JPH1173582A - Tracing robot for wandering aged person - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a detected position from being inaccurate owing to the reflection of a radio wave, etc., by outputting position information on the tracing robot for a wandering aged person in the form of a place name and sending the position information to a communication destination when there is a call from the communication destination. SOLUTION: A position detecting means 4 outputs the current position of the tracing robot 1 for the wandering aged person in the form of the place name by the current position data from GPS receiver 2 and a map data base 3. Consequently, position detection that local people are familiar with is performed and the position can speedily be specified. Further, a detection range is prevented from varying with the intensity of the oscillation radio wave of an indicating means 5. When there is a call from the communication destination, the indicating means 5 automatically sends the position information from the position detecting means 4 in the form of either or both of a voice and digital information. A portable telephone is used at the communication destination and then the position information can be displayed on the liquid crystal panel of the portable telephone with characters and reproduced in voice.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wandering elderly man tracking robot for tracking a wandering elderly man.

[0002]

2. Description of the Related Art Searching for a wandering elderly person takes time and effort for family members. As a countermeasure, it is conceivable to attach a small transmitter to the wandering old man and detect the position of the wandering old man by oscillating radio waves. And after a certain distance from home,
An alarm installed at home generates an alarm.

[0003]

In the above countermeasure method, the detection range varies depending on the intensity of the oscillating radio wave. Further, in a residential area or a building area, the detection position may be inaccurate due to radio wave reflection or the like. In a conventional system that generates an alarm when a certain distance is left from home, the limit is at most about 10 m, and the wandering range of a wandering elderly person is narrow. Furthermore,
The family members need to take immediate action after the alarm is generated, which limits the time of the family members.

[0004]

According to a first aspect of the present invention, there is provided a tracking robot for a wandering elderly person, wherein the position detecting means outputs the position information of the wandering elderly person tracking robot by a place name, and a position detection means when a call is received from a contact. And reporting means for reporting the location information from the contact to the contact.

Since the position detecting means obtains the position information of the tracking robot for the wandering elderly from the output information of the GPS receiver, the detection position is prevented from becoming inaccurate due to the reflection of radio waves and the like as compared with the conventional case using a small transmitter. can do. Further, it is possible to prevent the detection range from being changed depending on the intensity of the oscillating radio wave of the transmitter. Furthermore, if there is a call from the contact, the location information from the location detection means will be reported,
When there is no call from a contact, the power consumption of the wandering elderly man's tracking robot can be reduced.

According to a second aspect of the present invention, there is provided the tracking robot for an elderly wandering person according to the first aspect, comprising an encryption means such as an encryption key, a contact sensor, and an alarm, wherein the constant operation of the encryption means is not performed. It is characterized in that an alarm is issued from the alarm device when the robot is touched.

When there is no certain operation of the encryption means (for example, key input of a password or voice input of a password), an alarm is generated when the contact is made, so that the contacting person or its surroundings can be alerted. It can be used for anti-theft measures of a wandering elderly man tracking robot. When a certain operation of the encryption means is performed, an alarm is not generated, and this can be used for charging the driving battery or for maintenance of the wandering elderly man tracking robot.

According to a third aspect of the present invention, there is provided the tracking robot for a wandering elderly according to the first or second aspect, further comprising an obstacle detection sensor for detecting an obstacle in front of the course, and detecting the obstacle based on information from the obstacle detection sensor. It is characterized in that it is configured to avoid it.

With the obstacle detection sensor, it is possible to avoid a collision with an obstacle in front of the course and to keep track of the wandering old man even when there is an obstacle in front of the course.

According to a fourth aspect of the present invention, there is provided the tracking robot for a wandering elderly according to any one of the first to third aspects, further comprising a TV camera for capturing an image of the wandering elderly, which is a tracking target, and image information of the tracking target and a TV camera stored in advance. And an identification means for identifying a tracking target person based on image information from the user.

The identification means has an image memory and an image processing function, and performs image processing of a photographed image of the wandering elderly person from the TV camera, so that the wandering elderly person's head height, waist bending degree, walking style, clothes, and the like can be determined. Based on this, the tracking target person can be identified. Therefore, even when the small transmitter is not attached to the wandering old man, the wandering old man tracking robot can track the wandering old man.

According to a fifth aspect of the present invention, there is provided the tracking robot for a wandering elderly according to the fourth aspect, further comprising image compression means for compressing image information from the TV camera, and in response to a request from a contact, the notifying means comprises: Is transmitted to a contact computer.

By transmitting the compressed image information, the transmission time of the image information can be reduced. The image information can be expanded by the computer at the contact, and the image can be displayed on a CRT or the like. As a result, not only the position information, but also the surroundings of the place where the wandering elderly man tracking robot exists can be obtained as the contact information by the image, so that the position can be visually determined.

According to a sixth aspect of the present invention, there is provided the tracking robot for a wandering elderly according to the fourth or fifth aspect, further comprising an abnormal behavior detecting means for detecting an abnormal behavior such as a fall of the tracking target person based on image information from the TV camera. When abnormal behavior is detected, the notifying means reports the detection to a contact and transmits image information upon or immediately after the detection of the abnormal behavior to a computer of the contact.

The abnormal behavior detecting means detects, by image processing, an abnormal behavior in which the wandering elderly person falls or bends,
An abnormal behavior detection signal is output to the reporting means. The reporting means immediately reports the detection of the abnormal behavior to the contact. In addition, the reporting means transmits the image information upon detection of the abnormal behavior or immediately after the abnormal behavior is detected to the contact using a telephone line or a communication line, so that the contact family can immediately know the situation of the wandering elderly. it can. For example, the image information may be displayed on the CRT of the personal computer of the contact.

[0016]

Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a simplified block configuration diagram of a wandering elderly man tracking robot according to the present invention.

This wandering elderly man tracking robot 1 is a GPS
Receiver 2, map database 3, position detecting means 4
, Notification means 5, TV camera 11, image compression means 1
2, an identification unit 13, an abnormal behavior detection unit 14, an obstacle detection sensor 15, an avoidance movement control unit 16, a motor 17, and an anti-theft unit 21.

The GPS receiver 2 receives radio waves from GPS satellites and outputs the current position data of the wandering elderly man's tracking robot 1 in real time.

The map database 3 includes a CD-ROM on which map information is recorded and a reproducing device for the CD-ROM. CD-R
In the OM, there are prefectural groups, municipalities and their area data, and data on the positions and names of expressways, national roads, local roads, etc.
Positions of major facilities, buildings, railways, rivers, lakes, and the like and data of their names are stored in advance based on a predetermined database structure. The data of a street, an address, a building serving as a landmark of the area, a store, and the like may also be stored.

The position detecting means 4 outputs the current position of the wandering elderly man's tracking robot 1 based on the current position data from the GPS receiver 2 and the map information from the map database 3 as a place name. For example, it is output using the name of the district or street number at the current position, or the name of a nearby landmark building. As a result, position detection that is familiar to local people can be performed, and the position can be quickly specified. Further, it is possible to prevent the detection range from being changed depending on the intensity of the oscillating radio wave of the notification means 5.

The notification means 5 is provided with a mobile phone having an auto response function. When there is a call from a contact, the location information from the location detection means 4 is automatically responded to either or both of voice and digital information. Since the contact information includes a mobile phone, the position information can be displayed in characters on the liquid crystal panel of the mobile phone, and the position information can be reported by voice. Notification means 5
May respond to the current position of the wandering elderly man's tracking robot 1 at regular intervals. The configuration may be such that an image captured by the TV camera 11 is transmitted according to an instruction from a contact or at regular intervals. The contact information includes a personal computer and a CRT, so that the TV camera 1
One captured image can be displayed on the CRT, and the moving direction of the wandering elderly can be known.

The TV camera 11 includes a CCD and the like. The TV camera 11 automatically tracks and captures an image of a wandering elderly person. Image information from the TV camera 11 includes an image compression unit 12, an identification unit 13, an avoidance movement control unit 16,
Supplied to

The image compressing means 12 compresses image information from the TV camera 11 and supplies the compressed image information to the notifying means 5. As an image compression method, MPEG (Moving P
icture Coding Experts Group) or JPEG (Joint
Photographic Coding Experts Group) may be used.

The identification means 13 stores the image information of the person to be tracked in an image memory in advance. The identification means 13 is a TV
By subjecting the captured image of the wandering old man from the camera 11 to image processing, the tracking target person can be identified based on the height of the head, the degree of waist bending, the way of walking, the clothes, and the like of the wandering old man.
The shooting direction (angle) of the TV camera 11 can be controlled based on the identification signal specifying the wandering old man from the identification means 13, and the TV camera 11 can automatically track the wandering old man and continue imaging.

The abnormal behavior detecting means 14 detects an abnormal behavior in which the wandering elderly person falls or bends by image processing, and outputs an abnormal behavior detection signal to the notifying means 5. In this image processing, an identification signal from the identification unit 13 may be used. For example, a case where the state where the position of the head of the wandering elderly person is lower than the predetermined height has continued for a predetermined time or more may be detected as abnormal behavior.

Based on the abnormal behavior detection signal, the notification means 5
Immediately informs the contacts that it has detected abnormal behavior.
Further, the notifying means 5 transmits the compressed image information at the time of detecting the abnormal behavior or immediately after the detection of the abnormal behavior to a contact using a telephone line or a communication line. By expanding the transmitted image information on the personal computer of the contact and displaying it on the CRT, the family of the contact can immediately know the situation of the wandering elderly.

The obstacle detection sensor 15 detects an obstacle in tracking the wandering elderly person, for example, an obstacle in front of the course, and supplies information on the obstacle to the avoidance movement control means 16. The obstacle detection sensor 15 may include the TV camera 11. The obstacle detection sensor 15 may include a radar device, and may detect the relative distance and the relative speed of the wandering elderly person and the obstacle.

The avoiding motion control means 16 controls the motor 17 based on the information from the obstacle detecting sensor 15 to avoid the obstacle. Thereby, the tracking robot 1 for the wandering elderly
Can avoid collision with an obstacle, and can continue tracking of a wandering old man even when there is an obstacle ahead of the course.

FIG. 2 is a simplified block diagram of the anti-theft unit of the wandering elderly man tracking robot. This anti-theft unit 21
Encryption means 22, contact sensor 23, alarm control means 24
And an alarm 25.

The encryption means 22 has, for example, a numeric keypad, and outputs key input information to the alarm control means 24. The encryption unit 22 may include, for example, a microphone, and output audio input information to the alarm control unit 24.

A contact sensor (touch sensor) 23 is provided on the surface of the wandering elderly man tracking robot 1. When an object comes into contact with the surface of the wandering elderly man tracking robot 1, a contact signal is output to the alarm control means 24. .

The alarm control means 24 performs a certain operation of the encryption means 22 (for example, key input of a password, voice input of a password).
When the contact signal is detected when there is no alarm, an alarm is generated from the alarm device 25. By generating an alarm from the alarm device 25, it is possible to warn a person who has contacted the wandering elderly man tracking robot 1 or a person in the vicinity thereof so as not to contact the person,
It can be used as an anti-theft measure. When a certain operation of the encryption means 22 is performed, an alarm is not generated,
This can be used at the time of charging of the driving battery or maintenance of the wandering elderly man tracking robot 1.

The alarm control means 24 outputs a stolen signal to the notifying means 5 when the contact signal is detected for a certain period of time when there is no constant operation of the encryption means 22, and the notifying means 5 detects the stolen signal based on the stolen signal. May be notified to the contact, and the image information at the time of detection or immediately after the detection may be transmitted to the contact.

It is to be noted that a small transmitter may be attached to the wandering elderly man, and the oscillation source of the oscillating radio wave may be tracked by the wandering elderly man tracking robot. A configuration in which a conventional system and the present invention are used together may be adopted. It is good also as composition which tracks while keeping a small distance of about several meters to a wandering elderly person.

If the identifying means 13 cannot identify the wandering elderly, the identifying means 13 outputs an unidentifiable signal to the notifying means 5, and based on the unidentifiable signal, the notifying means 5 informs the contact of the fact that the wandering elderly has been lost. A configuration for notifying may be used, and a configuration for transmitting image information when lost or immediately after lost to a contact may be used.

An azimuth signal from an azimuth detector constituted by using a gyro, a geomagnetic sensor or the like, and a movement from a moving distance detector constituted by using a rotation sensor or the like of a wheel attached to the wandering elderly man's tracking robot 1. A configuration may be provided in which an estimation navigation device that sequentially calculates the current position of the wandering elderly man's tracking robot 1 based on the distance signal is used, and the current position can be estimated even when radio waves from GPS satellites cannot be received. The wandering elderly man's tracking robot 1 may be configured using a movable cart.

The position detecting means 4 obtains the position information of the wandering elderly from the current position of the wandering elderly tracking robot 1 based on the photographing direction of the TV camera 11 and the relative distance of the wandering elderly detected by the radar device. It is also possible to adopt a configuration for outputting the data.

The position detecting means 4, the image compressing means 12,
The identification means 13, the abnormal behavior detection means 14, the avoidance movement control means 16, and the alarm control means 24 may be configured using a microcomputer system, or may be configured using a DSP (digital signal processor). Is also good.

[0039]

According to the first aspect of the present invention, since the position detecting means outputs the position information by the place name, the accurate position of the wandering old man tracking robot during the tracking of the wandering old man is contacted. The notification can be made in a format that is easy to understand, and the use of GPS satellites can prevent the detection position from becoming inaccurate as compared with the conventional case using a small transmitter. Further, it is possible to prevent the detection range from being different depending on the intensity of the oscillating radio wave of the notification means. Furthermore, when there is a call from the contact, the position information from the position detecting means is reported, so that when there is no call from the contact, the power consumption of the wandering elderly man tracking robot can be reduced. In addition, by mounting a mobile phone, it is possible to provide a simple configuration of a wandering elderly man tracking robot.

According to a second aspect of the present invention, there is provided a tracking robot for a wandering elderly.
By generating an alarm when it is touched when there is no constant operation of the encryption means, it is possible to call attention to the contacting person or the people around it, and it can be used as a countermeasure against theft of a tracking robot for wandering elderly . When a certain operation of the encryption means is performed, an alarm is not generated, which can be used for maintenance of the wandering elderly man tracking robot.

According to the third aspect of the present invention, a collision with an obstacle can be avoided by the obstacle detection sensor, and the tracking of the wandering elderly can be continued even if there is an obstacle ahead of the course. be able to.

According to the fourth aspect of the present invention, the identification means can identify the tracking target person by performing image processing on the captured image of the wandering old man from the TV camera. Therefore, even when the small transmitter is not attached to the wandering old man, the wandering old man tracking robot can track the wandering old man.

According to the fifth aspect of the present invention, the information transmission time can be shortened by transmitting the compressed image information. The image information can be expanded by the computer of the contact person, and the image can be displayed on the CRT or the LCD to monitor the state of the wandering elderly.
As a result, not only the position information, but also the surroundings of the place where the wandering elderly man tracking robot exists can be obtained as the contact information by the image, so that the position can be visually determined.

According to the tracking robot for a wandering elderly, the abnormal behavior of the wandering elderly can be immediately reported to a contact. Further, since the image information at the time of detecting the abnormal behavior or immediately after the detection of the abnormal behavior is transmitted to the contact, the family of the contact can immediately know the situation of the wandering elderly from the image information.

[Brief description of the drawings]

FIG. 1 is a simplified block diagram of a tracking robot for a wandering elderly according to the present invention.

FIG. 2 is a simplified block diagram of the antitheft unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Tracking robot for wandering elderly people 2 ... GPS receiver 3 ... Map database 4 ... Position detection means 5 ... Notification means 11 ... TV camera 12 ... Image compression means 13 ... Identification means 14 ... Abnormal behavior detection means 15 ... Obstacle detection sensor DESCRIPTION OF SYMBOLS 16 ... Avoidance movement control means 17 ... Motor 21 ... Anti-theft unit 22 ... Encryption means 23 ... Contact sensor 24 ... Alarm control means 25 ... Alarm

Claims (6)

[Claims] 1. A tracking robot for a wandering elderly person for tracking a wandering elderly person, a position detection means (4) for outputting position information of the wandering elderly person tracking robot (1) by a place name, and a call from a contact. And a notifying means (5) for notifying the contact information of the position information from the position detecting means (4). 2. A tracking robot (1) for a wandering elderly person, comprising an encryption means (22) such as an encryption key, a contact sensor (23), and an alarm (25), wherein a constant operation of the encryption means (22) is not performed. 2. The tracking robot for a wandering elderly according to claim 1, wherein an alarm is generated from the alarm when the contact is made. 3. An obstacle detecting sensor (15) for detecting an obstacle ahead of a course, and configured to avoid an obstacle based on information from the obstacle detecting sensor (15). Item 3. A tracking robot for a wandering elderly person according to Item 1 or 2. 4. An image of a wandering elderly person to be tracked
A V camera (11) is provided, and the image information of the tracking target person stored in advance and the TV camera (1) are stored.
2. An apparatus according to claim 1, further comprising: an identification unit configured to identify a person to be tracked on the basis of the image information from the item (1).
3. A tracking robot for a wandering elderly according to 3. 5. An image compression means (12) for compressing image information from a TV camera (11), wherein the notifying means (5) transmits the compressed image information to a computer of a contact. The tracking robot for a wandering elderly according to claim 4. 6. An abnormal action detecting means (14) for detecting an abnormal action such as a fall of a tracking target person based on image information from a TV camera (11). 5) The tracking robot for a wandering elderly according to claim 4 or 5, wherein the detection is notified to a contact and the image information upon or immediately after the detection of the abnormal behavior is transmitted to a computer of the contact.