CN205799540U - A kind of old service robot - Google Patents

Abstract

This utility model provides a kind of old service robot, it is characterised in that including humanoid shell, induction module, motion module, control module and supply module, wherein, described humanoid shell comprises head and trunk；Described induction module is arranged at the outer surface of described humanoid shell, for sensing the movement position of service object；Described motion module is arranged at the bottom of described humanoid shell, is used for driving described old service robot to move；Described control module is communicatively connected to described induction module and described motion module respectively；And described supply module be described induction module, described motion module and described control module electric energy is provided.Old service-delivery machine of the present utility model is not affected by ambient light, accuracy is high, and also without any label of elders wear, it is simple, convenient to use.

Description

A kind of old service robot

Technical field

This utility model relates to health service field of electronic devices, particularly to the old clothes of a kind of thermal infrared recognition and tracking Business robot.

Background technology

Along with the development of robot field, domestic robot product is promoted towards family with relatively low price.Existing Domestic robot has the functions such as autonomous and collision prevention, voice be mutual with touch screen, and integrated security monitoring class senser element, its User's request for all ages and classes level, it is provided that early education and subject education, customization information inquiry with push away Give, security monitoring, the function such as psychological consultation and assisted medical diagnosis.Meanwhile, along with the continuous reinforcement of China's aging trend, Aging population quantity sharply increases, and being on the increase of Empty nest elderly, and how ensureing that senior health and fitness lives will become urgently The great society difficult problem solved.Existing old service robot depends on visible ray and Visual Tracking thereof more, but due to This technology is changed by light intensity to be affected the most greatly, is difficult to when light is more weak be accurately positioned.Also have and set based on tag identification technologies Meter old service robot, its need old man carry in real time label as location target, this recognition method is the most not convenient, Also cannot judge the kinestate that old man is concrete, functional limitation is bigger.

Utility model content

In order to overcome the defect in the presence of prior art, this utility model provides a kind of with thermal infrared recognition and tracking technology Based on old service robot, it is not affected by ambient light, accuracy is high, also without any mark of elders wear Signing, it is simple, convenient to use.

This utility model provides a kind of old service robot, it is characterised in that include humanoid shell, induction module, fortune Dynamic model block, control module and supply module, wherein,

Humanoid shell comprises head and trunk；

Induction module is arranged at the outer surface of humanoid shell, for sensing the fortune position of service object；

Motion module is arranged at the bottom of humanoid shell, is used for driving old service robot to move；

Control module is communicatively connected to induction module and motion module respectively, and control module is for connecing from induction module Receive the information of expression service object position, information is analyzed and indicates motion module to make corresponding movement；And

Supply module is induction module, motion module and control module provide electric energy.

Further, induction module comprises Long Wavelength Infrared Sensor and Infrared images pre-processing device, and wherein infrared image is pre- Processor carries out pretreatment for the image collecting Long Wavelength Infrared Sensor, and is transferred to pretreated image control Module.

Further, induction module also comprises ultrasonic sensor, and ultrasonic sensor is used for measuring old service-delivery machine Distance between people and service object.

Further, motion module comprise be arranged at the chassis of humanoid outer casing bottom, the wheel being installed on chassis and It is installed on motor and the decelerator of inside chassis.

Further, old service robot also includes human-computer interaction module, human-computer interaction module and control module communication Connect, in order to provide information to control module and receive the instruction from control module.

Further, the head of old service robot is provided with for controlling the switch that old service robot opens and closes.

Further, old service robot comprises alarm device, and alarm device judges service object in control module Operation of reporting to the police is carried out when dropping to.

Owing to being used in upper technical scheme, this utility model compared with prior art has the advantage that

1. use thermal infrared sensor to find and tracking person target according to old service robot of the present utility model, carry The high environmental suitability of system, under the conditions of and night more weak in ambient light, still can reliably find tracking target；

2. use thermal infrared sensor to substitute visible light sensor, owing to being extracted as following the tracks of the heat picture of target, effectively Protect the privacy of tracked object；

3. use partial array thermal infrared detector to find target, reduce hardware cost, improve system running speed；

4. robot overall structure is simple, specious generous, is suitable to residential use；

5. old man is without wearing any label, easy to use；

6. use the machine vision algorithm such as threshold value, video frame, area matched, barycenter extraction, calculate old man position in real time, And the kinestate of foundation old man adjusts next step action or carries out the operations such as warning, intelligence degree is high.

Accompanying drawing explanation

Fig. 1 is the block diagram of the structure of the old service robot of display；

Fig. 2 is the schematic diagram according to old service robot of the present utility model；

Fig. 3 a and 3b is respectively the front view according to old service robot of the present utility model and side view.

Description of reference numerals:

100 humanoid shells, 110 heads, 120 trunks, 130 switches, 200 induction modules, 210 Long Wavelength Infrared Sensors, 220 ultrasonic sensors, 300 motion module, 310 chassis, 320 wheels, 400 control modules, 500 supply modules, 600 man-machine friendships Module, 610 speakers, 620 display mutually.

Detailed description of the invention

In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with embodiment, to this Utility model is further elaborated.Should be appreciated that specific embodiment described herein is only used for explaining that this practicality is new Type, is not used to limit this utility model.

Fig. 1 is the population structure block diagram according to old service robot of the present utility model.As it is shown in figure 1, clothes in this old age Business robot generally includes humanoid shell 100, induction module 200, motion module 300, control module 400 and supply module 500.Wherein, induction module 200 is arranged at the outer surface of humanoid shell 100, is used for sensing service object i.e. old man Position.Motion module 300 is generally disposed at the bottom of humanoid shell 100, is used for driving old service robot to move.Control Module 400 is then arranged at the inside of humanoid shell 100, and it communicates to connect with induction module 200 and motion module 300 respectively, uses In receiving the positional information of service object from induction module 200, this positional information being analyzed and indicates motion module 300 Make corresponding mobile.It is internal that supply module 500 is arranged at humanoid shell 100, is used for as induction module 200, motion module 300 And control module 400 provides electric energy.

Specifically, as in figure 2 it is shown, humanoid shell 100 totally has head 110 and trunk 120 two parts.At head Can be provided on 100 controlling this switch that old age, service robot opened and closed.Induction module 200 comprises and is arranged at humanoid shell The Long Wavelength Infrared Sensor 210 of 100 heads and the Infrared images pre-processing device being attached thereto.It can realize passing LONG WAVE INFRARED Sensor 210 objects in front infrared imaging, if there being human target in visual field, then obtains human target coordinate in the visual field, Control module 400 is passed to by RS232 port.In an embodiment of the present utility model, Long Wavelength Infrared Sensor 210 Resolution is 80*60, transmission frame per second be 7.5 frames, wavelength is 8-14um, the angle of visual field be level be 51 °, vertical field of view is 40 °.Heat Infrared image processing device is made up of fpga chip and other peripheral chips, is used for collect Long Wavelength Infrared Sensor 210 one Serial picture carries out pretreatment, and this pretreatment includes: power thermal infrared sensor and the reading of image；Threshold value is used to divide successively Cut, video frame, area matched, barycenter extraction algorithm, process the thermal infrared images read, find human target, and calculate seat Mark；And coordinate is transferred to control module 400 by RS232.

Wherein, the purpose of Threshold Segmentation Algorithm is to be the image after binaryzation by greyscale image transitions, and thresholding algorithm formula is such as Under:

In formula (1), f (x, y) pixel point value in corresponding thermal-induced imagery, T₁With T₂Represent upper lower limit value, Ke Yitong respectively Cross experiment to draw.

Video frame algorithm purpose is for put forward moving target, and formula (2) can be used to represent the difference of interframe and representative Grey scale change between consecutive frame,

${\mathrm{CDM}}_i(x,y)=\{\begin{array}{c}d,d\&GreaterEqual;T\\ 0,d<T\end{array}d=|I_{i+1}{(x,y)}_{-}{I}_{i+}(x,y)|---\left(2\right)$

Wherein { I (x, y) } is image sequence, (x, y) represents location of pixels, i represent frame number (i=1,2,3, ... N), N is sequence totalframes, and in formula (2), T is threshold value.Due to CDMi (x, y) represent position (x, y) place's pixel along time Between axial change, therefore can (whether x y) carries out segmentation more than zero according to CDMi.

Area matched first by searching profile algorithm, search profile algorithm and pixel each in image is progressively scanned, Assuming that in bianry image, black is target, white is background, searches whether each pixel 8 adjoint point is all black, if it is, explanation should Point is the internal point of human target, can remove, i.e. stain bleaches a little, otherwise retains.After profile is searched, to contour area Calculate, choose largest contours and be human target, subsequently this profile is filled with.

Mass centre is called for short barycenter, refers to be considered mass concentration on material system in this image point.This system takes The barycenter of human target is as final coordinate, and this patent barycenter extraction algorithm is as follows:

$g_x=\left(\underset{i=1}{\overset{n}{\&Sigma;}}{X}_i\right)/n$

$g_y=\left(\underset{i=1}{\overset{n}{\&Sigma;}}{Y}_i\right)/n---\left(3\right)$

In formula (3), x is the abscissa of human target pixel in image, and y is vertical coordinate, to abscissa in image and vertical seat Mark summation, then removes pixel number, can try to achieve center-of-mass coordinate.

After asking for center-of-mass coordinate, this point coordinates and picture centre point coordinates are done after the recovery and can be transmitted by RS232 serial ports To control module 400.

It addition, further as in figure 2 it is shown, induction module 200 can also comprise the ultrasound wave being arranged on humanoid shell 100 Sensor 220, in order to measure the distance between old service robot and service object, and be transferred to the distance recorded control Module 400.Control module 400 combines this distance and the image that gathered by Long Wavelength Infrared Sensor 210 to judge service object Kinestate, such as walk, stand, be seated, lie down, the state such as drop to, and make rational counte-rplan.Preferably, should Old service robot also comprises alarm device, when according to the kinestate of service object, control module 400 judges that it drops to Time, it is also possible to carry out alert process, so that the old man dropped to is given treatment to timely.

Control module 400 just may indicate that motion module 300 operates accordingly after determining counte-rplan, such as missing, Follow the tracks of.The wheel 320 that motion module 300 includes being arranged at the chassis 310 bottom humanoid shell 100, is installed on chassis 310 (see Fig. 3 a and 3b) and be installed on the motor within chassis 310 and decelerator.

Preferably, can also include by structures such as speaker 610 and display 620 according to the old service robot of the application The human-computer interaction module 600 become.This human-computer interaction module 600 can be provided electric energy by supply module 500 equally, and with control mould Block 400 communicates to connect, in order to provides information to control module 400 and receives the instruction from control module 400.Man-machine interaction mould Block 500 is capable of entertaining the functions such as broadcasting, human computer conversation, speech recognition, even if also will not be lonely when making old man be in alone, It is the increase in the design of hommization of the present utility model.

Old service robot of the present utility model not only overcomes that existing old service unit accuracy rate on market is low, merit The defects such as energy is single, also have specious generous, easy to use and low cost and other advantages, it are to judge that Falls Among Old People is also The function reported to the police, effectively prevent the adverse consequences that old man causes because not giving treatment in time, is particularly well-suited to society more Carry out the most Empty nest elderly.

Above example only have expressed embodiment of the present utility model, and it describes more concrete and detailed, but can not Therefore the restriction to this utility model the scope of the claims it is interpreted as.It should be pointed out that, for those of ordinary skill in the art For, without departing from the concept of the premise utility, it is also possible to make some deformation and improvement, these broadly fall into this practicality Novel protection domain.Therefore, the protection domain of this utility model patent should be as the criterion with claims.

Claims (7)

1. an old service robot, it is characterised in that include humanoid shell, induction module, motion module, control module with And supply module, wherein,

Described humanoid shell comprises head and trunk；

Described induction module is arranged at the outer surface of described humanoid shell；

Described motion module is arranged at the bottom of described humanoid shell；

Described control module is communicatively connected to described induction module and described motion module respectively, and described control module is from institute State induction module to receive the information of the described service object position of expression, described information is analyzed and indicates described motion Module is made corresponding mobile；And

Described supply module is described induction module, described motion module and described control module provide electric energy.

Old service robot the most according to claim 1, it is characterised in that described induction module comprises LONG WAVE INFRARED and passes Sensor and Infrared images pre-processing device.

Old service robot the most according to claim 2, it is characterised in that described induction module also comprises ultrasound wave and passes Sensor.

Old service robot the most according to claim 1, it is characterised in that described motion module comprise be arranged at described The chassis of humanoid outer casing bottom, the wheel being installed on described chassis and be installed on motor and the deceleration of described inside chassis Device.

Old service robot the most according to claim 1, it is characterised in that described old service robot also includes people Machine interactive module, the communication connection of described human-computer interaction module and described control module and to described control module provide information and Receive the instruction from described control module.

Old service robot the most according to claim 1, it is characterised in that the described head of described old service robot Portion is provided with for controlling the switch that described old service robot opens and closes.

Old service robot the most according to claim 1, it is characterised in that described old service robot comprises warning Device, described alarm device is judged to carry out operation of reporting to the police when service object drops in described control module.