CN203759831U - Fall-down monitoring robot - Google Patents
Fall-down monitoring robot Download PDFInfo
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- CN203759831U CN203759831U CN201420070258.4U CN201420070258U CN203759831U CN 203759831 U CN203759831 U CN 203759831U CN 201420070258 U CN201420070258 U CN 201420070258U CN 203759831 U CN203759831 U CN 203759831U
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Abstract
The utility model discloses a fall-down monitoring robot, and belongs to the technical field of human body fall-down monitoring. The fall-down monitoring robot comprises a controller (1), a steering engine (2), a motor control module (3), a supersonic wave detection module (4), an infrared sensing module (5) and a travel motor which are arranged in a travel monitoring vehicle body. The infrared sensing module (5) is electrically connected with a first infrared ray probe (501) and a second infrared ray probe (502) respectively. The supersonic wave detection module (4) is electrically connected with a supersonic wave emission part (401) and a supersonic wave receiving part (402) respectively. Compared with robots in the prior art, the fall-down monitoring robot has advantages of automatic tracking, fall-down detection, voice prompt and alarm, etc.
Description
Technical field
The present invention, to the human body technical field of monitoring of falling, in particular, belongs to the device of the judgement of the stationary state after falling to human body.
Background technology
Fall and refer to burst, involuntary, unintentional Body Position Change, fall on the ground or lower plane on.Fall and comprise that falling with conplane from a plane to another plane falls, falling is the 4th dead reason of China's injury, is the first in the elderly of over-65s.Falls in Old People mortality ratio sharply rises with the increase at age.Fall and the elderly's death, also cause a large amount of deformity except causing, and affect the elderly's physical and mental health.As the feared state of mind after falling can reduce the elderly's mobility, make that its scope of activities is limited, quality of life declines.
CN103142234A patent discloses a kind of sensing system for judging that human body is fallen, comprise: six axle sensor modules, be used for gathering human body acceleration and human body angular velocity, described human body acceleration comprises X-axis acceleration, Y-axis acceleration and Z axis acceleration, and described human body angular velocity comprises X-axis angular velocity, Y-axis angular velocity and Z axis angular velocity; Single shaft obliquity sensor module, comprises single shaft obliquity sensor, and described single shaft obliquity sensor is used for gathering body obliquity; Microprocessor module, be electrically connected at six axle sensor modules and single shaft obliquity sensor module, described microprocessor module is used for receiving described human body acceleration, human body angular velocity and body obliquity, and described human body acceleration, human body angular velocity and body obliquity are processed and judged whether human body falls; And power module, being electrically connected at six axle sensor modules, single shaft obliquity sensor module and microprocessor module, described power module is used to above-mentioned modules that power supply is provided.Microprocessor module is used for receiving human body acceleration, human body angular velocity and body obliquity, and human body acceleration, human body angular velocity and body obliquity are processed, judge whether human body falls; And power module, being electrically connected at six axle sensor modules, single shaft obliquity sensor module and microprocessor module, power module is used to above-mentioned modules that power supply is provided.This method for judging that human body is fallen.
CN102800170A patent discloses a kind of human body tumble detection alarm based on multisensor, this alarm is made up of multi-sensor information processing center between human lumbar and plantar pressure sensor data acquisition module, the force value of plantar pressure sensor data collecting module collected both feet to sole, and force value is wirelessly transmitted to loins multi-sensor information processing center by Zigbee, the acceleration transducer value that processing enter gathers self, obliquity sensor data and plantar pressure sensor data are according to detection algorithm processing, judge whether to fall, once fall, warning message and wearer's global positioning information GPS is sent to relatives' mobile phone and rescue centre by general packet radio service technology GPRS, thereby provide medical rescue.This tumble detection alarm is made up of loins multi-sensor information processing center and plantar pressure sensor data acquisition module, after the each functional module of processing enter initialization, gather the two-way obliquity sensor data of 3-axis acceleration sensor and orthogonal placement, and send pressure data request by Zigbee to vola module; Vola module gathers the force value of both feet to sole, then is transferred to processing enter; Center by three kinds of sensing datas the historical data in SD card be combined and according to fall detection algorithm process, provide the warning message of falling, again warning message and wearer's GPS locating information is sent to relatives' mobile phone and rescue centre by GPRS, thereby medical rescue is provided.The distinguishing feature of CN102800170A patent is: can carry out synthetic determination in conjunction with human body multi-motion status flag and fall, fall detection accuracy rate is high, and remote alarms is provided simultaneously, can allow the elderly obtain in time medical rescue.
Sensing cost compare used in the prior art is high, and must be arranged on controlled human body, extremely inconvenient, and control procedure more complicated is difficult to be applied to generally use in family.The product forming in prior art often price is high, is difficult in a short time popularization and application in average family.After old man or other weak and sickly personnel drop to, rescue more in time, gives first aid to effect more remarkable, rescue more not in time, gives first aid to effect poorer, along with the continuous aggravation of aging degree, how especially aobvious outstanding to losing the empty nest old man of the ability of seeking help or problem that other weak and sickly personnel sue and labour in time after dropping to.
Summary of the invention
The present invention is in order effectively to solve above technical matters, provided a kind of fall monitoring robot.
A kind of fall monitoring of the present invention robot, comprise walking vehicle body, running motor, steering wheel, electrokinetic cell and control system, it is characterized in that: control system comprises controller, steering wheel control module, motor control module, ultrasound examination module, infrared sensing module;
Described controller is electrical connected with described steering wheel control module, described motor control module, described ultrasound examination module and described infrared sensing detection module respectively;
Described electrokinetic cell is respectively described controller, described steering wheel control module, described motor control module, described ultrasound examination module and described infrared sensing detection module power supply is provided;
Described motor control module and described running motor are electrical connected to realize the control to described running motor, described steering wheel control module and described steering wheel are electrical connected to realize the control to described steering wheel, and described electrokinetic cell provides electrical source of power for described running motor and described steering wheel;
Described infrared sensing module is electrical connected with the first infrared probe, the second infrared probe respectively, and described the first infrared probe and described the second infrared probe are arranged on walking vehicle body symmetrically; The infra-red detection amplitude angle A of described the first infrared probe is identical with the infra-red detection amplitude angle B of described the second infrared probe; The infra-red detection region S of described the first infrared probe
3infra-red detection region S with described the second infrared probe
4form region, a blind area S
1an and infrared ray overlap-add region S
2, described blind area region S
1with with infrared ray overlap-add region S
2coaxially, described blind area region S
1with with infrared ray overlap-add region S
2axis and the dead ahead of walking vehicle body be consistent;
Described ultrasound examination module is electrical connected with ultrasound wave radiating portion, ultrasound wave receiving unit respectively, and described ultrasound wave radiating portion and described ultrasound wave receiving unit are arranged on walking vehicle body and with the forward of walking vehicle body and are consistent;
Described the first infrared probe, described the second infrared probe are all consistent with the vertical range on ground.
According to above-described fall monitoring robot, preferably, also comprise wireless communication module, GPS locating module, video acquisition transport module;
Described wireless communication module and described controller are electrical connected, and described electrokinetic cell provides power supply for described wireless communication module;
Described GPS locating module and described controller are electrical connected, and described electrokinetic cell provides power supply for described GPS locating module;
Described video acquisition transport module and described controller are electrical connected, and described electrokinetic cell provides power supply for described video acquisition transport module.
According to above-described fall monitoring robot, preferably: also comprise sound and light alarm module, described sound and light alarm module and described controller are electrical connected, described electrokinetic cell provides power supply for described sound and light alarm module.
According to above-described fall monitoring robot, preferably: the vertical range on described the first infrared probe, described the second infrared probe and ground is 0.1-0.2m.
According to above-described fall monitoring robot, preferably: described ultrasound wave radiating portion and described ultrasound wave receiving unit, with described the first infrared probe and described the second infrared probe in sustained height.
Fall monitoring of the present invention robot adopts and uses the mode of infrared detection and ultrasound examination to carry out effective detection alarm to the personnel of falling down to the ground simultaneously, simultaneously monitored personnel's guardian receiving warning message after can by video information further the monitored personnel of confirmation whether really fall, technical scheme relatively of the prior art is simple, have extreme high reliability.The present invention compared with prior art has automatic obstacle-avoiding, from advantages such as motion tracking, fall detection, long distance wireless warning, voice prompt alarms.
Brief description of the drawings
Accompanying drawing 1 is the structural representation one of monitoring robot of the present invention;
Accompanying drawing 2 is the two infrared probe sensing range schematic diagram of monitoring robot of the present invention;
Accompanying drawing 3 is circuit structure diagrams of monitoring robot ultrasound wave radiating portion of the present invention;
Accompanying drawing 4 is circuit structure diagrams of monitoring robot ultrasound wave receiving unit of the present invention;
Accompanying drawing 5 is the secondary schematic diagram of monitoring robot walking vehicle body mechanism of the present invention;
Accompanying drawing 6 is the monitored personnel of the monitoring of the monitoring robot of the present invention situation schematic diagram that fall down to the ground arbitrarily;
Accompanying drawing 7 is the monitored personnel of the monitoring of the monitoring robot of the present invention situation schematic diagram of standing;
Accompanying drawing 8 is directly schematic diagram of falling situation of the monitored personnel of the monitoring of monitoring robot of the present invention;
Accompanying drawing 9 is fall monitoring subroutine flow charts of monitoring robot of the present invention.
Embodiment
Fig. 1 is the structural representation one of fall monitoring of the present invention robot, fall monitoring robot in this preferred embodiment is positioned over running motor, electrokinetic cell and the control system in walking vehicle body, and electrokinetic cell provides power and control system is powered for running motor.Control system comprises controller 1, steering wheel control module 2, motor control module 3, ultrasound examination module 4, infrared sensing module 5, running motor, electrokinetic cell; Controller 1 is electrical connected with steering wheel control module 2, motor control module 3, ultrasound examination module 4 and infrared sensing detection module 5 respectively, and controller 1 can control effectively to realize to steering wheel control module 2, motor control module 3, ultrasound examination module 4 and infrared sensing detection module 5 effective work of monitoring robot.Controller 1 can be selected microcontroller, embedded controller, programmable logic device, the requirement of the different cost performances according to the present invention in practical application can be selected different devices, in controller 1, store corresponding control program to other parts control, to have ensured the work object of monitoring robot.
Controller 1 is controlled infrared sensing module 5 and ultrasound examination module 4 respectively, infrared sensing module 5 is controlled the first infrared probe 501 and the second infrared probe 502 respectively, and ultrasound examination module 4 is controlled ultrasound wave radiating portion 401 and ultrasound wave receiving portion 402 respectively.In controller 1 internal storage, be solidified with corresponding program, controller 1 is controlled infrared sensing module 5 and ultrasound examination module 4 according to preset program simultaneously, and then realized the interlock of the first infrared probe 501, the second infrared probe 502, ultrasound wave radiating portion 401 and ultrasound wave receiving portion 402, thereby can effectively monitor the situation that people falls.
Electrokinetic cell is electrical connected with controller 1, steering wheel control module 2, motor control module 3, ultrasound examination module 4 and infrared sensing detection module 5 respectively by dropping equipment, and electrokinetic cell provides its needed electric energy in the course of the work for controller 1, steering wheel control module 2, motor control module 3, ultrasound examination module 4 and infrared sensing detection module 5, because the actual power voltage that electrokinetic cell provides is determined according to the needed input voltage value of running motor, input voltage value when running motor work is often greater than controller 1, steering wheel control module 2, motor control module 3, input voltage value when ultrasound examination module 4 and infrared sensing detection module 5 are worked, therefore need to be at electrokinetic cell and controller 1, steering wheel control module 2, motor control module 3, between ultrasound examination module 4 and infrared sensing detection module 5, dropping equipment is set, can reduce like this electrokinetic cell and offer controller 1, steering wheel control module 2, motor control module 3, the magnitude of voltage of ultrasound examination module 4 and infrared sensing detection module 5.
Controller 1 is electrical connected by motor control module 3 and running motor, controller 1 has been realized running motor has effectively been controlled by motor control module 3, controller 1 according to the present invention monitoring robot actual condition can realize traveling speed to walking vehicle body and distance travelledly very accurately control by controlling running motor.Running motor and electrokinetic cell are electrical connected, and electrokinetic cell is as the criterion with the actual needs that meets running motor, and running motor provides power for walking vehicle body.Running motor can be selected DC servo motor, and motor control module 3 is DC motor controller, and electrokinetic cell can be selected accumulator or other modular batteries.
Fall monitoring robot in this preferred embodiment also comprises wireless communication module 8, and wireless communication module 8 is electrical connected with controller 1, and electrokinetic cell is connected with wireless communication module 8 by dropping equipment; Wireless communication module 8 can be the such mobile phone wireless communication module of similar GSM, and wireless communication module 8 utilizes the wireless communication networks that covers town and country to make the monitoring robot of this preferred embodiment keep close ties with the external world in real time.The monitoring robot of this preferred embodiment is simultaneously by carrying out after infrared detection and ultrasound examination determined that people falls, warning message or alarm call that controller 1 is fallen people by wireless communication module 8 send, for example, by the warning message of empty family nest Falls Among Old People or alarm call sends to its children that work outside or not on-the-spot other monitoring personnel that fall, so that its children that work outside or can not go home in a hurry in time the old man who falls is given first aid in time on-the-spot other monitoring personnel that fall, effective Realtime Alerts like this can reduce the negative consequence that people causes after falling to greatest extent, especially significant to the personnel that fall after timely rescue apoplexy.
Fall monitoring robot in this preferred embodiment also comprises GPS locating module 10, and described GPS locating module 10 is electrical connected with controller 1, and electrokinetic cell is connected with GPS locating module 10 by dropping equipment.The monitoring robot of this preferred embodiment is simultaneously by carrying out after infrared detection and ultrasound examination determined that people falls, can be by GPS locating module 10 fallen residing actual address (longitude and latitude information, or in electronic chart residing position) confirm, and fallen that the residing actual address information of falling sends to its children that work outside in real time or not on-the-spot other monitoring personnel that fall by wireless communication module 8, be beneficial to household and find timely and accurately the personnel that can not sue and labour in time after falling, and it is sued and laboured in time.
Fall monitoring robot in this preferred embodiment also comprises video acquisition transport module 7, and video acquisition transport module 7 is electrical connected with controller 1, and electrokinetic cell is connected with video acquisition transport module 7 by dropping equipment; The video reception module of falling in people's family members or monitoring personnel hand, video acquisition transport module 7 carries out communication by the video reception module in wireless communication mode and the people's that falls family members or monitoring personnel hand.The monitoring robot of this preferred embodiment is simultaneously by carrying out after infrared detection and ultrasound examination determined that people falls, controller 1 can utilize video acquisition transport module 7 by the personnel's of falling real-time field scene send to the personnel of falling family members or monitoring personnel, be beneficial to its family members or monitoring personnel further confirm the personnel's of falling the situation of falling.Controller 1 also can be controlled video acquisition transport module 7 interval certain hours and capture several on-the-spot real-time pictures, utilizes wireless communication module 8, in the mode of multimedia message, the people's that falls information is sent to its family members or monitoring personnel, is conducive to so too its family members or monitoring personnel the personnel's of falling the situation of falling is further confirmed.
In this preferred embodiment, fall monitoring robot also comprises sound and light alarm module 9, and sound and light alarm module 9 is electrical connected with controller 1, and electrokinetic cell is connected with sound and light alarm module 9 by dropping equipment.Monitoring robot arranges sound and light alarm module 9 can obtain better technique effect, controller 1 is simultaneously by carrying out after infrared detection and ultrasound examination determined that people falls, and controller 1 is controlled sound and light alarm module 9 and sent sound and light alarm, can cause that the personnel in community notice that someone falls and then guides the related personnel in community to sue and labour.
Fig. 2 is the two infrared probe sensing range schematic diagram of monitoring robot of the present invention, when the first infrared probe 501 and the second infrared probe 502 are set together symmetrically as can be seen from Figure, can obtain extraordinary monitoring effect.The infra-red detection amplitude angle of the first infrared probe 501 is A, and the infra-red detection amplitude angle of the second infrared probe 502 is B, and the distance between the first infrared probe 501 and the second infrared probe 502 is H
1.The infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is region, a blind area S
1, the infra-red detection amplitude S of the first infrared probe 501
3infra-red detection amplitude S with the second infrared probe 502
4there is an overlapping infrared ray overlap-add region S
2, wherein region, blind area S
1axis coverage be H
2, infrared ray overlap-add region S
2axis coverage be H
3, region, blind area S
1with with infrared ray overlap-add region S
2coaxial cable, i.e. H
2and H
3coaxial cable, region, blind area S
1with with infrared ray overlap-add region S
2axis and the dead ahead of walking vehicle body be consistent, i.e. H
2and H
3be consistent with the dead ahead of walking vehicle body.
The first infrared probe 501 and the second infrared probe 502 all can adopt pyroelectric infrared sensor to carry out the infrared signal of human body radiation, and the detector front end forming at the first infrared probe 501 and the second infrared probe 502 forms blind area region S
1with an infrared ray overlap-add region S
2, S
2angle C scope be 10-40 degree, S
2the preferred 20-30 degree of angle C.Out-of-date when there being people to walk from the lens of pyroelectric infrared sensor, the infrared ray that human body sends just constantly alternately change from region, blind area S
1enter infrared ray overlap-add region S
2, so just obtained infrared signal with dynamic pulse.The infrared ray centre wavelength of human body radiation is 9 ~ 10um, offered a window that filter glass is housed on sensor top, this optical filter can be 7 ~ 10um by light wavelength scope, is just in time suitable for the detection of human infrared radiation, and the infrared ray of other wavelength is absorbed by optical filter.
Infrared sensing module 5 is electrical connected with the first infrared probe 501, the second infrared probe 502 respectively, and the first infrared probe 501 and the second infrared probe 502 are arranged on walking vehicle body symmetrically; The infra-red detection amplitude angle A of the first infrared probe 501 is identical with the infra-red detection amplitude angle B of the second infrared probe 502; The infra-red detection region S of the first infrared probe 501
3infra-red detection region S with the second infrared probe 502
4form region, a blind area S
1an and infrared ray overlap-add region S
2, region, blind area S
1be less than or equal to 0.4m apart from car body.Ultrasound examination module 4 is electrical connected with ultrasound wave radiating portion 401, ultrasound wave receiving unit 402 respectively, and described ultrasound wave radiating portion 401 and described ultrasound wave receiving unit 402 are arranged on walking vehicle body and with the forward of walking vehicle body and are consistent;
The first infrared probe 501, the second infrared probe 502 are all consistent with the vertical range on ground, and the first infrared probe 501, the second infrared probe 502 are 0.1-0.2m with the vertical range on ground, preferably 0.15m.After human body falls down to the ground, the height of human body more than ground is generally 0.1-0.2m, and the vertical range on two infrared probes and ground is that 0.15m can ensure infrared detection effect.Ultrasound wave radiating portion 401 and ultrasound wave receiving unit 402, with the first infrared probe 501 and the second infrared probe 502 in sustained height, supersonic range finder is set like this and can makes infrared detection result and ultrasonic testing results be consistent as far as possible.
Fig. 3 is the structural drawing of monitoring robot ultrasound wave radiating portion 401 of the present invention; Ultrasound wave emission sensor LS1 and and door U8 between have phase inverter U3, phase inverter U4, phase inverter U5, phase inverter U6, phase inverter U7, phase inverter U4 and phase inverter U5 parallel connection, phase inverter U6 and phase inverter U7 parallel connection, be connected with two self-oscillation circuit respectively with two input ends of door U8, two Schmidt trigger U1 of difference and U2 in two self-oscillation circuit.
Fig. 4 is monitoring robot ultrasound wave receiving unit of the present invention 402 structural drawing; 5V direct current through the resistance to stream fuse F1 that is 500mA and diode D1, and form 5V digital voltage source VDD through two-stage capacitor filtering C1 and C2, digital voltage source VDD provides power supply for 2 NE5532P power amplifiers.Ultrasound wave receiving sensor LS1 10K resistance R 3 in parallel changes the ultrasonic signal receiving into input signal, and input signal is input to ultrasound examination module 4 after first order amplifier NE5532P amplification, second level amplifier NE5532P amplification, input signal has amplified altogether 400 times after two-stage is amplified.
Does is Fig. 5 mechanism's pair of monitoring robot walking vehicle body of the present invention? schematic diagram, walking vehicle body has kinetic characteristic flexibly and can ensure the co-ordination of infrared detection part and ultrasound examination part; In this preferred embodiment, walking vehicle body adopts wheel chassis version, and the steering wheel D that steering wheel control module 2 to the front traveling wheel shaft of walking vehicle body is controls to realize walking vehicle body and can turn to, and the electric energy of steering wheel D is also provided by electrokinetic cell; Motor control module 3 is controlled running motor M and is provided needed power in traveling process for walking vehicle body, motor control module 3 controls that running motor M is rotated in the forward or reverse rotation travels forward or setback to realize walking vehicle body, running motor M can be connected with the front traveling wheel shaft system of walking vehicle body, can be connected with the rear traveling wheel shaft system of walking vehicle body, and though running motor M be to be connected with the front traveling wheel shaft of walking vehicle body or with the rear traveling wheel shaft of walking vehicle body be connected, it can provide needed power in traveling process for walking vehicle body.Controller 1 is coordinated to control to steering wheel control module 2 and motor control module 3, can make walking vehicle body along the moving of any track, to coordinate infrared detection part and ultrasound examination part to monitor the personnel of falling.
Fig. 6 is the monitored personnel of the monitoring of the monitoring robot of the present invention situation schematic diagram that fall down to the ground arbitrarily, and fall monitoring method comprises the following steps:
First step infrared sensing module 5 is determined the infrared ray overlap-add region S in monitoring robot front
2inside have monitored personnel, simultaneously ultrasound examination module 4 detects that distance between monitored personnel and monitoring robot remains unchanged and reaches after 10 second time, monitoring robot starts to prepare whether monitored personnel are entered to primary importance in the state of falling and confirms;
Second step monitoring robot moves to apart from a position of monitored personnel's check point 0.4-0.6 m, whether monitored personnel is carried out to primary importance confirmation in the state of falling; Infrared sensing module 5 is determined the infrared ray overlap-add region S in monitoring robot front
2inside have monitored personnel, simultaneously ultrasound examination module 4 detects that monitored personnel remain static and reaches after 10 second time, controller 1 adds 1 automatically to static confirmation counting; Then monitoring robot starts to prepare whether monitored personnel are entered to second place confirmation in the state of falling;
The 3rd step monitoring robot level moves right the d apart from primary importance
2whether=0.3 m length place, carry out second place confirmation in the state of falling to monitored personnel; Infrared sensing module 5 is determined the infrared ray overlap-add region S in monitoring robot front
2inside have monitored personnel, simultaneously ultrasound examination module 4 detects that distance between monitored personnel and monitoring robot remains unchanged and reaches after 10 second time, controller 1 adds 1 automatically to static confirmation counting; Then monitoring robot starts to prepare whether monitored personnel are entered to the 3rd location confirmation in the state of falling;
The 4th step monitoring robot level moves to the d apart from primary importance left
2whether length place, carry out the 3rd location confirmation in the state of falling to monitored personnel; Infrared sensing module 5 is determined the infrared ray overlap-add region S in monitoring robot front
2inside have monitored personnel, simultaneously ultrasound examination module 4 detects that distance between monitored personnel and monitoring robot remains unchanged and reaches after 10 second time, controller 1 adds 1 automatically to static confirmation counting; Then monitoring robot starts to prepare whether monitored personnel are entered to the 4th location confirmation in the state of falling;
The 5th step monitoring robot level moves right two times of d apart from primary importance
2whether length place, carry out the 4th location confirmation in the state of falling to monitored personnel; Infrared sensing module 5 is determined the infrared ray overlap-add region S in monitoring robot front
2inside have monitored personnel, simultaneously ultrasound examination module 4 detects that distance between monitored personnel and monitoring robot remains unchanged and reaches after 10 second time, controller 1 adds 1 automatically to static confirmation counting; Then monitoring robot starts to prepare whether monitored personnel are entered to the 5th location confirmation in the state of falling;
The 6th step monitoring robot level moves to two times of d apart from primary importance left
2whether length place, carry out the 5th location confirmation in the state of falling to monitored personnel; Infrared sensing module 5 is determined the infrared ray overlap-add region S in described monitoring robot front
2inside have monitored personnel, simultaneously ultrasound examination module 4 detects that distance between monitored personnel and monitoring robot remains unchanged and reaches after 10 second time, controller 1 adds 1 automatically to static confirmation counting;
The 7th step in above each step, if the accumulative total of described static confirmation counting reaches 3,, can confirm that monitored personnel are in the state of falling.
Fig. 7 is monitoring robot of the present invention to the monitored personnel condition monitoring schematic diagram of standing, in order effectively to get rid of monitoring robot, monitored personnel's situation of standing is carried out to the generation of false alarm, the default fall monitoring program of monitoring robot of the present invention can not carried out false alarm to the monitored personnel situation of standing.
The first step is when monitoring robot is during in primary importance, the infrared sensing module 5 of control system controls the first infrared probe 501 and the second infrared probe 502, ultrasound examination module 4 are controlled ultrasound wave radiating portion 401 and has realized the definite location in the monitored personnel of the state of standing still ultrasound wave receiving portion 402, controller 1 confirm people after static static confirmation counting automatically add 1.
Second step walking vehicle body under the acting in conjunction of movable motor and steering wheel, d moves right
2distance is to the second place, and the first infrared probe 501 and the second infrared probe 502 detect that monitored personnel are not at infrared ray overlap-add region S jointly
2in, confirm that monitored personnel are not at infrared ray overlap-add region S
2in after, controller 1 does not carry out static confirmation counting.
The 3rd step walking vehicle body under the acting in conjunction of movable motor and steering wheel, be moved to the left twice d
2distance is to the 3rd position, and the 3rd position keeps symmetrical with the second place centered by primary importance, and the first infrared probe 501 and the second infrared probe 502 detect that monitored personnel are not at infrared ray overlap-add region S jointly
2in, confirm that monitored personnel are not at infrared ray overlap-add region S
2in after, controller 1 does not carry out static confirmation counting.
The accumulative total counting to get by above three steps, static confirmation does not reach 3, and monitoring robot can confirm that monitored personnel are in the state of standing still, and monitoring robot can avoid occurring false alarm.
Fig. 8 is the vertically flat schematic diagram of falling situation of the monitored personnel of the monitoring of monitoring robot of the present invention; The time of falling situation occurs vertically to put down monitored personnel, and to monitor difficulty larger, for monitoring robot is effectively reported to the police to the monitored personnel situation of vertically putting down effectively, fall monitoring program is vertically put down to the warning in the time of falling situation to monitored personnel below and describe.
The first step is when monitoring robot is during in primary importance, the infrared sensing module 5 of control system controls that the first infrared probe 501 and the second infrared probe 502, ultrasound examination module 4 are controlled ultrasound wave radiating portion 401 and has realized the definite location in the straight monitored personnel of state of falling ultrasound wave receiving portion 402, confirm monitored personnel in straight fall after state controller 1 static confirmation counting is added to 1.
Second step walking vehicle body under the acting in conjunction of movable motor and steering wheel, d moves right
2distance is to the second place, and the first infrared probe 501 and the second infrared probe 502 detect that monitored personnel are at infrared ray overlap-add region S jointly
2in, confirm that monitored personnel are at infrared ray overlap-add region S
2in after, controller 1 adds 1 to static confirmation counting.
The 3rd step walking vehicle body under the acting in conjunction of movable motor and steering wheel, be moved to the left twice d
2distance is to the 3rd position, and the 3rd position keeps symmetrical with the second place centered by primary importance, and the first infrared probe 501 and the second infrared probe 502 detect that monitored personnel are at infrared ray overlap-add region S jointly
2in, confirm that monitored personnel are at infrared ray overlap-add region S
2in after, controller 1 adds 1 to static confirmation counting.
The accumulative total counting to get by above three steps, static confirmation is 3, and monitoring robot can confirm that monitored personnel are in vertical flat state, and monitoring robot can effectively be reported to the police.
Fig. 9 is the fall monitoring subroutine flow chart of monitoring robot of the present invention, after program starts, determines whether front children under guardianship keep stationary state to exceed for 10 seconds.
If do not exceed 10 seconds,, the infrared signal that program detects according to the first infrared probe 501 and the second infrared probe 502 determines that whether children under guardianship are in infrared ray overlap-add region S
2if detect that children under guardianship are not at infrared ray overlap-add region S
2, adjust steering wheel and motor control module 3 and adjust running motor, control headstock and advance to realize by controlling steering wheel control module 2, if detect children under guardianship in this region,, walking vehicle body is directly walked to advance.Walking vehicle body advances and directly walks rear the first infrared probe 501 and the second infrared probe 502 continuation detections, if infrared ray overlap-add region S detected
2infrared signal do not die down, walking vehicle body moves on; If infrared ray overlap-add region S detected
2infrared signal die down, walking vehicle body advances one meter.
If determine that children under guardianship keep stationary state to exceed for 10 seconds, controller 1 is controlled traveling car body and advanced to the primary importance place apart from point being monitored 0.5m, controller 1 is controlled the infrared ray overlap-add region S in infrared sensing module 5 definite monitoring robot fronts
2inside have monitored personnel, control ultrasound examination module 4 detect that monitored personnel remain static and reach after 10 second time with Time Controller 1, controller 1 adds 1 automatically to static confirmation counting, and position counting adds 1 automatically simultaneously.
Steering wheel control module 2 controlled by controller 1 and motor control module 3 moves to right to the second place place apart from primary importance 0.3m traveling car body.If controller 1 is controlled the infrared ray overlap-add region S in infrared sensing module 5 definite monitoring robot fronts
2inside have monitored personnel, control ultrasound examination module 4 detect that monitored personnel remain static and reach after 10 second time with Time Controller 1, controller 1 adds 1 automatically to static confirmation counting, and position counting adds 1 automatically simultaneously.If controller 1 is controlled the infrared ray overlap-add region S in infrared sensing module 5 definite monitoring robot fronts
2inside there is no monitored personnel, control ultrasound examination module 4 detect that monitored personnel remain static and reach after 10 second time with Time Controller 1, controller 1 does not add 1 to static confirmation counting, and position counting adds 1 automatically simultaneously.
Steering wheel control module 2 controlled by controller 1 and motor control module 3 moves to left to the 3rd position apart from primary importance 0.3m traveling car body.If controller 1 is controlled the infrared ray overlap-add region S in infrared sensing module 5 definite monitoring robot fronts
2inside have monitored personnel, control ultrasound examination module 4 detect that monitored personnel remain static and reach after 10 second time with Time Controller 1, controller 1 adds 1 automatically to static confirmation counting, and position counting adds 1 automatically simultaneously.If controller 1 is controlled the infrared ray overlap-add region S in infrared sensing module 5 definite monitoring robot fronts
2inside there is no monitored personnel, control ultrasound examination module 4 detect that monitored personnel remain static and reach after 10 second time with Time Controller 1, controller 1 does not add 1 to static confirmation counting, and position counting adds 1 automatically simultaneously.
Above step by that analogy, until the accumulated value that static confirmation counting obtains is to confirm that monitored personnel are in the state of falling at 3 o'clock, confirms that monitored personnel are in the state of standing still in the time that the accumulated value of position counting acquisition is 5.
Claims (5)
1. a fall monitoring robot, comprise walking vehicle body, running motor, steering wheel, electrokinetic cell and control system, it is characterized in that: control system comprises controller (1), steering wheel control module (2), motor control module (3), ultrasound examination module (4), infrared sensing module (5);
Described controller (1) is electrical connected with described steering wheel control module (2), described motor control module (3), described ultrasound examination module (4) and described infrared sensing detection module (5) respectively;
Described electrokinetic cell is respectively described controller (1), described steering wheel control module (2), described motor control module (3), described ultrasound examination module (4) and described infrared sensing detection module (5) power supply is provided;
Described motor control module (3) is electrical connected to realize the control to described running motor with described running motor, described steering wheel control module (2) and described steering wheel are electrical connected to realize the control to described steering wheel, and described electrokinetic cell provides electrical source of power for described running motor and described steering wheel;
Described infrared sensing module (5) is electrical connected with the first infrared probe (501), the second infrared probe (502) respectively, and described the first infrared probe (501) and described the second infrared probe (502) are arranged on walking vehicle body symmetrically; The infra-red detection amplitude angle A of described the first infrared probe (501) is identical with the infra-red detection amplitude angle B of described the second infrared probe (502); The infra-red detection region S of described the first infrared probe (501)
3infra-red detection region S with described the second infrared probe (502)
4form region, a blind area S
1an and infrared ray overlap-add region S
2, region, blind area S
1be less than or equal to 0.4m apart from car body, described blind area region S
1with with infrared ray overlap-add region S
2coaxially, described blind area region S
1with with infrared ray overlap-add region S
2axis and the dead ahead of walking vehicle body be consistent;
Described ultrasound examination module (4) is electrical connected with ultrasound wave radiating portion (401), ultrasound wave receiving unit (402) respectively, and described ultrasound wave radiating portion (401) and described ultrasound wave receiving unit (402) are arranged on walking vehicle body and with the forward of walking vehicle body and are consistent;
Described the first infrared probe (501), described the second infrared probe (502) are all consistent with the vertical range on ground.
2. fall monitoring according to claim 1 robot, is characterized in that, also comprises wireless communication module (8), GPS locating module (10), video acquisition transport module (7);
Described wireless communication module (8) is electrical connected with described controller (1), and described electrokinetic cell is that described wireless communication module (8) provides power supply;
Described GPS locating module (10) is electrical connected with described controller (1), and described electrokinetic cell is that described GPS locating module (10) provides power supply;
Described video acquisition transport module (7) is electrical connected with described controller (1), and described electrokinetic cell is that described video acquisition transport module (7) provides power supply.
3. fall monitoring according to claim 1 robot, it is characterized in that: also comprise sound and light alarm module (9), described sound and light alarm module (9) is electrical connected with described controller (1), and described electrokinetic cell is that described sound and light alarm module (9) provides power supply.
4. fall monitoring according to claim 1 robot, is characterized in that: described the first infrared probe (501), described the second infrared probe (502) are 0.1-0.2m with the vertical range on ground.
5. fall monitoring according to claim 4 robot, is characterized in that: described ultrasound wave radiating portion (401) and described ultrasound wave receiving unit (402), with described the first infrared probe (501) and described the second infrared probe (502) in sustained height.
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| CN201420070258.4U CN203759831U (en) | 2014-02-17 | 2014-02-17 | Fall-down monitoring robot |
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| CN201420070258.4U CN203759831U (en) | 2014-02-17 | 2014-02-17 | Fall-down monitoring robot |
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| CN203759831U true CN203759831U (en) | 2014-08-06 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104731092A (en) * | 2014-12-22 | 2015-06-24 | 南京阿凡达机器人科技有限公司 | Multi-directional barrier avoiding system of mobile robot |
| CN104933828A (en) * | 2015-06-30 | 2015-09-23 | 青岛小羊智能科技有限公司 | A fall-down detection apparatus and a fall-down detection method |
| CN105743004A (en) * | 2016-03-31 | 2016-07-06 | 广东电网有限责任公司中山供电局 | Cluster management and control system for substation inspection robot |
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| CN109917666A (en) * | 2019-03-28 | 2019-06-21 | 深圳慧安康科技有限公司 | The implementation method and intelligent apparatus of wisdom family |
| CN113219961A (en) * | 2020-01-20 | 2021-08-06 | 松下知识产权经营株式会社 | Self-propelled moving body, determination program, and determination method |
| CN113925391A (en) * | 2021-09-17 | 2022-01-14 | 美智纵横科技有限责任公司 | Tumble detection method and device based on cleaning robot and cleaning robot |
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- 2014-02-17 CN CN201420070258.4U patent/CN203759831U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104731092A (en) * | 2014-12-22 | 2015-06-24 | 南京阿凡达机器人科技有限公司 | Multi-directional barrier avoiding system of mobile robot |
| CN104933828A (en) * | 2015-06-30 | 2015-09-23 | 青岛小羊智能科技有限公司 | A fall-down detection apparatus and a fall-down detection method |
| CN105743004A (en) * | 2016-03-31 | 2016-07-06 | 广东电网有限责任公司中山供电局 | Cluster management and control system for substation inspection robot |
| CN105951618A (en) * | 2016-05-09 | 2016-09-21 | 徐洪军 | Speed-control bump type robot for emitting vehicle location |
| CN106859875A (en) * | 2017-03-12 | 2017-06-20 | 深圳市上羽科技有限公司 | The electric wheelchair that a kind of detectable patient is fallen down and auto-alarm-signal keying device is positioned |
| CN109917666A (en) * | 2019-03-28 | 2019-06-21 | 深圳慧安康科技有限公司 | The implementation method and intelligent apparatus of wisdom family |
| CN109917666B (en) * | 2019-03-28 | 2023-03-24 | 深圳慧安康科技有限公司 | Intelligent household realization method and intelligent device |
| CN113219961A (en) * | 2020-01-20 | 2021-08-06 | 松下知识产权经营株式会社 | Self-propelled moving body, determination program, and determination method |
| CN113925391A (en) * | 2021-09-17 | 2022-01-14 | 美智纵横科技有限责任公司 | Tumble detection method and device based on cleaning robot and cleaning robot |
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