CN111438698A - Travel-assisting type community service robot for old people - Google Patents
Travel-assisting type community service robot for old people Download PDFInfo
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- CN111438698A CN111438698A CN202010246740.9A CN202010246740A CN111438698A CN 111438698 A CN111438698 A CN 111438698A CN 202010246740 A CN202010246740 A CN 202010246740A CN 111438698 A CN111438698 A CN 111438698A
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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
- B25J11/008—Manipulators for service tasks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
- G06V40/166—Detection; Localisation; Normalisation using acquisition arrangements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/168—Feature extraction; Face representation
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Abstract
The invention discloses an elderly-assisted travel type community service robot, which comprises a main body, wherein the main body is provided with: the main control end can realize overall control and store big data of the old people in the community; the camera device can acquire and feed back the characteristic information of the old and is connected with the main control end; the cooperation module can assist the elderly according to the instruction and is connected with the main control end; and the positioning navigation module can provide a moving path for the cooperative robot to reach the address of the old people and is respectively connected with the navigation module and the main control terminal. Compared with the traditional technology, the intelligent community control system is reasonable in design, intelligent and efficient in control, and can provide accurate assistance guidance for the old in the community, so that worries of children and women are solved.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to an old people-assisted travel type community service robot.
Background
With the continuous development of social population, the aging trend is more and more serious, especially in some communities, the main activity area of the old people is basically occupied, and as young children and children work busy, most of the old people in the communities do not have time and energy to carefully look at, the care problem of the old people is particularly important. At present, some solutions are achieved by employing a specially-assigned person for nursing, but the cost is relatively high, the degree of intelligence is not high, and the method is to monitor the position coordinates of the old through a mobile phone or other electronic terminals, but the forgetfulness of the old causes the old to be not very aware of the use of the equipment, and the defects of inconvenience in carrying the old out and the like exist.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide an elderly-assisted travel-type community service robot, which has a good intelligent control effect and can provide accurate assistance guidance for the elderly in the community.
In order to make up for the defects of the prior art, the embodiment of the invention adopts the following technical scheme:
the utility model provides an old person assists trip-type community service robot, includes the main part, be provided with in the main part:
the main control end can realize overall control and store big data of the old people in the community;
the camera device can acquire and feed back the characteristic information of the old and is connected with the main control end;
the cooperation module can assist the elderly according to the instruction and is connected with the main control end;
and the positioning navigation module can provide a moving path for the cooperative robot to reach the address of the old people and is respectively connected with the navigation module and the main control terminal.
One or more technical schemes provided in the embodiment of the invention have at least the following beneficial effects: the characteristic information of the old people is acquired in real time through the camera module, thereby the life state of the old people in the community is known, and the information of the old people can be compared with the pre-stored big data, so that the real identity of the old people and the information such as the matched addresses of the old people can be accurately known, therefore, the cooperation of the cooperation module is matched with the positioning navigation module, so that the old people can provide corresponding assistance, the old people can return the addresses of the old people in the community, the condition that the old people cannot see the old people in the community is not needed to be cared, the work of the old people under the overall control of the main control terminal is realized, therefore, the control effect is more intelligent and effective on the whole, the old people do not need to see the old people manually, and the guide help efficiency of the old people is also improved. Therefore, the intelligent community control system is reasonable in design, intelligent and efficient in control, and can provide accurate assistance guidance for the old in the community, so that worries of children and women are solved.
Further, camera device is including being used for carrying out face identification's first camera and being used for the second camera of record to the face identification process of old person to the old person, first camera with the second camera all with the master control end is connected.
Further, the step of performing face recognition on the elderly by the first camera includes:
training all the old people from the shot pictures containing the old people to obtain the average value of the face vectors of all the old people
Wherein the content of the first and second substances,
the average value is M, the number of training faces of the middle-aged and the elderly in the picture is M, and the M is a training face vector;
calculating a difference between the face vector of each elderly person and the average value
Wherein phiiIs the difference;
feature vector for obtaining face vector of old people
Wherein λ isκIs a feature vector, u is a unit vector;
and projecting the training set image and the test set image of the old to the feature vector, enabling each image in the test set image to find the nearest neighbor in the training set image, and comparing the found image with big data information of the old in the community in the main control terminal, thereby realizing the face recognition of the old.
Further, the cooperation module includes seat, actuating mechanism and is used for joining in marriage the cooperation robot of holding up the old person, the seat below is installed and is removed the wheel, actuating mechanism respectively with remove the wheel with the master control end is connected, cooperation robot with the master control end is connected.
Further, the positioning navigation module comprises a positioning module for positioning a specific position of the cooperative robot and a navigation module for planning a moving path of the cooperative robot, and the positioning module and the navigation module are both connected to the cooperative robot.
Further, still be provided with the display screen that has remote communication connection function in the main part, the display screen with the master control end is connected.
Further, a network transmission module for realizing communication between the cooperation module and the main control terminal is arranged between the cooperation module and the main control terminal.
Furthermore, the main control end adopts a microprocessor or an upper computer.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The following description of the preferred embodiments of the present invention will be made in conjunction with the accompanying drawings.
Fig. 1 is a schematic block diagram of a structure of an elderly-assisted travel community service robot according to an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating a process of performing face recognition on an old person by using a first camera in an elderly-assisted travel community service robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. In some cases, the steps shown or described may be performed in a different division of modules in the system, or in a different order in the flow diagrams.
The embodiments of the present invention will be further explained with reference to the drawings.
Referring to fig. 1, an elderly-assisted travel-type community service robot provided in an embodiment of the present invention includes a main body, where:
the main control end 200 can realize overall control and store big data of the old people in the community;
the camera device can acquire and feed back the characteristic information of the old and is connected with the main control terminal 200;
the cooperation module 500 can assist the elderly according to the instruction and is connected with the main control terminal 200;
and the positioning navigation module 700 can provide a moving path for the cooperative robot to reach the address of the elderly, and is respectively connected with the navigation module and the main control terminal 200.
In this embodiment, acquire old person's characteristic information in real time through the camera module, thereby know the state of life of old person in the community, and can compare this old person's information with the big data of prestoring, thereby accurately learn this old person's true identity and information such as its supporting address, consequently, cooperation module 500 cooperation is gone up and is fixed a position navigation module 700 and then can provide corresponding assistance for the old person, make it can return its address in the community, need not to care about the condition that the old person did not have the people to look after in the community, and, above all, each module or device all realize work under main control terminal 200 overall control, consequently, the control effect is more intelligent more effective on the whole, need not to look after by the manual work, also improved the guide help efficiency to old person. Therefore, the intelligent community control system is reasonable in design, intelligent and efficient in control, and can provide accurate assistance guidance for the old in the community, so that worries of children and women are solved.
Preferably, the main control end 200 adopts a microprocessor or an upper computer, and no matter the microprocessor or the upper computer has good functions of communication transmission, overall control and the like, can complete operations of instruction fetching, instruction execution, information exchange with an external memory and a logic component and the like, has good space storage, can integrate big data information of the old people in the community, and is very convenient and reliable; in addition, a network transmission module 400 for realizing communication between the cooperation module 500 and the main control end 200 is arranged between the cooperation module 500 and the main control end 200, and a transmission mode such as 5G can be adopted, so that the communication speed between the cooperation module 500 and the main control end 200 is increased, and the help control for the old is more timely.
Further, referring to fig. 1, the image capturing apparatus includes a first camera 100 for performing face recognition on an old person and a second camera 300 for recording a face recognition process of the old person, and both the first camera 100 and the second camera 300 are connected to the main control end 200. Specifically, two cameras divide the worker cooperation, can realize face identification, can take notes old person's instant message again to the reserve file is looked over.
Further, referring to fig. 2, the step of performing face recognition on the elderly by the first camera 100 includes:
s100, training all the old people from the shot pictures containing the old people to obtain the average value of the face vectors of all the old people
Wherein the content of the first and second substances,
the average value is M, the number of training faces of the middle-aged and the elderly in the picture is M, and the M is a training face vector;
s200, calculating the difference value between the face vector of each old person and the average value
Wherein phiiIs the difference;
s300, obtaining feature vectors of face vectors of the old
Wherein λ isκIs a feature vector, u is a unit vector;
s400, projecting the training set image and the test set image of the old to the feature vector, enabling each image in the test set image to find the nearest neighbor in the training set image, and comparing the found images with big data information of the old in the community in the main control terminal 200, so that face recognition of the old is achieved.
Specifically, through training, vectorization and feature vectorization to the old person picture, can reflect old person's core image information to can come the old person's in the training set image characterization out with the help of old person's training set image and test set image, then finally the face identification of old person is realized to the accessible contrast, and it is thus obvious that this face identification mode can be realized with the help of simple training, and is very high-efficient reliable.
The cooperation module 500 designed by the inventor comprises a seat, a driving mechanism and a cooperation robot for assisting the elderly, wherein a moving wheel is installed below the seat, the driving mechanism is respectively connected with the moving wheel and the main control end 200, and the cooperation robot is connected with the main control end 200.
Specifically, if the elderly do not need a seat, the elderly need only to be assisted by the cooperative robot (wherein the assisted body can judge the bones of the elderly through a bottom-up body posture estimation algorithm of Part Affinity Fields (PAFs) to assist the elderly in supporting the correct parts of the elderly), otherwise, the cooperative robot helps the elderly to sit on the seat, and particularly, a driving mechanism is adopted to drive the seat to move, so that the assisting robot only needs to correctly guide the route of the seat, relatively speaking, the work load of the cooperative robot is reduced, the overall assistance to the elderly is more orderly, and preferably, the driving mechanism is a motor and can be installed below the seat.
Further, the positioning navigation module 700 includes a positioning module for positioning a specific position of the cooperative robot and a navigation module for planning a moving path of the cooperative robot, both of which are connected to the cooperative robot.
Specifically, the positioning module may feed back the specific position information of the cooperative robot to the main control end 200, for example, in a GPS manner, so as to excite the navigation module to plan the moving path for the cooperative robot, and it is seen that a mutual matching relationship exists between the positioning module and the main control end, a stable and accurate path planning scheme can be provided for the cooperative robot through matching, and the control effect is better.
Furthermore, the main body is further provided with a display screen 600 having a remote communication connection function, and the display screen 600 is connected with the main control terminal 200.
In this embodiment, can transmit old person's real-time information for main control end 200 with the video mode directly perceived through display screen 600, can reflect old person's instant message more accurately to whether it appears sick, symptoms such as hypodynamia in the judgement, have good actual guiding meaning, correspondingly, still set up intelligent medicine box in the main part, some old person special use medicines can be configured to inside, so that supply the old person to use under emergency, it is very convenient.
While the preferred embodiments and basic principles of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the embodiments, but is intended to cover various modifications, equivalents and alternatives falling within the scope of the invention as claimed.
Claims (8)
1. The utility model provides an old person assists trip-type community service robot which characterized in that, includes the main part, be provided with in the main part:
the main control end can realize overall control and store big data of the old people in the community;
the camera device can acquire and feed back the characteristic information of the old and is connected with the main control end;
the cooperation module can assist the elderly according to the instruction and is connected with the main control end;
and the positioning navigation module can provide a moving path for the cooperative robot to reach the address of the old people and is respectively connected with the navigation module and the main control terminal.
2. An elderly-assisted travel community service robot according to claim 1, wherein: the camera device comprises a first camera and a second camera, wherein the first camera is used for carrying out face recognition on the old and the second camera is used for recording the face recognition process of the old, and the first camera and the second camera are connected with the main control end.
3. A senior assisted travel community service robot according to claim 2, wherein the step of performing face recognition on the senior by the first camera comprises:
training all the old people from the shot pictures containing the old people to obtain the average value of the face vectors of all the old people
Wherein the content of the first and second substances,
the average value is M, the number of training faces of the middle-aged and the elderly in the picture is M, and the M is a training face vector;
calculating a difference between the face vector of each elderly person and the average value
Wherein phiiIs the difference;
feature vector for obtaining face vector of old people
Wherein λ isκIs a feature vector, u is a unit vector;
and projecting the training set image and the test set image of the old to the feature vector, enabling each image in the test set image to find the nearest neighbor in the training set image, and comparing the found image with big data information of the old in the community in the main control terminal, thereby realizing the face recognition of the old.
4. An elderly-assisted travel community service robot according to claim 1, wherein: the cooperation module includes seat, actuating mechanism and is used for joining in marriage the cooperation robot of holding up the old person, the seat below is installed and is removed the wheel, actuating mechanism respectively with remove the wheel with the master control end is connected, cooperation robot with the master control end is connected.
5. An elderly-assisted travel community service robot according to claim 4, wherein: the positioning navigation module comprises a positioning module used for positioning the specific position of the cooperative robot and a navigation module used for planning the moving path of the cooperative robot, and the positioning module and the navigation module are both connected to the cooperative robot.
6. An elderly-assisted travel community service robot according to claim 1, wherein: the main part is also provided with a display screen with a remote communication connection function, and the display screen is connected with the main control end.
7. An elderly-assisted travel community service robot according to claim 1, wherein: and a network transmission module for realizing communication between the cooperation module and the main control end is arranged between the cooperation module and the main control end.
8. An elderly-assisted travel type community service robot as claimed in any one of claims 1 to 7, wherein: the main control end adopts a microprocessor or an upper computer.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010246740.9A CN111438698A (en) | 2020-03-31 | 2020-03-31 | Travel-assisting type community service robot for old people |
| PCT/CN2020/112544 WO2021196517A1 (en) | 2020-03-31 | 2020-08-31 | Community service robot for assisting mobility of the elderly |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010246740.9A CN111438698A (en) | 2020-03-31 | 2020-03-31 | Travel-assisting type community service robot for old people |
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| CN202010246740.9A Pending CN111438698A (en) | 2020-03-31 | 2020-03-31 | Travel-assisting type community service robot for old people |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021196517A1 (en) * | 2020-03-31 | 2021-10-07 | 五邑大学 | Community service robot for assisting mobility of the elderly |
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| CN113954091A (en) * | 2021-10-15 | 2022-01-21 | 北京小乔机器人科技发展有限公司 | Robot with online medicine purchasing function |
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2020
- 2020-03-31 CN CN202010246740.9A patent/CN111438698A/en active Pending
- 2020-08-31 WO PCT/CN2020/112544 patent/WO2021196517A1/en active Application Filing
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| KR20170090599A (en) * | 2016-01-29 | 2017-08-08 | (주)다나티앤씨 | Walking Assistance Device |
| CN106965196A (en) * | 2017-04-24 | 2017-07-21 | 黄国彬 | A kind of service robot |
| CN109015676A (en) * | 2018-08-13 | 2018-12-18 | 范文捷 | A kind of robot for accompanying the walking of old man open air |
| CN109446988A (en) * | 2018-10-29 | 2019-03-08 | 江苏环宇臻视智能科技有限公司 | Face identification method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021196517A1 (en) * | 2020-03-31 | 2021-10-07 | 五邑大学 | Community service robot for assisting mobility of the elderly |
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