CN112472533A - Artificial intelligence walking stick walking robot - Google Patents
Artificial intelligence walking stick walking robot Download PDFInfo
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- CN112472533A CN112472533A CN202011390537.5A CN202011390537A CN112472533A CN 112472533 A CN112472533 A CN 112472533A CN 202011390537 A CN202011390537 A CN 202011390537A CN 112472533 A CN112472533 A CN 112472533A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/02—Crutches
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/068—Sticks for blind persons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
- A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
Abstract
The invention relates to the technical field of robots, and discloses an artificial intelligent walking stick walking robot which comprises a lifting support rod, a driving device, a tracking device, a detection device, an interaction device and a controller, wherein the driving device, the tracking device, the detection device, the interaction device and the controller are arranged on the lifting support rod; the driving device is arranged at the bottom of the first supporting rod and drives the lifting supporting rod to move; the tracking device comprises an information acquisition module, a face detection module, a feature extraction module, an identity information base and a feature comparison and identification module; the detection device comprises an obstacle avoidance module, a vibration module, a navigation module and a voice reminding module; the interaction device comprises an acquisition mechanism and a feedback mechanism, wherein the acquisition mechanism comprises an acquisition module, a comparison module and a wake-up module, and the feedback mechanism comprises an analysis module, a query module, a storage module, a feedback module and a help seeking module. The walking stick support device can be used as a walking stick support and can also move autonomously, can realize real-time tracking, detection and navigation paths, can also realize interaction, and has the advantages of diversified functions, strong interest and high safety factor.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an artificial intelligent walking stick walking robot.
Background
A crutch refers to a simple walking aid, usually a wooden or metal stick, but a simple crutch is far from being used by some special people, such as people with visual impairment. Visual impairment is a disease that has a serious impact on the quality of life of humans. The vision-impaired friends are in the dark world for a long time, and lack the help of visual images, so that the traveling safety and daily life of the vision-impaired friends are hundreds of times higher than those of ordinary people in danger. In daily life, the blind person generally obtains help by a blind guiding stick carried with the blind person when going out, and the blind guiding stick is used as one type of a walking stick, has single function and poor intelligence, has limited help for the blind person and can not meet the requirements of the blind person.
With the continuous progress of scientific technology and the continuous development of robot technology, the intelligent robot gradually enters thousands of households, and a plurality of intelligent robots bring convenience and fun to the life of people in the market. Therefore, it is necessary to research a multifunctional artificial intelligent walking stick walking robot.
Disclosure of Invention
The invention aims to solve the problem of providing an artificial intelligent walking stick walking robot which can be used as a walking stick support and can also move autonomously, can realize real-time tracking, detection and navigation paths, can realize interaction, and has diversified functions, strong interest and high safety coefficient.
In order to solve the technical problems, the invention provides an artificial intelligent walking stick walking robot, which comprises a lifting support rod, a driving device, a tracking device, a detecting device, an interaction device and a controller, wherein the driving device, the tracking device, the detecting device and the interaction device are arranged on the lifting support rod;
the lifting support rod comprises a first support rod and a second support rod, the first support rod is sleeved on the second support rod, the second support rod is provided with a spring limiting block, and the first support rod is provided with a plurality of limiting holes matched with the spring limiting block;
the driving device is arranged at the bottom of the first supporting rod and drives the lifting supporting rod to move, the driving device comprises a bottom shell, an electric push rod, a telescopic rod and a plurality of electric universal wheels, the bottom shell is fixed at the bottom end of the first supporting rod, the electric push rod is fixed in the first supporting rod, the output end of the electric push rod is connected with the telescopic rod, the bottom end of the telescopic rod extends into the bottom shell, the three electric universal wheels are uniformly distributed and connected at the bottom end of the telescopic rod, and the electric push rod drives the telescopic rod to move up and down and drives the electric universal wheels to extend out of the bottom shell or be accommodated in the bottom shell;
the tracking device comprises an information acquisition module, a human face detection module, a feature extraction module, an identity information base and a feature comparison and identification module, wherein the camera module is provided with a plurality of images capable of photographing in a range of 360 degrees, the camera module acquires face image information and position information of a target, the temperature detection module acquires body temperature information of the target, the information acquisition module transmits the face image information, the position information and the body temperature information to the human face detection module, the human face detection module judges whether the detected target is a live human face or not, when the detected result is a non-live human face, the result information is transmitted to a controller, the driving device is controlled to move the robot to avoid the current target, when the detected result is a live human face, the result information is transmitted to the feature extraction module, the feature extraction module extracts feature information of the target and transmits the feature information to the feature comparison and identification module, the characteristic comparison and identification module compares and identifies characteristic information of a target with characteristic information in the identity information base, when an identification result is a preset target face in the identity information base, the robot carries out man-machine interaction, and when the identification result is not the preset target face in the identity information base, the result information is transmitted to the controller to control the driving device to move the robot to avoid the current target; specifically, the temperature detection module is an infrared temperature sensor, and the camera module is a depth camera.
The detection device comprises an obstacle avoidance module, a vibration module, a navigation module and a voice reminding module;
the obstacle avoidance module is used for identifying obstacles on the advancing route of a user, when the user approaches the obstacles, the obstacle avoidance module transmits data to the controller, and the controller controls the vibration module to start to remind the user of the existence of the obstacles in front; the navigation module is used for generating an optimal travelling path of the walking robot of the artificial intelligent crutch to the destination by combining an electronic map according to the current position of the walking robot of the artificial intelligent crutch and the position of the destination; the voice reminding module is used for informing the road condition of the surrounding environment of the user by playing voice according to the image obtained by the shooting module and the information of the obstacle avoidance module, and informing the walking direction and distance of the user on the way to the destination by playing voice according to the route information of the navigation module;
the interactive device comprises an acquisition mechanism and a feedback mechanism, wherein the acquisition mechanism is used for responding to a voice interactive request and acquiring interactive request information input by a user, and the feedback mechanism is used for generating and playing feedback information according to the interactive request information;
the acquisition mechanism comprises an acquisition module, a comparison module and a wake-up module, wherein the acquisition module is used for responding to the voice interaction request, acquiring wake-up instruction information input by a user and acquiring interaction request information input by the user after the voice interaction function is waken up; the comparison module is used for comparing whether the acquired awakening instruction information is matched with the stored awakening instruction information or not; the awakening module is used for playing the stored awakening feedback information and awakening the voice interaction function when the acquired awakening feedback information is matched with the stored awakening instruction information;
the feedback mechanism comprises an analysis module, a query module, a storage module, a feedback module and a help seeking module; the analysis module is used for converting the interaction request information into text information and acquiring keywords of the interaction request information from the text information; the query module is used for querying whether the storage module stores the reply information matched with the keyword; the feedback module is used for generating and playing the feedback information when reply information matched with the interaction request information is stored; the help seeking module is used for sending the interaction request information to the guardian end when no reply information matched with the interaction request information exists, receiving feedback information from the guardian end, and playing the feedback information.
As a preferred scheme of the invention, the photographing angle of the photographing module is adjusted, so that the target face is displayed at the central position of a photographed image acquired by the photographing module; and when the camera module shoots, the temperature of the target is acquired by using the temperature detection module.
In a preferred embodiment of the present invention, the camera module is connected to an external device through a controller, and the camera module can store the influence of the video on the external device.
As a preferable scheme of the present invention, the tracking device further includes a GPS positioning module, and the GPS positioning module is configured to detect a position of the walking robot of the artificial intelligent crutch, so that a guardian can know the position of the walking robot of the artificial intelligent crutch.
As a preferable scheme of the present invention, the feedback mechanism further includes a retrieval module, and the retrieval module is configured to retrieve, through a network, whether there is a reply message matching the keyword at the server side when there is no reply message matching the interaction request message.
As a preferred embodiment of the present invention, the feedback mechanism further includes a request module, configured to respond to a resource request command, and play the stored audio-visual resource related to the interaction request information.
As a preferable scheme of the present invention, the feedback mechanism further includes a judgment module and an inquiry module, wherein the judgment module is configured to judge which guardian can be helped according to the image information photographed by the camera module, and acquire the guardian information that can be helped; the inquiry module is used for calling the guardian who can call for help, receiving and playing the interactive information from the guardian.
As a preferable scheme of the invention, the feedback mechanism further comprises an acceleration detection module and an alarm module; the acceleration detection module is used for detecting whether the walking robot of the artificial intelligent walking stick falls down suddenly, judging whether a user falls down, and if the user falls down, transmitting data to the alarm module and giving an alarm; the alarm module is used for sending an alarm information alarm center according to the information of the fall detection module and the opening of the alarm button and in combination with the positioning information of the GPS positioning module.
As a preferable scheme of the present invention, the feedback mechanism is connected to a weather forecast system, a home appliance control system, and a takeout system.
As the preferable scheme of the invention, the bottom end of the lifting support rod is provided with an anti-skidding base.
Compared with the prior art, the artificial intelligent walking stick walking robot has the following beneficial effects:
the height of the artificial intelligent crutch walking robot can be adjusted by adjusting the position of the second supporting rod according to the height or specific requirements of a user, so that different using height requirements are met; through the design of the driving device, when the artificial intelligent walking stick walking robot is used as a walking stick support, the electric push rod drives the telescopic rod to move upwards to drive the electric universal wheel to be stored in the bottom shell, and when the artificial intelligent walking stick walking robot needs to walk, guide or follow a user through the pulley, the electric push rod drives the telescopic rod to move downwards to drive the electric universal wheel to extend out, and the electric universal wheel drives the lifting support rod to move and rotate by 360 degrees; through the design of a tracking device, the combination of a camera module and a temperature detection module is utilized, the human face image information and the body temperature information are jointly used as information for detecting and judging the human face, the target person is identified, and the real-time tracking is realized by controlling a driving device; through the design of the detection device, a user can easily know the road conditions and navigation routes of the surrounding environment according to vibration and voice, and even a blind person can comprehensively know the surrounding road conditions and possible dangers, so that the safety is high; through interactive installation's design, the user can carry out voice interaction with artificial intelligence walking stick walking robot, and interactive installation can solve or accomplish user's simple instruction, and the practicality is strong, improves the interest. Therefore, the walking stick support can be used as a walking stick support and can also move independently, real-time tracking, detection and navigation paths can be realized, interaction can also be realized, the function is diversified, the interestingness is high, and the safety coefficient is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
FIG. 1 is a schematic structural diagram of an artificial intelligent walking stick walking robot provided by the invention;
FIG. 2 is a block diagram of the walking robot of the artificial intelligent crutch provided by the invention.
In the figure: 1. the device comprises a lifting support rod 11, a first support rod 111, a limiting hole 12, a second support rod 121, a spring limiting block 2, a driving device 21, a bottom shell 22, an electric push rod 23, a lifting rod 24, an electric universal wheel 3, a tracking device 4, a detection device 5, an interaction device 51, an acquisition mechanism 52, a feedback mechanism 6, a controller 7, external equipment 8, a gas forecasting system 9, a household appliance control system 10 and a takeaway system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be understood that the terms "central", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., used herein are used in the orientation or positional relationship indicated in the drawings, which are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1 and 2, in a preferred embodiment of the present invention, an artificial intelligence walking stick walking robot includes a lifting support rod 1, and a driving device 2, a tracking device 3, a detecting device 4, an interaction device 5 and a controller 6 which are disposed on the lifting support rod 1, wherein the controller 6 is electrically connected to the driving device 2, the tracking device 3, the detecting device 4 and the interaction device 5, respectively, and the controller 6 is wirelessly connected to an external device 7.
The lifting support rod 1 comprises a first support rod 11 and a second support rod 12, the first support rod 11 is sleeved on the second support rod 12, a spring limiting block 121 is arranged on the second support rod 12, and a plurality of limiting holes 111 matched with the spring limiting block 121 are formed in the first support rod 11.
Drive arrangement 2 sets up the bottom and the drive of first bracing piece 11 lift bracing piece 1 removes, drive arrangement 2 includes drain pan 21, electric putter 22, rises telescopic rod 23 and a plurality of electronic universal wheel 24, drain pan 21 is fixed the bottom of first bracing piece 11, electric putter 22 is fixed in first bracing piece 11, electric putter 22's output is connected with rises telescopic rod 23, the bottom of rising telescopic rod 23 extends to in the drain pan 21, three electronic universal wheel 24 evenly distributed connects the bottom of rising telescopic rod 23, electric putter 22 drive rise telescopic rod 23 and reciprocate and drive electronic universal wheel 24 stretches out drain pan 21 or accomodate to in the drain pan 21.
The tracking device 3 comprises an information acquisition module, a human face detection module, a feature extraction module, an identity information base and a feature comparison and identification module, wherein the camera module is provided with a plurality of images capable of photographing in a range of 360 degrees, the camera module acquires face image information and position information of a target, the temperature detection module acquires body temperature information of the target, the information acquisition module transmits the face image information, the position information and the body temperature information to the human face detection module, the human face detection module judges whether the detected target is a live human face or not, when the detection result is an inactive human face, the result information is transmitted to a controller 6, the driving device 2 is controlled to move the robot to avoid the current target, when the detection result is the live human face, the result information is transmitted to the feature extraction module, the feature extraction module extracts feature information of the target and transmits the feature information to the feature comparison and identification module, the characteristic comparison and identification module compares and identifies characteristic information of the target with characteristic information in the identity information base, when the identification result is a preset target face in the identity information base, the robot carries out man-machine interaction, and when the identification result is not the preset target face in the identity information base, the result information is transmitted to the controller 6, and the driving device 2 is controlled to move the robot to avoid the current target.
When the tracking device 3 is used, the method comprises the following steps: a user sends a tracking instruction to the robot to request the robot to interact with a preset face in the identity information base; the tracking device 3 searches for a target, and takes a picture by using the camera module to acquire the face image information and the distance information of the target; meanwhile, the body temperature information of the target is acquired by using a temperature detection module; transmitting the face image information, the distance information and the body temperature information to a face detection module, judging whether a detected target is a face and a movable life body, and starting a driving device 2 to move the artificial intelligent crutch walking robot to avoid the detected target when the detected target is a non-face or a non-movable life body; when the detected target is a live face, continuing to execute subsequent actions; after being detected by the face detection module, the living face information is transmitted to the feature extraction module to extract feature information; the extracted feature information is transmitted to a feature comparison and identification module to be compared with information in an identity information base so as to identify whether the target is a preset face in the identity information base, and when the target is not the preset face, a driving device 2 is started to move the artificial intelligent crutch walking robot so as to avoid the detected target; when the face is confirmed to be the preset face, performing interactive activity; after the target is confirmed to be a preset face, the distance information of the target is transmitted to the driving device 2, and the driving device 2 is used for adjusting the movement of the robot, so that the distance between the camera module and the temperature detection module and the target is kept in a proper distance range, and the normal operation of the interaction process of the robot and the target is ensured.
The detection device 4 comprises an obstacle avoidance module, a vibration module, a navigation module and a voice reminding module; the obstacle avoidance module is used for identifying obstacles on the advancing route of a user, when the user approaches the obstacles, the obstacle avoidance module transmits data to the controller 6, and the controller 6 controls the vibration module to start to remind the user of the existence of the obstacles in front; the navigation module is used for generating an optimal travelling path of the walking robot of the artificial intelligent crutch to the destination by combining an electronic map according to the current position of the walking robot of the artificial intelligent crutch and the position of the destination; the voice reminding module is used for informing the road condition of the surrounding environment of the user by playing voice according to the image obtained by the shooting module and the information of the obstacle avoidance module, and informing the walking direction and distance of the user on the way to the destination by playing voice according to the route information of the navigation module; specifically, the obstacle avoidance module is an obstacle avoidance sensor, and the vibration module is a vibrator.
The interactive device 5 comprises an acquisition mechanism 51 and a feedback mechanism 52, wherein the acquisition mechanism 51 is used for responding to a voice interactive request and acquiring interactive request information input by a user, and the feedback mechanism 52 is used for generating and playing feedback information according to the interactive request information; the acquiring mechanism 51 comprises an acquiring module, a comparing module and a waking module, wherein the acquiring module is used for responding to the voice interaction request, acquiring waking instruction information input by a user, and acquiring interaction request information input by the user after the voice interaction function is waken; the comparison module is used for comparing whether the acquired awakening instruction information is matched with the stored awakening instruction information or not; the awakening module is used for playing the stored awakening feedback information and awakening the voice interaction function when the acquired awakening feedback information is matched with the stored awakening instruction information; the feedback mechanism 52 comprises an analysis module, a query module, a storage module, a feedback module and a help module; the analysis module is used for converting the interaction request information into text information and acquiring keywords of the interaction request information from the text information; the query module is used for querying whether the storage module stores the reply information matched with the keyword; the feedback module is used for generating and playing the feedback information when reply information matched with the interaction request information is stored; the help seeking module is used for sending the interaction request information to the guardian end when no reply information matched with the interaction request information exists, receiving feedback information from the guardian end, and playing the feedback information.
The height of the walking robot of the artificial intelligent crutch can be adjusted by adjusting the position of the second supporting rod 12 according to the height or the specific requirements of a user, so that different requirements of use heights can be met; through the design of the driving device 2, when the artificial intelligent walking stick walking robot is used as a walking stick support, the electric push rod 22 drives the telescopic rod 23 to move upwards to drive the electric universal wheel 24 to be stored in the bottom shell 21, when the artificial intelligent walking stick walking robot needs to help, guide or follow a user through a pulley, the electric push rod 22 drives the telescopic rod 23 to move downwards to drive the electric universal wheel 24 to extend out, and the electric universal wheel 24 drives the lifting support rod 1 to move and rotate by 360 degrees; through the design of the tracking device 3, the combination of the camera module and the temperature detection module is utilized, the human face image information and the body temperature information are jointly used as the information for detecting and judging the human face, the target person is identified, and the real-time tracking is realized by controlling the driving device 2; through the design of the detection device 4, a user can easily know the road conditions and navigation routes of the surrounding environment according to vibration and voice, and even a blind person can comprehensively know the surrounding road conditions and possible dangers, so that the safety is high; through interactive installation 5's design, the user can carry out voice interaction with artificial intelligence walking stick walking robot, and interactive installation 5 can be answered or accomplish user's simple instruction, and the practicality is strong, improves the interest. Therefore, the walking stick support can be used as a walking stick support and can also move independently, real-time tracking, detection and navigation paths can be realized, interaction can also be realized, the function is diversified, the interestingness is high, and the safety coefficient is high.
Illustratively, in order to more accurately track and identify a target person and detect road conditions, the photographing angle of the camera module is adjusted, so that the target face is displayed at the central position of a photographed image acquired by the camera module; and when the camera module shoots, the temperature of the target is acquired by using the temperature detection module.
And when the T _ D, the T and the D meet an expression T _ D ═ f (T, D), Tmin is a minimum temperature value, Tmax is a maximum temperature value, and when the Tmin < T _ D < Tmax, the target is detected to be a live face.
The features extracted by the feature extraction module comprise human face image features and human body temperature features. The face image features are generally classified into geometric features, algebraic features, and the like. The geometric features are features based on the shape and geometric relationship of human face organs, including geometric feature curvature and facial geometric feature points. The geometric feature curvature refers to the contour curvature of the human face. The geometric feature points of the face comprise various organs such as eyes, nose, mouth, chin and the like, and relative positions and distances between the various organs. These features have invariance to position, viewpoint, size, etc. The selected geometric characteristics are required to have certain uniqueness, can reflect the difference between different human faces, and simultaneously have certain elasticity to eliminate the influence of factors such as time span, illumination and the like. The algebraic feature is formed by projecting the face image in a dimensionality-reduced subspace by using a specific transformation method. Such as singular value feature obtained through singular value transformation, feature face feature obtained through K-L transformation, wavelet feature obtained through wavelet transformation, etc.
Illustratively, the camera module is connected with the external device 7 through the controller 6, and can store the video influence on the external device 7, so that the walking road condition of the user can be seen from the external device 7, and a track can be found if an accident occurs.
Illustratively, the tracking device 3 further comprises a GPS positioning module, and the GPS positioning module is used for detecting the position of the walking robot of the artificial intelligent crutch, so that the guardian can know the position of the walking robot of the artificial intelligent crutch. Therefore, when the artificial intelligent walking stick walking robot cannot be found, the artificial intelligent walking stick walking robot can be found back through the GPS positioning module, and in addition, when the guardian cannot find the user, the guardian can learn the position of the user according to the position of the artificial intelligent walking stick walking robot, and the safety factor is improved.
Illustratively, the feedback mechanism 52 further includes a retrieval module, which is configured to retrieve, via a network, whether there is a reply message matching the keyword at a server side when there is no reply message matching the interaction request message; the feedback mechanism 52 further comprises an on-demand module for playing the stored audio-visual resource associated with the interaction request information in response to the resource on-demand instruction. Therefore, the functional diversity of the feedback mechanism 52 is improved, the artificial intelligent walking stick walking robot is more intelligent, and the practicability and the interestingness are high.
Illustratively, the feedback mechanism 52 further includes a judging module and an inquiring module, wherein the judging module is configured to judge which guardian can be helped according to the image information photographed by the camera module, and acquire the information of the guardian who can be helped; the inquiry module is used for calling the guardian who can call for help, receiving and playing the interactive information from the guardian. By means of the design, when a user needs to seek help, the artificial intelligent walking stick walking robot can help the user to exchange guardians who can seek help, and particularly for the blind, when the blind cannot see who the guardians are, the artificial intelligent walking stick walking robot can help the blind to seek help.
Illustratively, the feedback mechanism 52 further includes an acceleration detection module and an alarm module; the acceleration detection module is used for detecting whether the walking robot of the artificial intelligent walking stick falls down suddenly, judging whether a user falls down, and if the user falls down, transmitting data to the alarm module and giving an alarm; the alarm module is used for sending an alarm information alarm center according to the information of the fall detection module and the opening of the alarm button and in combination with the positioning information of the GPS positioning module. Specifically, the acceleration detection module is an acceleration sensor. Such design, artifical intelligent walking stick walking robot can in time report to the police the succour when the user falls down, also can report to the police through alarm module when the user independently thinks main succour, is fit for solitary old man or the inconvenient person of action, and factor of safety is high.
Illustratively, the feedback mechanism 52 is connected with the weather forecast system 8, the household appliance control system 9 and the takeout system 10, so that the user can know the weather condition, control the household appliance and use the takeout system 10 through the artificial intelligent crutch walking robot, and the practicability is high.
Exemplarily, in order that a user can more stably use the support of the walking robot of the artificial intelligent crutch, and prevent the walking robot of the artificial intelligent crutch from slipping, the bottom end of the lifting support rod 1 is provided with an anti-slip base.
In the description of the present invention, it is to be understood that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, either fixedly connected, detachably connected, or integrally connected, unless otherwise explicitly stated or limited; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (10)
1. The artificial intelligent walking stick walking robot is characterized by comprising a lifting support rod, a driving device, a tracking device, a detecting device, an interaction device and a controller, wherein the driving device, the tracking device, the detecting device and the interaction device are arranged on the lifting support rod;
the lifting support rod comprises a first support rod and a second support rod, the first support rod is sleeved on the second support rod, the second support rod is provided with a spring limiting block, and the first support rod is provided with a plurality of limiting holes matched with the spring limiting block;
the driving device is arranged at the bottom of the first supporting rod and drives the lifting supporting rod to move, the driving device comprises a bottom shell, an electric push rod, a telescopic rod and a plurality of electric universal wheels, the bottom shell is fixed at the bottom end of the first supporting rod, the electric push rod is fixed in the first supporting rod, the output end of the electric push rod is connected with the telescopic rod, the bottom end of the telescopic rod extends into the bottom shell, the three electric universal wheels are uniformly distributed and connected at the bottom end of the telescopic rod, and the electric push rod drives the telescopic rod to move up and down and drives the electric universal wheels to extend out of the bottom shell or be accommodated in the bottom shell;
the tracking device comprises an information acquisition module, a human face detection module, a feature extraction module, an identity information base and a feature comparison and identification module, wherein the camera module is provided with a plurality of images capable of photographing in a range of 360 degrees, the camera module acquires face image information and position information of a target, the temperature detection module acquires body temperature information of the target, the information acquisition module transmits the face image information, the position information and the body temperature information to the human face detection module, the human face detection module judges whether the detected target is a live human face or not, when the detected result is a non-live human face, the result information is transmitted to a controller, the driving device is controlled to move the robot to avoid the current target, when the detected result is a live human face, the result information is transmitted to the feature extraction module, the feature extraction module extracts feature information of the target and transmits the feature information to the feature comparison and identification module, the characteristic comparison and identification module compares and identifies characteristic information of a target with characteristic information in the identity information base, when an identification result is a preset target face in the identity information base, the robot carries out man-machine interaction, and when the identification result is not the preset target face in the identity information base, the result information is transmitted to the controller to control the driving device to move the robot to avoid the current target;
the detection device comprises an obstacle avoidance module, a vibration module, a navigation module and a voice reminding module;
the obstacle avoidance module is used for identifying obstacles on the advancing route of a user, when the user approaches the obstacles, the obstacle avoidance module transmits data to the controller, and the controller controls the vibration module to start to remind the user of the existence of the obstacles in front; the navigation module is used for generating an optimal travelling path of the walking robot of the artificial intelligent crutch to the destination by combining an electronic map according to the current position of the walking robot of the artificial intelligent crutch and the position of the destination; the voice reminding module is used for informing the road condition of the surrounding environment of the user by playing voice according to the image obtained by the shooting module and the information of the obstacle avoidance module, and informing the walking direction and distance of the user on the way to the destination by playing voice according to the route information of the navigation module;
the interactive device comprises an acquisition mechanism and a feedback mechanism, wherein the acquisition mechanism is used for responding to a voice interactive request and acquiring interactive request information input by a user, and the feedback mechanism is used for generating and playing feedback information according to the interactive request information;
the acquisition mechanism comprises an acquisition module, a comparison module and a wake-up module, wherein the acquisition module is used for responding to the voice interaction request, acquiring wake-up instruction information input by a user and acquiring interaction request information input by the user after the voice interaction function is waken up; the comparison module is used for comparing whether the acquired awakening instruction information is matched with the stored awakening instruction information or not; the awakening module is used for playing the stored awakening feedback information and awakening the voice interaction function when the acquired awakening feedback information is matched with the stored awakening instruction information;
the feedback mechanism comprises an analysis module, a query module, a storage module, a feedback module and a help seeking module; the analysis module is used for converting the interaction request information into text information and acquiring keywords of the interaction request information from the text information; the query module is used for querying whether the storage module stores the reply information matched with the keyword; the feedback module is used for generating and playing the feedback information when reply information matched with the interaction request information is stored; the help seeking module is used for sending the interaction request information to the guardian end when no reply information matched with the interaction request information exists, receiving feedback information from the guardian end, and playing the feedback information.
2. The walking robot of artificial intelligence crutch of claim 1 wherein the photographing angle of the camera module is adjusted so that the target face is displayed at the center of the image acquired by the camera module; and when the camera module shoots, the temperature of the target is acquired by using the temperature detection module.
3. The walking robot of artificial intelligence crutch of claim 1 wherein said camera module is connected to an external device through a controller and can store video effects on the external device.
4. The walking robot of artificial intelligence crutch of claim 1 wherein said tracking device further comprises a GPS positioning module for detecting the position of the walking robot of artificial intelligence crutch, so that the guardian can know the position of the walking robot of artificial intelligence crutch.
5. The walking robot of artificial intelligence crutch of claim 1 characterized in that said feedback mechanism further comprises a retrieval module for retrieving whether there is a reply message matching said keyword on the server side through the network when there is no reply message matching said interaction request message.
6. The artificial intelligence crutch walking robot of claim 1 wherein the feedback mechanism further includes an on-demand module for playing back stored audio-visual resources associated with the interaction request information in response to a resource on-demand instruction.
7. The walking robot of artificial intelligence crutch of claim 1 characterized in that said feedback mechanism further comprises a judging module and an inquiring module, said judging module is used to judge which guardian can ask for help according to the image information photographed by the camera module, and obtain the guardian information that can ask for help; the inquiry module is used for calling the guardian who can call for help, receiving and playing the interactive information from the guardian.
8. The artificial intelligence crutch walking robot of claim 4 wherein the feedback mechanism further includes an acceleration detection module and an alarm module; the acceleration detection module is used for detecting whether the walking robot of the artificial intelligent walking stick falls down suddenly, judging whether a user falls down, and if the user falls down, transmitting data to the alarm module and giving an alarm; the alarm module is used for sending an alarm information alarm center according to the information of the fall detection module and the opening of the alarm button and in combination with the positioning information of the GPS positioning module.
9. The walking robot of artificial intelligence crutch of claim 1 characterized in that the feedback mechanism is connected with weather forecast system, household electrical appliance control system and takeaway system.
10. The artificial intelligence crutch walking robot of claim 1 wherein the bottom end of the lifting support bar is provided with a non-slip base.
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Application publication date: 20210312 |