DE102018204168B3 - Supporting a person in a household - Google Patents

Abstract

A method of assisting a person in a household by means of a mobile machine, the method comprising steps of positioning the machine at a position in the household; scanning an environment of the machine at the location; of comprehending the person; issuing a response request of the machine to the person; and providing a notification if a predetermined response by the person fails during a predetermined period of time.

Description

The present invention relates to the assistance of a person in a household. More particularly, the invention relates to the assistance of an elderly or infirm person, living alone in a household.

Many people prefer to live in their familiar household, even at an advanced age, even though there is no other person in the household who can help the first person when needed. With increasing age, illness or disability, there is an increased risk of a household accident that is so severe that the person who is injured in the accident can no longer help himself. For example, the person may fall and injure themselves, but the injury can be so severe that the person can no longer get help himself. Under certain circumstances, the injury is even life-threatening, especially if there is no help for a long time.

Various suggestions have been made to help a fallen person. A sensor mat can be placed in a dangerous place. If the person falls on the mat, an automatic emergency call can be made. However, if the person falls elsewhere or has another problem, such as an attack of sudden hyperglycemia, the mat can not detect the emergency. A portable emergency call transmitter, which the person carries with him, can sound the alarm if he registers predetermined vibrations or if the person activates him manually. However, if the person forgets to carry the emergency transmitter with them or deliberately discards it, for example, before entering a shower, this approach can also fail.

US 2005 0 273 226 A1 relates to an automatic mobile cleaning machine which helps to evacuate a person from a household in the event of a fire.

US 2006 0 069 465 A1 Proposes to equip an automatic mobile cleaning machine with an infrared sensor to detect a person in a household.

From the US 2005/0216126 A1 An autonomous butler robot is previously known. The US 2006/0176182 A1 deals with an electronic monitoring system for monitoring people. The WO 2016/180796 A2 describes a cleaning robot that accompanies a person in case of fire to the emergency exit. From the US 2003/0229474 A1 another monitoring apparatus is already known. Autonomous robots will be added in the DE 10 2016 125 199 A1 and US 2005/0154265 A1 discussed. The DE 10 2011 087 589 A1 deals with a modular assistance system.

An object underlying the present invention is to provide an improved technique for determining a person in need of assistance in a household. The invention achieves these objects by means of the subject matters of the independent claims. Subclaims give preferred embodiments again.

A method for assisting a person in a household by means of a mobile machine comprises steps of positioning the mobile machine at a predetermined position in the household; scanning an environment of the machine at the location; of comprehending the person; issuing a response request of the machine to the person; and providing a notification if a predetermined response by the person fails during a predetermined period of time.

In particular, the method may be performed by an autonomous robot, for example a tillage robot, such as a suction, sweeping or wiping robot, that is mobile in the household. By using its sensors and actuators, the robot can be easily used to further perform the procedure. The person does not have to take any precautions, for example in the form of an entrained device, and the cover of the household by the autonomous robot may be nationwide or restricted to a predetermined range. The determination of the autonomous robot is not limited to a specific emergency, but can generally underlie the need for assistance of the person.

In the given way it can be improved to determine whether the person needs help or not, so that a false alarm can be avoided. In particular, the machine may perform periodic scans, such as daily or hourly, to locate a helpless, casualty or casualty within a predetermined maximum time. According to the invention, the notification is provided if the person does not respond to the response request within the predetermined period of time. For example, if the person is unconscious or in shock so that they can not respond to the request, the notification can be provided without the intervention of the person.

Before the response request is issued, it can be determined that the person is not asleep. This can be avoided that the person is bothered by the reaction request in his sleep. In particular, an elderly or sick person may also sleep at otherwise unusual times of the day, whereby the determination of a false alarm can be avoided. For example, to determine whether the person is asleep, it may be determined whether the person is sitting on a reclining furniture such as a bed or a sofa or on a chair such as an armchair or chair. If this is not the case, it can be assumed that the person is not asleep. It can also be determined that the person sleeps when breathing evenly and / or calmly. One or more vital functions of the person can also be determined. For example, a body temperature can be determined without contact, for example by means of an infrared camera or a microbolometer. If the specific vital function is outside a predetermined range, then it can be concluded that the person is not asleep.

The reaction request is preferably acoustic. For example, a predetermined sound signal or a voice recording can be played. In particular, the speech signal can be predetermined and individualized to the individual, so that they can be modulated and also very insistent. The reaction request can additionally or alternatively also be made optically. A helpless person can thus be addressed specifically in the case of a perception weakness (deafness or refractive error).

The predetermined response may include detecting a linguistic message of predetermined content from the person. The person can thus orally confirm in a simple manner and without aids that she is well, for example by pronouncing a predetermined word or phrase. Alternatively, haptic feedback may also be provided, such as by the person actuating a predetermined switch or contact on the machine or making a predetermined gesture, which may be scanned without contact by means of a camera.

The person may also voice a message that she is not feeling well, for example, by speaking a predetermined keyword or phrase. The person can also provide more precise language information about their condition or a desired assistance. The information can be attached to the notification or analyzed, for example, to determine the recipient of the notification. For voice recognition, a service-based or cloud-based voice analysis can be carried out, as it is known, for example, under the avatar names "Siri", "Alexa" or "Cortana". A determination result can lead to an action on the part of the corresponding service or on the part of the machine. For example, in the case of a medical emergency, an automatic emergency call can be placed, while in case of hunger or thirst, a neighbor or relative can be notified.

The position of the machine is determined on the basis of an audible indication of the person (e.g., dynamic). For example, the person may call the machine to himself, either by a predetermined noise, by a predetermined keyword, or by a more sophisticated voice command. The machine can then move to a position from which it can scan the person. If the scan is disrupted, for example because the person is on the other side of a closed door, the machine may provide the notification directly or in dialogue with the person.

The position of the machine may be one of a predetermined sequence of positions at which the machine is sequentially positioned. In other words, the machine may be time-controlled or event-controlled by the household and sequentially occupy a number of predetermined positions at which it respectively scans. In particular, the machine may regularly occupy the same sequence of positions. The positions are preferably chosen so that all places where the person can stay in the apartment, can be scanned one after the other. The driving of the one or more predetermined positions by the machine may be integrated with another operation of the machine. For example, the machine can aspirate a floor area of the household daily and thereby scan the surroundings at the predetermined positions, for which purpose the suction can be interrupted. In addition, at predetermined times, the machine can also control the positions without suction, for example at night, so as not to disturb the person.

The machine may scan its environment at the predetermined position for a predetermined period of time and provide the notification only if the person can be detected in the environment. The way in which the scan is to be performed may be predeterminable, as well as the position, for example by the person or another user. At different positions, scans of different lengths can be performed, these can be done by means of different sensors and sampled signals can be evaluated differently. In addition, a scan direction and / or distance may be predeterminable at a position. These settings can also be used, for example the time of day or randomly varied. For example, less intensive scans may be taken during the daytime hours than during the nighttime hours so as not to disturb the person at home during the day and to make a more accurate determination at night.

Communication between the person and a recipient of the notification may be facilitated by means of an input or output device of the machine. The machine is preferably connected to a data network, in particular by means of a wireless interface, to allow a remote connection to the recipient of the notification. For example, the receiver may communicate with the person via audio and / or video from a suitable input device such as a home computer or smartphone via the machine. In consultation with the recipient of the notification can then be effected about a medical emergency call or other support of the person.

According to the invention, the machine accompanies the detected person on a predetermined path through the household. This variant can be carried out in particular if the person was determined not to be asleep or if the person has responded positively to the reaction request. Also, for example, if the person has called the machine to himself, the accompanying function can be activated. This allows the machine to remain close to the household, for example, during a nightly restroom or other movement of the person. While accompanying, the machine can scan the person constantly or periodically to determine if the person needs help. For example, if the person falls or has difficulty leaving the toilet, this can be determined. Again, a response request may be issued, the notification being provided only if no response of the person has been detected for the predetermined time. In addition, the notification may be provided at the initiative of the person, for example, a predetermined sound, a keyword, or the operation of an input device of the machine.

When it is dark, the machine illuminates the predetermined path for the person. For this purpose, the machine may comprise a lighting device for illuminating an area around the machine. The machine advances the person on the predetermined route. In another embodiment, the machine remains at a predetermined distance from the person, for example, by adjusting their own speed on the predetermined path to that of the person.

A mobile machine for assisting a person in a household includes a drive device; a map memory for storing information for navigation in the household; a positioning device for determining a position of the machine; a first scanning device for scanning an environment of the machine; an output device for issuing a response request to the person; a second scanner for detecting a predetermined response of the person; and a processing device. In this case, the processing device is set up to position the machine at a predetermined position in the household; to scan an environment of the machine at the position; capture the person to issue a response request to the person; and provide a notification if a predetermined response by the person fails for a predetermined period of time.

The card memory preferably comprises a topological representation of the household, for example in the form of an obstacle card. Fixed or moving obstacles can be deposited. In addition, object information associated with scannable objects may be stored to allow for proper machine response. For example, information about a domestic pet or positions of difficult passages may be stored. For example, a difficult passage may involve a step, a threshold, or a cable lying on the floor. If the machine accompanies the person via such a place, it may issue a separate indication of the danger spot to the person. In addition, places that are difficult only for the person, but not for the machine, can be marked accordingly. Such a location may include, for example, a low passage or a tight turn around a table edge.

The processing device is preferably configured to perform a method described herein. For this purpose, the processing device may comprise a programmable microcomputer or microcontroller and the method may be partially or completely present as a computer program product with program code means. The computer program product can also be stored on a computer-readable data carrier. Advantages or features of the method can be transferred to the mobile machine and vice versa.

• 1 eine exemplarische mobile Maschine in Form eines Hausgeräts; und
• 2 ein Ablaufdiagramm eines beispielhaften Verfahrens;

darstellt.The invention will now be described in more detail with reference to the attached figures, in which:

• 1 an exemplary mobile machine in the form of a domestic appliance; and
• 2 a flowchart of an exemplary method;

represents.

1 shows an exemplary mobile machine 100 for use in a household 105 , The household 105 may include, for example, a room, an apartment or a house and the mobile machine 100 is preferably adapted to a predetermined activity within the household 110 to do, for example, a floor cleaning.

The mobile machine 105 includes in the illustrated embodiment, a processing device 110 for carrying out the predetermined activity, for example in the form of a suction unit or sweeping unit, further a processing device 115 , a drive device 120 , one or more sensors 125 , an interface 130 for wireless communication, and for interaction with a person additionally an input device 135 and an output device 140 and a lighting device 145 , The input device 135 For example, it may include a microphone, a button, a touch screen, a sensor surface or a device for gesture recognition, such as optically or by means of ultrasound. The output device 140 may include a speaker, a lamp or light, a display or other optical, acoustic or haptic output device. The lighting device 145 is for illuminating an environment of the machine 100 set up and can be controlled in brightness and / or light color. the interface 130 is preferably connected to an information network for digital communication and can be used to transmit data, which may in particular include control information, pictures or sounds. The mentioned sensors and actuators are essentially optional and in other embodiments may also be other or additional elements of the machine 100 includes his.

The processing device 115 preferably comprises a programmable microcomputer, which may comprise a memory device. The processing device 115 is set to the mobile machine 100 within a predetermined range of the household 105 to position, so by controlling the drive means 120 to bring to a predetermined position. For this purpose, the processing device 115 a device for determining the position of the machine 100 include. Usually, the processing device 115 the machine 100 lead in a predetermined manner over a bottom surface to by means of the processing device 110 to fulfill a task assigned to it. This can be an environment of the machine 100 by means of the sensors 130 may be scanned, which may include, for example, a camera, a range finder, an ultrasonic transducer, a reflected light barrier, a collision sensor or a radar sensor. The position of the machine 100 can be based on signals from the sensors 125 be determined.

It is proposed the mobile machine 100 be designed in such a way that in addition to its original function it is the household 105 to monitor that she finds a helpless or needy person and gets suitable help.

2 shows a method 200 for controlling a mobile machine 100 , The method is in particular for running on or with the aid of a mobile machine as in 1 set up. In a first step 205 becomes the machine 100 in a predetermined position within the household 105 brought. In one embodiment, the position is predetermined and may be one of a chain of positions approached in succession under predetermined conditions. In another embodiment, the position is determined dynamically, for example by the person using the machine 100 calls to himself. The position can then be approximated to the source of the call. Is the machine 100 arrived at the position, it can, for example, optically or acoustically by means of the output devices 140 . 145 to draw attention to themselves.

In one step 210 gropes the machine 100 their surroundings at the predetermined position with the aim of finding the person. For this purpose, it can rotate at the position, for example, or one of the sensors 125 align in a predetermined direction. If no person is detected in this step, the procedure may be 200 terminate or start from the beginning, whereby a new position can be controlled. Otherwise, in one step 215 the person captured. Subsequently, in one step 220 determines in which state or activity the person can be observed. In particular, it should be determined whether the person is sleeping or not. For this purpose, the person can be optically scanned for a predetermined time, for example. In addition, it can be determined in which posture the person is and whether it is on a piece of furniture or on the floor. For example, if the person is lying in a bed, on a sofa or in an armchair and breathing calmly, it may be in one step 225 be determined that she is well. Even if the person moves in a predetermined manner, such as when she is running, getting up or sitting down, there is no need for action. In this case can terminate or retrace the procedure as described above.

If it is determined that the person is not asleep, but nevertheless does not move or does not move in a predetermined manner, then in one step 230 a response request is issued to the person. This may consist in an acoustic message such as a beep, a melody or the output of a voice memo or a synthesized voice with a predetermined text. Subsequently, a predetermined period of time waits for the person to respond to the request. It is also possible to issue a plurality of response prompts at predetermined time intervals in succession, wherein the response prompts may be increasingly urgent, for example in volume at an acoustic request or in brightness, color or frequency at an optical prompt. It is checked whether a predetermined reaction of the person is observable. The response may be, for example, verbally, by a gesture, or by a predetermined input to the mobile machine 100 be expressed. In this case, it can also be determined that there is no danger to the person and the procedure 200 can terminate or retrace from the beginning as described above.

Was in the step 235 no or no predetermined response of the person determined so may in one step 240 a predetermined notification is issued. The notification is preferably directed to a predetermined recipient, such as a predetermined person or organization, and may include an auditory, linguistic, textual or audiovisual message. The message may also include a moving or still picture of the person. If the message can not be delivered within a predetermined time, it can be forwarded to another predetermined recipient. The notification may be repeated unless another person arrives within a predetermined time or the machine 100 - by the person or via the interface 130 - Receives a predetermined input. The input can be the method 200 cancel or run again as described. In one embodiment, the machine 100 allow the recipient of the notification a communication connection to the person in the manner of a hands-free connection. For this purpose, for example, it can transmit image or sound data in one or both directions between the person and the recipient. If necessary, the receiver can also cause the provision of an emergency signal. In this case, another notification may be transmitted to, for example, a family doctor, an ambulance, the police or the fire brigade. The notification may include an address and personal information about the person.

The reaction in the step 235 but it may also indicate a specific requirement of the person, in particular the desire to move through the household 105 through the machine 100 to be accompanied. The reaction can be issued in the described manner by the person, but have a different content. Especially if the person is the mobile machine in step 205 called to this variant can be executed. It can also take some or all steps 210 to 235 be left out. In one step 255 can the machine 100 Accompany the person on a predetermined path through the household. In this case, it can illuminate an environment by means of the lighting device, if desired and required. The brightness and / or color of the lighting can be adapted to the circumstances, for example, by simulating the light conditions of a sunrise near the day and at night rather a reddish orientation light is used, the person less dazzling or less disturbing. If the person performs an activity in the household after the movement, the machine can 100 Wait for a predetermined time and then accompany on another predetermined path. Leaves a predetermined input of the person during a predetermined waiting time, so may go to step 230 be transferred.

By the procedure 200 can the safety of the person through the machine 100 be made sure to be improved. For example, regarding the steps 250 and 255 described procedure in a nocturnal toilets of the person to be performed. Overall, the machine can 100 to be given the added value of ensuring that a person in a household does not go unnoticed should something happen to her so that she can not help herself or draw attention to herself.

LIST OF REFERENCE NUMBERS

100

mobile machine

105

household

110

processing device

115

processing device

120

driving means

125

sensor

130

wireless interface

135

input device

140

output device

145

lighting device

200

method

205

Approaching position

210

Scanning environment

215

Capture lying person

220

Person is sleeping?

225

Determine: person well, no action requirement

230

Issue response prompt

235

Received reaction?

240

Issue notification

245

Dialog with assistants, hands-free function, providing emergency signal

250

Determine: Person wants to be accompanied by household

255

Lead or follow the person

Claims (5)

A method (200) for supporting a person in a household (105) by means of a mobile machine (100), the method (200) comprising the steps of: - positioning (205) the machine (100) at a position in the household (105), the position being determined (205) based on an audible indication of the person; - scanning (210) an environment of the machine (100) at the position; - detecting (215) the person; Accompanying the detected person on a predetermined path through the household (250) by advancing the mobile machine in front of the person in the predetermined path to illuminate the predetermined path for the person; - Waiting for a predetermined time while the person is doing household chores, and Accompanying the person in a further predetermined way; if a predetermined input of the person fails during the predetermined time, outputting (230) a response request of the machine (100) to the person and providing (240) a notification if a predetermined response by the person fails during a predetermined period of time. Method (200) according to Claim 1 , wherein the reaction request is made acoustically. The method (200) of any one of the preceding claims, wherein the predetermined response comprises detecting (235) a spoken message of predetermined content from the person. Method (200) according to one of the preceding claims, wherein a communication between the person and a recipient of the notification is made possible by means of an input or output device (135, 140) of the machine (100). A mobile machine (100) for assisting a person in a household (105), the machine (100) comprising: - a drive device (220); - A lighting device (145) for illuminating an area around the machine (100); - a map memory (115) for storing information for navigation in the household (105); - Positioning means (115) for determining a position of the machine (100); - A first scanning device (125) for scanning an environment of the machine (100); an output device (140, 145) for issuing a response request to the person; - a second scanning device (125, 135) for detecting a predetermined reaction of the person; and a processing device (115) arranged to: o positioning the machine (100) at a position in the household (105) (205), the position being determined (205) based on an audible indication of the person; o scan an environment of the machine (100) at the location (210); o to capture the person (215), o to accompany the detected person on a predetermined path through the household (250) by advancing the mobile machine in front of the person on the predetermined path to illuminate the predetermined path for the person; o to wait for a predetermined time while the person is doing household chores, and o to accompany the person in a further predetermined way; o if a predetermined input of the person during the predetermined time fails to issue a response request to the person (230); and o provide a notification (240) if a predetermined response by the person fails during a predetermined period of time.

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