing unit and a self-adaptive learning unit;
the intelligent master control core module 4 comprises a central processing unit, a voice interaction control unit, a wireless communication unit and an intelligent terminal remote connection unit; the robot main body 1 monitors the family environment information, and controls a corresponding module or device to execute corresponding actions after the family environment information is analyzed and processed by a central processing unit; the voice interaction module is used for acquiring voice information of a user and outputting voice of the voice robot to realize interaction with the intelligent terminal remote connection unit, and the wireless communication unit is used for realizing interaction with the intelligent terminal remote connection unit and home equipment; the intelligent terminal remote connection unit is used for realizing control input of a user, and is respectively communicated with the intelligent control security module 2 and the intelligent control nursing module 3 to control information transmission of the modules.
Except for utilizing a voice command, the intelligent master control core module 4 controls the intelligent control nursing module 3, the patrol camera shooting acquisition and processing device identifies the monitored facial information of the human body, and when the monitored facial information identified by the image comparison and analysis component is old people or children stored in the voice robot system, the intelligent master control core module 4 automatically inquires whether a user needs to start the intelligent control nursing module 3 to nurse the old people or the children. Thus, the intelligent and convenient operation can be realized.
The central camera shooting collector is used for shooting the monitored front face information of the human body, the included angle between the left camera shooting collector and the right camera shooting collector is 80-120 degrees, the included angle is used for shooting the two side face information of the monitored human body, the included angle between the upper camera shooting collector and the lower camera shooting collector is 80-120 degrees, and the included angle is used for shooting the upper face information and the lower face information of the monitored human body; the image analysis synthesizer is used for synthesizing the pictures shot by the camera shooting collector into a three-dimensional image; the image contrast analysis component is used for extracting characteristic information of the synthesized image of the image analysis synthesizer.
The voice monitoring, collecting and processing device is also provided with a sound wave filter which is arranged between the voice processor and the high-resolution voice recording system and is used for filtering voice signals.
The intelligent general control system is characterized in that the induction analysis unit is provided with a bone node sensor, a gravity acceleration sensor and an infrared body temperature sensor, the bone node sensor is used for collecting bone node data of a user, the gravity acceleration sensor is used for collecting gravity acceleration data of the user, the infrared body temperature sensor is used for adopting body temperature data of the user, the collected bone node data, gravity acceleration data and body temperature data are analyzed by the induction analysis unit, the data recording unit stores and records an analysis result, sends the analysis result to the intelligent general control core module 4 through the health guidance unit, and finally sends a corresponding interaction instruction to the voice robot.
The electric universal moving device comprises universal wheels, a direct current speed reducing motor and a motor driving system, the universal wheels are connected with the direct current speed reducing motor, and the current speed reducing motor is connected with the intelligent master control core module 4 through the motor driving system.
In order to further improve the using effect, the intelligent control nursing module 3 of the intelligent household voice robot integrating security protection and nursing is provided with a touch function unit which comprises a touch information identification component, the touch information identification component is used for identifying the collected user touch information, identifying the user intention and sending the identification result to the intelligent master control core module 4, and the intelligent master control core module 4 generates corresponding control content according to the analysis result.
The alarm device is communicated with the intelligent master control core module 4 and used for monitoring the working state of the intelligent home voice robot integrating security and nursing, when the intelligent home voice robot integrating security and nursing is abnormal or finds out an alarm, an alarm is sent out, meanwhile, alarm information is sent to the intelligent master control core module 4, the intelligent master control core module 4 transfers the alarm information to the intelligent terminal remote connection unit, and the intelligent terminal remote connection unit sends the alarm information to the intelligent terminal.
The intelligent household control system is characterized by further comprising an intelligent household linkage module, wherein the intelligent household linkage module is communicated with the intelligent master control core module 4 and is linked with intelligent household equipment through a wireless communication unit to realize linkage control of the intelligent household equipment in a household, the intelligent household linkage module comprises a wireless transmitting chip and a wireless receiving chip, the wireless transmitting chip is suitable for sending linkage control signals to the intelligent household equipment, and the wireless receiving chip is suitable for receiving the linkage signals sent by the intelligent household equipment.
The voice robot not only has the functions of security and protection and accompanying, but also can execute specific household appliance remote control instructions of a user, and the convenience is improved, so that the voice robot can be connected with intelligent household equipment into a whole, and the household intelligence is realized.
Example 3
Referring to fig. 1, an intelligent household robot integrating security and nursing comprises a robot main body 1, wherein an intelligent control security module 2, an intelligent control nursing module 3 and an intelligent master control core module 4 are arranged on the robot main body 1; the robot main body 1 comprises an upper part and a lower part, wherein the upper part is provided with an intelligent control security module 2 and an intelligent control nursing module 3, the lower part is provided with a rotary driving motor, an output shaft at the upper end of the rotary driving motor is in transmission connection with the upper part, and the bottom surface of the lower part is provided with an electric universal moving device;
the intelligent control security module 2 comprises a tour camera shooting collecting and processing device, a sound monitoring collecting and processing device, a sensing positioner and an alarm device; the patrol camera shooting acquisition processing device comprises an image acquisition device and an image processing unit, wherein the image acquisition device comprises a central camera shooting collector, the left side and the right side of the central camera shooting collector are provided with a left side camera shooting collector and a right side camera shooting collector which are symmetrically arranged, the upper side and the lower side of the central camera shooting collector are provided with an upper side camera shooting collector and a lower side camera shooting collector which are symmetrically arranged, and the output end of the image acquisition device is connected with the image processing unit; the image processing unit comprises an image retention component, an image comparison analysis component and an image information output component, wherein the image retention component comprises an image shooting device, an image processor and an image analysis synthesizer, and the image comparison analysis component comprises an information memory, a feature recognizer and a feature comparator;
the sound monitoring, collecting and processing device comprises a sound processor, a sound memory, a high-resolution sound recording system and a sound monitoring and analyzing unit, wherein the sound memory is used for storing sound information, the sound processor can analyze and process the collected sound information, the high-resolution sound recording system is used for acquiring audio information of target sound, the analog audio information is converted into segmented digital audio information through an analog-to-digital conversion circuit, and the segmented digital audio information is sequentially marked through the sound processor; the sound processor is in signal connection with the sound memory, and the obtained standard sound characteristic parameters are stored through the sound memory; the sound monitoring and analyzing unit comprises a comparison recorder for acquiring and recording the audio information to be identified, wherein an analog-to-digital conversion circuit is arranged in the comparison recorder; the sound processor is also used for receiving the sound emitted by the non-human body, so that the sound robot can perform camera monitoring on the place where the non-human body sound is emitted;
the alarm device comprises a local alarm and a remote alarm, and the sensing positioner is used for rapidly sensing the position and the distance of a human body;
the intelligent control nursing module 3 comprises a mental state detection system, a physiological state detection system, an extreme behavior detection system and a mental emotion soothing system, wherein the mental state detection system comprises a voice emotion recognition system and a facial expression recognition system, the mental state is recognized by adopting a voice and video dual-mode emotion recognition layered fusion algorithm with a parallel feature layer and a decision layer, the physiological state detection system comprises an induction analysis unit, a data recording unit and a health guidance unit, the extreme behavior detection system comprises a voice detection unit, a video detection unit and an abnormal behavior decision unit, and the mental emotion soothing system comprises an entertainment program soothing unit, a conversation soothing unit and a self-adaptive learning unit;
the intelligent master control core module 4 comprises a central processing unit, a voice interaction control unit, a wireless communication unit and an intelligent terminal remote connection unit; the robot main body 1 monitors the family environment information, and controls a corresponding module or device to execute corresponding actions after the family environment information is analyzed and processed by a central processing unit; the voice interaction module is used for acquiring voice information of a user and outputting voice of the voice robot to realize interaction with the intelligent terminal remote connection unit, and the wireless communication unit is used for realizing interaction with the intelligent terminal remote connection unit and home equipment; the intelligent terminal remote connection unit is used for realizing control input of a user, and is respectively communicated with the intelligent control security module 2 and the intelligent control nursing module 3 to control information transmission of the modules.
Except for utilizing a voice command, the intelligent master control core module 4 controls the intelligent control nursing module 3, the patrol camera shooting acquisition and processing device identifies the monitored facial information of the human body, and when the monitored facial information identified by the image comparison and analysis component is old people or children stored in the voice robot system, the intelligent master control core module 4 automatically inquires whether a user needs to start the intelligent control nursing module 3 to nurse the old people or the children. Thus, the intelligent and convenient operation can be realized.
The central camera shooting collector is used for shooting the monitored front face information of the human body, the included angle between the left camera shooting collector and the right camera shooting collector is 80-120 degrees, the included angle is used for shooting the two side face information of the monitored human body, the included angle between the upper camera shooting collector and the lower camera shooting collector is 80-120 degrees, and the included angle is used for shooting the upper face information and the lower face information of the monitored human body; the image analysis synthesizer is used for synthesizing the pictures shot by the camera shooting collector into a three-dimensional image; the image contrast analysis component is used for extracting characteristic information of the synthesized image of the image analysis synthesizer.
The voice monitoring, collecting and processing device is also provided with a sound wave filter which is arranged between the voice processor and the high-resolution voice recording system and is used for filtering voice signals.
The intelligent general control system is characterized in that the induction analysis unit is provided with a bone node sensor, a gravity acceleration sensor and an infrared body temperature sensor, the bone node sensor is used for collecting bone node data of a user, the gravity acceleration sensor is used for collecting gravity acceleration data of the user, the infrared body temperature sensor is used for adopting body temperature data of the user, the collected bone node data, gravity acceleration data and body temperature data are analyzed by the induction analysis unit, the data recording unit stores and records an analysis result, sends the analysis result to the intelligent general control core module 4 through the health guidance unit, and finally sends a corresponding interaction instruction to the voice robot.
The electric universal moving device comprises universal wheels, a direct current speed reducing motor and a motor driving system, the universal wheels are connected with the direct current speed reducing motor, and the current speed reducing motor is connected with the intelligent master control core module 4 through the motor driving system.
In order to further improve the using effect, the central processing unit comprises a GIS module and an Android system. According to the invention, the voice interaction module is used for giving instructions to the robot, so that a new man-machine interaction channel is added, and the man-machine interaction efficiency and the home experience quality of residents are improved; the decision-making capability of the service robot is optimized in a targeted manner, and high-tech artificial intelligence of the service robot is realized in a real sense.
The wireless communication unit includes GSM unit and WIFI unit, intelligent control terminal includes smart mobile phone and computer, this house robot system's APP application software is installed to the smart mobile phone, the customer end of this robot system is installed to the computer, the smart mobile phone passes through GSM unit and/or WIFI unit with the total control core module 4 of intelligence is connected, the computer passes through the WIFI unit with the total control core module 4 of intelligence is connected.
The robot comprises a robot main body 1, a first group of ranging units and a second group of ranging units, wherein the lower part of the robot main body 1 is provided with three groups of ranging units which are sequentially connected, and the first group of ranging units is used for detecting the distances between obstacles in multiple directions of the robot main body 1 and generating ultrasonic ranging information; the second group of ranging units are used for detecting the distance between an obstacle in front of the robot main body 1 and generating infrared ranging information; the third group of ranging units are connected to the intelligent master control core module 4 and used for detecting the angle of the right front of the robot main body 1 and generating angle information; the third group of distance measuring units comprise a power supply end, a microprocessor, a nine-degree-of-freedom sensor, a nixie tube and an ADC (analog to digital converter) system and are used for detecting the angle of the right front of the robot body 1.
The voice robot further includes: the ARM embedded module is installed on the surface of the robot main body 1, a touch screen is installed on the ARM embedded module and used for receiving video streams and audio streams and providing network searching and audio and video playing functions through the touch screen.
The invention provides a robot which is high in intelligence, integrates an Internet of things technology, a video monitoring technology and a robot technology, and has high real-time performance and mobility. The invention is based on video monitoring, wireless sensor, ultrasonic positioning, mobile intelligent robot remote control function and automatic inspection function, can regulate and control indoor household appliances and the like, and provides convenient household appliance control, automatic obstacle avoidance, safety anti-theft, accompanying and attending functions and the like for families.
In addition, in order to achieve better technical effects, the technical solutions in the above embodiments may be combined arbitrarily to meet various requirements of practical applications.
According to the embodiment, the intelligent household voice robot integrating security and nursing has strong security and protection mobility, can automatically recognize and collect signals along with sound and human body positions, has no limit in moving direction, provides 360-degree omnibearing security monitoring without dead angles, and is more flexible. The intelligent remote safety device can collect picture signals at different heights, has the functions of emergency dialing and sending out alarm short messages, integrates multiple functions, is particularly suitable for families with old people and children at home, can realize remote intelligent safety and is convenient to use.
The intelligent household voice robot integrating security and nursing can be controlled through the voice and intelligent control terminal, accurately judges whether a visitor is a guest or a sneak person under the dual matching identification of the face information and the voice information, sends monitoring information to the intelligent control terminal after the visitor is identified as the sneak person, and simultaneously gives an alarm, so that the reliability of household security is further improved; the intelligent control security module is also used for receiving sounds emitted by a non-human body, so that the intelligent home voice robot can perform camera monitoring on the places emitting the non-human body sounds, and the user can be ensured to know other abnormal conditions occurring in the home in time; the intelligent household voice robot system integrating security and nursing has various functions, can realize remote control, has strong practicability, and is suitable for popularization in the field.
The intelligent control security module provided by the invention can accurately identify the monitored human face, so that the accuracy of face identification of the device is improved, and the security reliability is greatly improved.
The sound monitoring, collecting and processing device provided by the invention is used for calculating the sound characteristic vector of the collected sound, and has filtering processing in the operation process, so that the influence of external noise on sound identification can be greatly reduced, and the identification accuracy rate during the operation of the system is improved. In addition, the invention also has the advantages of simple structure system, easy installation and maintenance, and the like.
The intelligent household voice robot integrating security and nursing can comprehensively guard the old and children at home, so that a safe, comfortable and comfortable environment is constructed for the old and children; the emotion detection precision of the old and children is improved, and more effective soothing is realized; the detection precision of abnormal behaviors of the old and children is improved, the condition is monitored in real time, and response measures are taken at the first time when an accident occurs, so that the personal safety is guaranteed; the invention has the characteristics of high integrity, strong practicability and low construction cost.
The invention belongs to the artificial intelligence industry and the intelligent manufacturing equipment industry, can control the intelligent robot to work in a voice mode, has strong practicability and high intelligent degree, and is suitable for being used at home.
The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.
Claims (6)
1. An intelligent household robot integrating security and nursing is characterized by comprising a robot main body (1), wherein an intelligent control security module (2), an intelligent control nursing module (3) and an intelligent master control core module (4) are arranged on the robot main body (1); the robot main body (1) comprises an upper part and a lower part, wherein the upper part is provided with an intelligent control security module (2) and an intelligent control nursing module (3), the lower part is provided with a rotary driving motor, an output shaft at the upper end of the rotary driving motor is in transmission connection with the upper part, and the bottom surface of the lower part is provided with an electric universal moving device;
the intelligent control security module (2) comprises a tour camera shooting acquisition and processing device, a sound monitoring and collection processing device, a sensing positioner and an alarm device; the patrol camera shooting acquisition processing device comprises an image acquisition device and an image processing unit, wherein the image acquisition device comprises a central camera shooting collector, the left side and the right side of the central camera shooting collector are provided with a left side camera shooting collector and a right side camera shooting collector which are symmetrically arranged, the upper side and the lower side of the central camera shooting collector are provided with an upper side camera shooting collector and a lower side camera shooting collector which are symmetrically arranged, and the output end of the image acquisition device is connected with the image processing unit; the image processing unit comprises an image retention component, an image comparison analysis component and an image information output component, wherein the image retention component comprises an image shooting device, an image processor and an image analysis synthesizer, and the image comparison analysis component comprises an information memory, a feature recognizer and a feature comparator;
the sound monitoring, collecting and processing device comprises a sound processor, a sound memory, a high-resolution sound recording system and a sound monitoring and analyzing unit, wherein the sound memory is used for storing sound information, the sound processor can analyze and process the collected sound information, the high-resolution sound recording system is used for acquiring audio information of target sound, the analog audio information is converted into segmented digital audio information through an analog-to-digital conversion circuit, and the segmented digital audio information is sequentially marked through the sound processor; the sound processor is in signal connection with the sound memory, and the obtained standard sound characteristic parameters are stored through the sound memory; the sound monitoring and analyzing unit comprises a comparison recorder for acquiring and recording the audio information to be identified, wherein an analog-to-digital conversion circuit is arranged in the comparison recorder; the sound processor is also used for receiving the sound emitted by the non-human body, so that the sound robot can perform camera monitoring on the place where the non-human body sound is emitted;
the alarm device comprises a local alarm and a remote alarm, and the sensing positioner is used for rapidly sensing the position and the distance of a human body;
the intelligent control nursing module (3) comprises a mental state detection system, a physiological state detection system, an extreme behavior detection system and a mental emotion soothing system, wherein the mental state detection system comprises a voice emotion recognition system and a facial expression recognition system, the mental state is recognized by adopting a voice and video dual-mode emotion recognition layered fusion algorithm with a feature layer and a decision layer in parallel, the physiological state detection system comprises an induction analysis unit, a data recording unit and a health guidance unit, the extreme behavior detection system comprises a voice detection unit, a video detection unit and an abnormal behavior decision unit, and the mental emotion soothing system comprises an entertainment program soothing unit, a conversation soothing unit and an adaptive learning unit;
the intelligent master control core module (4) comprises a central processing unit, a voice interaction control unit, a wireless communication unit and an intelligent terminal remote connection unit; the robot main body (1) monitors family environment information, and controls a corresponding module or device to execute corresponding actions after the family environment information is analyzed and processed by a central processing unit; the voice interaction module is used for acquiring voice information of a user and outputting voice of the voice robot to realize interaction with the intelligent terminal remote connection unit, and the wireless communication unit is used for realizing interaction with the intelligent terminal remote connection unit and home equipment; the intelligent terminal remote connection unit is used for realizing control input of a user, and is respectively communicated with the intelligent control security module (2) and the intelligent control nursing module (3) to control information transmission of the modules.
2. The intelligent household robot integrating security and nursing as claimed in claim 1, wherein in addition to the intelligent master control core module (4) controlling the intelligent control nursing module (3) by using voice commands, the patrol camera acquisition and processing device identifies the monitored facial information of the human body, and when the image comparison and analysis component identifies that the monitored facial information of the human body is old people or children stored in the voice robot system, the intelligent master control core module (4) automatically inquires the user whether the intelligent control nursing module (3) needs to be turned on to nurse the old people or children.
3. The intelligent household robot integrating security and protection and nursing as claimed in claims 1-2, wherein the central camera collector is used for shooting the monitored front face information of the human body, the included angle between the left camera collector and the right camera collector is 80-120 degrees and used for shooting the two monitored side face information of the human body, and the included angle between the upper camera collector and the lower camera collector is 80-120 degrees and used for shooting the upper and lower face information of the monitored human body; the image analysis synthesizer is used for synthesizing the pictures shot by the camera shooting collector into a three-dimensional image; the image contrast analysis component is used for extracting characteristic information of the synthesized image of the image analysis synthesizer.
4. The intelligent home robot integrating security and nursing as claimed in claim 3, wherein the voice monitoring and collecting and processing device further comprises a sound wave filter, and the sound wave filter is disposed between the voice processor and the high-resolution voice recording system for filtering voice signals.
5. The intelligent home robot integrating security and protection and nursing is characterized in that the sensing and analyzing unit is provided with a bone node sensor, a gravity acceleration sensor and an infrared body temperature sensor, the bone node sensor is used for collecting bone node data of a user, the gravity acceleration sensor is used for collecting gravity acceleration data of the user, the infrared body temperature sensor is used for adopting body temperature data of the user, the collected bone node data, gravity acceleration data and body temperature data are analyzed by the sensing and analyzing unit, the data recording unit stores and records an analysis result, and then sends the analysis result to the intelligent master control core module (4) through the health guidance unit, and finally sends a corresponding interactive instruction to the voice robot.
6. The intelligent household robot integrating security and nursing functions as claimed in claims 1 to 5, wherein the electric universal moving device comprises universal wheels, a direct current speed reduction motor and a motor driving system, the universal wheels are connected with the direct current speed reduction motor, and the current speed reduction motor is connected with the intelligent master control core module (4) through the motor driving system.
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