KR20120061688A - Apparatus and control method for robot of old people's welfare support - Google Patents

Abstract

PURPOSE: A robot for supporting the welfare for the aged and a control method thereof are provided to support the welfare for the aged using an ultrasonic sensor, a temperature sensor, and a voice recognition sensor. CONSTITUTION: A robot(10) for supporting the welfare for the aged comprises a control unit(20), an ultrasonic sensor(30), a temperature sensor(40), a voice recognition sensor(50), and Bluetooth(60). The control unit controls the operation of the robot. The ultrasonic sensor senses geographical features to automatically move the robot. The temperature sensor senses a temperature so that the robot can perform an emergency evacuation function in a fire. The voice recognition sensor controls the robot through a voice command. The Bluetooth remotely controls the robot through wireless communications.

Description

Apparatus and control method for robot of old people's welfare support}

The present invention relates to a robot and a control method thereof, and in particular, a robot capable of supporting the welfare of the elderly in a social situation that is becoming an aging society due to the low birth rate and the development of medical care (in the present invention, this is referred to as a "hyobot"). It relates to an elderly welfare support robot and its control method to be suitable to provide.

In general, a robot refers to a machine that acts like a human limb.

In the prior art, "No. 2002-0054574" welfare robot for the rehabilitation of pedestrians have been disclosed. Similar to the present invention in terms of the use of the robot in the welfare compared to the prior art, but for the welfare of the elderly housework (clothing, mopping, quality), work (distant objects, work in high places), Leisure (blues, playing, associative quiz), emergency (fire evacuation) to perform the content is not mentioned, there is a difference from the present invention.

Accordingly, the present invention has been proposed to solve the above-mentioned conventional problems, and an object of the present invention is to provide a robot that can support the welfare of the elderly in a social situation that is becoming an aging society due to the low birth rate and the development of medical care. To present an elderly welfare support robot and its control method.

1 is a block diagram of an elderly welfare support robot according to an embodiment of the present invention.

As shown in the figure, the control unit 20 for controlling the operation of the elderly welfare support robot 10; Ultrasonic sensor 30 under the control of the control unit 20, and performs terrain recognition for the automatic movement of the elderly welfare support robot (10); A temperature sensor 40 under the control of the control unit 20 and performing temperature sensing so that the elderly welfare support robot 10 may perform an emergency evacuation function when a fire occurs; A voice recognition sensor 50 which is controlled by the controller 20 and enables the elderly welfare support robot 10 to be controlled through a voice command; And a Bluetooth 60 under the control of the control unit 20 to perform remote control of the elderly welfare support robot 10 through wireless communication.

2 is a view for explaining an implementation example and features of the elderly welfare support robot of FIG.

As shown in the drawing, the elderly welfare support robot 10 minimizes the height of the part where the upper body is rotated to minimize the moment to the motor (not shown in the figure) of the elderly welfare support robot 10. It is configured to minimize the reaction to be applied, the lower body is characterized in that the center of gravity is stabilized by moving at the same ratio when the motion is designed to 1: 1 based on the knee.

3 is a flowchart illustrating a control method of the elderly welfare support robot according to an embodiment of the present invention.

As shown therein, the ultrasonic sensor 30 is operated to prepare the terrain for recognition, the temperature sensor 40 is operated to prepare for emergency preparedness in case of fire, and the voice recognition sensor 50 A first step (ST1 to ST3) of preparing to control the elderly welfare support robot 10 through a voice command by operating a; After the first step, the control unit 20 determines a situation, and controls the elderly welfare support robot 10 to perform one or more operations of voice recognition, terrain recognition, emergency situation recognition, and wireless control (ST4). )Wow; After the second step, the control unit 20 determines what function the elderly welfare support robot 10 will perform, such as housework (clothing, mopping or dusting), work (taking a remote object or working at a high place). And a third step (ST5) of controlling to perform one or more functions of leisure (blues, playing, or associative quiz) or emergency (fire evacuation).

4 is a detailed flowchart illustrating an example of the operation of the ultrasonic sensor in FIG. 3.

As shown in the drawing, in the first step, when the ultrasonic sensor 30 operates, the controller 20 measures a predetermined distance (eg, 1 cm) by using an interrupt with a timer over (ST11, ST12). )Wow; The control unit 20 generates a trigger to measure the distance by receiving sensor values of two ultrasonic sensors 30 placed in parallel and performs parallel correction using the difference (ST13); The control unit 20 generates a trigger to measure the distance of only one sensor value in the ultrasonic sensor 30 and maintains the distance from the wall (ST14).

FIG. 5 is a detailed flowchart illustrating an example of an operation of a temperature sensor in FIG. 3.

As shown in the drawing, in the first step, when the temperature sensor 40 is operated, the controller 20 activates the A / D converter, and the plurality of (eg, 50) units of the temperature sensor 40 are activated. Receiving a measured value for temperature and calculating an average of the measured values (ST21 to ST24); The control unit 20 detects the occurrence of a fire as an average value and controls to perform the life saving operation in the evacuation (ST25, ST26); characterized in that it comprises a.

6 is a detailed flowchart illustrating an example of an operation of a voice recognition sensor in FIG. 3.

As shown in FIG. 1, in the first step, after the voice is recorded and stored in advance, when the voice recognition sensor 50 operates, the controller 20 receives the voice detected by the voice recognition sensor 50. Determining whether the same voice is compared with the previously stored voice (ST31 to ST33); The control unit 20 controls the elderly welfare support robot 10 to perform one or more operations of evacuation, straight ahead, left turn or right turn through voice recognition in the same voice (ST34). It features.

The elderly welfare support robot and its control method according to the present invention has an effect that can provide a robot that can support the welfare of the elderly in a social situation that is becoming an aging society due to the low birth rate and the development of medical care.

1 is a block diagram of an elderly welfare support robot according to an embodiment of the present invention.
2 is a view for explaining an implementation example and features of the elderly welfare support robot of FIG.
3 is a flowchart illustrating a control method of the elderly welfare support robot according to an embodiment of the present invention.
4 is a detailed flowchart illustrating an example of the operation of the ultrasonic sensor in FIG. 3.
FIG. 5 is a detailed flowchart illustrating an example of an operation of a temperature sensor in FIG. 3.
6 is a detailed flowchart illustrating an example of an operation of a voice recognition sensor in FIG. 3.
7 is a conceptual diagram illustrating an example of a walking method of the elderly welfare support robot according to the present invention.
8 is a conceptual diagram illustrating the function of the elderly welfare support robot according to the present invention.
FIG. 9 is a conceptual view illustrating an example of an operation of a laundry board in FIG. 8.
FIG. 10 is a conceptual view illustrating an operation example of wiping in FIG. 8.
FIG. 11 is a conceptual view illustrating an example of operation of a vagina in FIG. 8.
FIG. 12 is a conceptual view illustrating an operation example of remote object import in FIG. 8.
FIG. 13 is a conceptual diagram illustrating an operation example of a job at a high place in FIG. 8.
14 is a conceptual diagram illustrating an operation example of a blues in FIG. 8.
FIG. 15 is a conceptual diagram illustrating an operation example of a performance in FIG. 8.
FIG. 16 is a conceptual view illustrating an operation example of an associative quiz in FIG. 8.
17 is a conceptual view illustrating an operation example of fire evacuation in FIG. 8.

When described in detail with reference to the accompanying drawings, preferred embodiments of the elderly welfare support robot and its control method according to the present invention configured as described above are as follows. In the following description of the present invention, detailed descriptions of well-known functions or configurations will be omitted if it is determined that the detailed description of the present invention may unnecessarily obscure the subject matter of the present invention. It is to be understood that the following terms are defined in consideration of the functions of the present invention, and may be changed according to the intention of the user, the operator, or the precedent, and the meaning of each term should be interpreted based on the contents will be.

First, the present invention is to provide a robot that can support the welfare of the elderly in the social situation of becoming an aging society due to low birth rate and the development of medical care.

This is to develop 'Hyobot' that will be the filial piety of elders in order to solve the elderly problem emerging in the society which is aging due to the development of medical care and low birth rate. By adding various functions to the pro-human appearance, the present invention was intended with the intention of creating a really filial piety robot that can not only be the hands and feet of the elderly, but also dance together, play music, and comfort the lonely mind. .

1 is a block diagram of an elderly welfare support robot according to an embodiment of the present invention.

Thus, the controller 20 controls the operation of the elderly welfare support robot 10.

The ultrasonic sensor 30 is controlled by the controller 20 and performs terrain recognition for the automatic movement of the elderly welfare support robot 10.

The temperature sensor 40 is controlled by the controller 20 and performs temperature sensing so that the elderly welfare support robot 10 may perform an emergency evacuation function when a fire occurs.

The voice recognition sensor 50 may be controlled by the controller 20 and control the elderly welfare support robot 10 through a voice command.

The Bluetooth 60 is controlled by the control unit 20 and allows remote control of the elderly welfare support robot 10 through wireless communication.

2 is a view for explaining an implementation example and features of the elderly welfare support robot of FIG.

Therefore, the elderly welfare support robot 10 is configured to minimize the reaction applied to the motor (not shown in the drawing) of the elderly welfare support robot 10 by minimizing the moment by minimizing the height of the part where the upper body is rotated. do. In addition, the lower body is designed to be 1: 1 based on the knee so that the center of gravity is stabilized by moving at the same ratio when catching motion. The center of gravity is also configured to be located at the chest.

3 is a flowchart illustrating a control method of the elderly welfare support robot according to an embodiment of the present invention.

First, the ultrasonic sensor 30 is operated to prepare for terrain recognition, the temperature sensor 40 is operated to prepare for emergency preparedness in case of fire, and the voice recognition sensor 50 is operated to operate the voice command. Prepare to control the elderly welfare support robot 10 through (ST1 ~ ST3).

In addition, the controller 20 determines which situation and controls the elderly welfare support robot 10 to perform one or more operations among voice recognition, terrain recognition, emergency situation recognition, and wireless control (ST4).

In addition, the control unit 20 determines which function the elderly welfare support robot 10 will perform, such as housework (clothing, mopping or dusting), work (taking a remote object or working at a high place), leisure time (blues, playing) , Or associative quiz) or emergency (fire evacuation) to control to perform one or more functions (ST5).

4 is a detailed flowchart illustrating an example of the operation of the ultrasonic sensor in FIG. 3.

SRF-05 (ultrasonic sensor) recognizes the distance by measuring the time with a timer / counter before triggering and coming back. Using this, the distance between the two ultrasonic sensors on the side wall and the foot was measured for parallel and distance correction. In addition, when the obstacle was detected within a certain distance by recognizing the front wall, it was possible to implement the action of evacuating the grandmother by taking the motion to the right.

Thus, when the ultrasonic sensor 30 operates (ST11), the control unit 20 measures a predetermined distance (eg, 1 cm) using an interrupt with a timer over (ST12).

This is implemented using the following program source:

interrupt [TIM0_OVF] void timer_int0 (void)

{

        TCNT0 = 0x8b; // initial value of timer / counter 0 register

        if (chks == 1)

        {

                if ((PINE & 0x20) == 0x20) // Usual: PE5 = 1, PE5 = 0 When Signal Comes In

                        count = count + 1;

                else if (count)

                {

                        min1 = count;

                        count = 0;

                }

        }

        else if (chks == 2)

        {

                if ((PINE & 0x40) == 0x40) // Usual: PE6 = 1, PE6 = 0 When Signal Comes In

                        count = count + 1;

                else if (count)

                {

                        min2 = count;

                        count = 0;

                }

        }

        else if (chks == 3)

        {

                if ((PINE & 0x80) == 0x80) // usual: PE7 = 1, if signal comes in PE7 = 0

                        count = count + 1;

                else if (count)

                {

                        min3 = count;

                        count = 0;

                }

        }

}

The controller 20 generates a trigger to measure the distance by receiving sensor values of two ultrasonic sensors 30 placed in parallel and performs parallel correction using the difference (ST13).

This is implemented using the following program source:

chks = 1;

                        for (i = 0; i <3; i ++)

                        {

                                // --------------- Echo Pulse --------------- //

                                PORTA = 0x20; // ultrasonic generation

                                delay_us (15);

                                PORTA = 0x00; // ultrasonic stop

                                // --------------- Echo Pulse --------------- //

                        }

                        delay_ms (100);

                        S1 = min1;

                        chks = 2;

                        for (i = 0; i <3; i ++)

                        {

                                // --------------- Echo Pulse --------------- //

                                PORTA = 0x40; // ultrasonic generation

                                delay_us (15);

                                PORTA = 0x00; // ultrasonic stop

                                // --------------- Echo Pulse --------------- //

                        }

                        delay_ms (100);

                        S2 = min2;

                        emit = (S1-S2);

                        // delay_ms (10);

In addition, the control unit 20 generates a trigger to measure the distance of only one sensor value in the ultrasonic sensor 30 and maintain the distance from the wall (ST14).

This is implemented using the following program source:

chks = 1;

                        for (i = 0; i <3; i ++)

                        {

                                // --------------- Echo Pulse --------------- //

                                PORTA = 0x20; // ultrasonic generation

                                delay_us (15);

                                PORTA = 0x00; // ultrasonic stop

                                // --------------- Echo Pulse --------------- //

                        }

                        delay_ms (100);

                        S1 = min1;

                        chks = 2;

                        for (i = 0; i <3; i ++)

                        {

                                // --------------- Echo Pulse --------------- //

                                PORTA = 0x40; // ultrasonic generation

                                delay_us (15);

                                PORTA = 0x00; // ultrasonic stop

                                // --------------- Echo Pulse --------------- //

                        }

                        delay_ms (100);

                        S2 = min2;

                        // delay_ms (10);

FIG. 5 is a detailed flowchart illustrating an example of an operation of a temperature sensor in FIG. 3.

The LM35 (Temperature Sensor) converts the sensor's analog value to a digital value using an A / D converter. As the fever gets stronger, she recognizes that a large value is measured, and when a range is detected, she begins to find her grandmother at risk. To take advantage of the fast sensing speed, take 50 measurements and average them to use a stable value.

Thus, when the temperature sensor 40 operates (ST21), the control unit 20 activates the A / D converter to receive the value and to average the total of 50 values (ST22). The temperature sensor 40 receives the measured values for the plurality of temperatures (eg, 50) (ST23), and calculates an average of the measured values (ST24). In addition, the control unit 20 detects that the fire occurred as an average value (ST25) and controls to perform the life saving operation in the fire evacuation (ST26).

This is implemented using the following program source:

              ADMUX = 0x01; // allow ADC1

              for (i = 0; i <50; i ++)

              {

                 ADCSRA = 0xc7; // ADC start, division ratio 128

                 while (! (ADCSRA &0x10)); // Wait for conversion to finish (ADIF is set when conversion is complete)

                 ADCSRA | = 0 × 10; // clear the ADIF flag

                 // adresult [0] = ADCL + 256 * ADCH;

                 ursen = ADCW; // ADCW = ADCL + 256 * AD

                 sum1 + = ursen;

                 delay_us (100);

              }

              ADCSRA = 0x87; // allow ADC

              ave1 = sum1 / 50;

              // delay_ms (100);

6 is a detailed flowchart illustrating an example of an operation of a voice recognition sensor in FIG. 3.

JT-2000 (Voice Recognition Sensor) records and saves the voice, and judges when the same voice is recognized and executes the program. Through voice recognition, Bruce dances together, plays drums, and associates quizzes.

Thus, after the voice is recorded and stored in advance, when the voice recognition sensor 50 operates, the controller 20 compares the voice detected by the voice recognition sensor 50 with the pre-stored voice to determine whether the voice is the same (ST31). To ST33). The controller 20 controls the elderly welfare support robot 10 to perform one or more operations of evacuation, straight ahead, left turn or right turn through voice recognition in the same voice (ST34).

This is implemented using the following program source:

The following program source is made up of 5 cases according to voice and executes motion by receiving a value using switch statement.

while (1)

 {

         SEND_CODE (0x1a);

         delay_ms (10);

         bcd = PINF &0xf0;

         PORTA = 0xef;

         Exithelp ();

         if (bcd> = 0x10)

         {

                   //////////////////////////////////////////////////// ////////

                   //////////////// Start Voice Recognition Sensor ///////////////////

                   switch (bcd)

                  {

                           case 0x10:

                                    SEND_CODE (0x02); // Forward

                                    SEND_CODE (0x1a);

                                    // Exithelp (); // Evacuate (Escape the Maze!)

                                    PORTA = 0x0f;

                                    delay_ms 500;

                                    PORTA = 0x0e;

                                    delay_ms 500;

                                    PORTA = 0x0f;

                                    delay_ms 500;

                                    PORTA = 0x0d;

                                    delay_ms 500;

PORTA = 0x0f;

                                    break;

                           case 0x20:

                                    SEND_CODE (0x04); // left left

                                    SEND_CODE (0x1a);

                                    PORTA = 0x0f;

                                    delay_ms 500;

                                    PORTA = 0x0e;

                                    delay_ms 500;

                                    PORTA = 0x0f;

                                    delay_ms 500;

                                    PORTA = 0x0d;

                                    delay_ms 500;

PORTA = 0x0f;

                                    break;

                           case 0x30:

                                    SEND_CODE (0x05); // right forward

                                    SEND_CODE (0x1a);

                                    PORTA = 0x0f;

                                    delay_ms 500;

                                    PORTA = 0x0e;

                                    delay_ms 500;

                                    PORTA = 0x0f;

                                    delay_ms 500;

                                    PORTA = 0x0d;

                                    delay_ms 500;

PORTA = 0x0f;

                                    break;

                           case 0x40:

                                    SEND_CODE (0x01); // turn left turn right

                                    SEND_CODE (0x1a);

                                    PORTA = 0x0f;

                                    delay_ms 500;

                                    PORTA = 0x0e;

                                    delay_ms 500;

                                    PORTA = 0x0f;

                                    delay_ms 500;

                                    PORTA = 0x0d;

                                    delay_ms 500;

                                    PORTA = 0x0f;

                                    break;

                           case 0x50:

                                    SEND_CODE (0x03); // turn right turn right

                                    SEND_CODE (0x1a);

                                    PORTA = 0x0f;

                                    delay_ms 500;

                                    PORTA = 0x0e;

                                    delay_ms 500;

                                    PORTA = 0x0f;

                                    delay_ms 500;

                                    PORTA = 0x0d;

                                    delay_ms 500;

PORTA = 0x0f;

                                    break;

                           default:

                                    break;

                  }

                                        ///////////////////// end of voice recognition sensor ////////////////////

                                        ///////////////////////////////////////////

         }

} // sensing while loop

7 is a conceptual diagram illustrating an example of a walking method of the elderly welfare support robot according to the present invention.

Therefore, when performing the control for walking of the elderly welfare support robot 10 is used for fine walking by wireless control using Bluetooth. In addition, in the case of voice, it is possible to walk the elderly welfare support robot 10 only by voice in a situation where it is difficult to use the hand. In addition, in the case of automatic, it recognizes the terrain by using the sensor and the elderly welfare support robot 10 to automatically walk.

8 is a conceptual diagram illustrating the function of the elderly welfare support robot according to the present invention.

Thus, as a function for the welfare of the elderly, it is possible to use household chores such as housework (clothing, mopping or squeezing), work (taking remote objects or working on high places), leisure (blues, playing, or associative quizzes) or emergency (fire evacuation). The elderly welfare support robot performs the function.

FIG. 9 is a conceptual view illustrating an example of an operation of a laundry board in FIG. 8.

The largest share of household chores is laundry. Nevertheless, washing is done by the washing machine, but it is still done by humans. 'Hyobot' washes clothes for the elderly and hangs them.

FIG. 10 is a conceptual view illustrating an operation example of wiping in FIG. 8.

What's the hardest part of cleaning up? It's mopping the floor. Although there are robot cleaners on the market, there is no need for a robot cleaner if there is only one 'hyobot'.

FIG. 11 is a conceptual view illustrating an example of operation of a vagina in FIG. 8.

Fallen leaves in autumn, snow accumulated in winter. It doesn't just look elegant and cool. If you're worried about getting rid of it, your back is already swelling. Don't worry now Because there is a hyobot.

FIG. 12 is a conceptual view illustrating an operation example of remote object import in FIG. 8.

'Oh bother.' It's nothing big, but one of the really bothersome things is to get away. Now you can sit on the couch and pick up what you want.

FIG. 13 is a conceptual diagram illustrating an operation example of a job at a high place in FIG. 8.

What's the hardest part of cleaning up? It's mopping the floor. Although there are robot cleaners on the market, there is no need for a robot cleaner if there is only one 'hyobot'.

14 is a conceptual diagram illustrating an operation example of a blues in FIG. 8.

If you dance to the music together, you can exercise and find room in your life.

FIG. 15 is a conceptual diagram illustrating an operation example of a performance in FIG. 8.

You can sing along with the drum rhythm of the robot and have fun.

FIG. 16 is a conceptual view illustrating an operation example of an associative quiz in FIG. 8.

Thinking about what 'Hyobot' has expressed helps to prevent dementia.

17 is a conceptual view illustrating an operation example of fire evacuation in FIG. 8.

If you have an emergency while you are asleep, the robot is already taking you with you.

Thus, the present invention is to provide a robot that can support the welfare of the elderly in the social situation of becoming an aging society due to the low birth rate and the development of medical care.

Although the present invention has been described in more detail with reference to the examples, the present invention is not necessarily limited to these embodiments, and various modifications can be made without departing from the spirit of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but are intended to illustrate and not limit the scope of the technical spirit of the present invention. The protection scope of the present invention should be interpreted by the claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

10: Senior welfare robot (aka "hyobot")
20:
30: ultrasonic sensor
40: temperature sensor
50: Voice recognition sensor
60: Bluetooth

Claims (6)

A controller 20 for controlling the operation of the elderly welfare support robot 10;
Ultrasonic sensor 30 under the control of the control unit 20, and performs terrain recognition for the automatic movement of the elderly welfare support robot (10);
A temperature sensor 40 under the control of the control unit 20 and performing temperature sensing so that the elderly welfare support robot 10 may perform an emergency evacuation function when a fire occurs;
A voice recognition sensor 50 which is controlled by the controller 20 and enables the elderly welfare support robot 10 to be controlled through a voice command;
Bluetooth (60) under the control of the control unit 20, so that the remote control for the elderly welfare support robot 10 is performed through wireless communication;
Elderly welfare support robot, characterized in that configured to include.
The method according to claim 1,
The elderly welfare support robot 10 minimizes the reaction applied to the motor (not shown in the drawing) of the elderly welfare support robot 10 by minimizing the moment by minimizing the height of the portion where the upper body is rotated. The lower body is designed to be 1: 1 based on the knee to move the same ratio when catching the motion to the elderly welfare support robot, characterized in that configured to stabilize the center of gravity.
Prepare to perform the terrain recognition by operating the ultrasonic sensor 30, and prepare the operation for emergency preparedness in the event of a fire by operating the temperature sensor 40, by operating the voice recognition sensor 50 to give a voice command A first step (ST1 to ST3) to prepare to control the elderly welfare support robot 10 through;
After the first step, the control unit 20 determines a situation, and controls the elderly welfare support robot 10 to perform one or more operations of voice recognition, terrain recognition, emergency situation recognition, and wireless control (ST4). )Wow;
After the second step, the control unit 20 determines what function the elderly welfare support robot 10 will perform, such as housework (clothing, mopping or dusting), work (taking a remote object or working at a high place). A third step ST5 of controlling to perform one or more functions of leisure (blues, playing, or associative quiz) or emergency (fire evacuation);
Control method of the elderly welfare support robot, characterized in that to carry out.
The method according to claim 3,
The first step is,
When the ultrasonic sensor 30 is operated, the control unit 20 measures a predetermined distance using an interrupt with a timer over (ST11, ST12);
The control unit 20 generates a trigger to measure the distance by receiving sensor values of two ultrasonic sensors 30 placed in parallel and performs parallel correction using the difference (ST13);
Generating a trigger to measure the distance of only one sensor value in the ultrasonic sensor 30 and to maintain the distance from the wall (ST14);
Control method of the elderly welfare support robot, characterized in that to carry out.
The method according to claim 3,
The first step is,
When the temperature sensor 40 operates, the control unit 20 activates an A / D converter and receives the measured values for a plurality of temperatures from the temperature sensor 40 to calculate an average of the measured values ( ST21 to ST24);
The control unit 20 detects the occurrence of fire as an average value and controls to perform the life saving operation in the fire escape (ST25, ST26);
Control method of the elderly welfare support robot, characterized in that to carry out.
The method according to claim 3,
The first step is,
After the voice is recorded and stored in advance, when the voice recognition sensor 50 operates, the controller 20 compares the voice detected by the voice recognition sensor 50 with the pre-stored voice to determine whether the voice is the same. Steps ST31 to ST33;
The control unit 20 controls the elderly welfare support robot (10-) to perform one or more operations of evacuation, straight ahead, left turn or right turn through voice recognition in the same voice (ST34);
Control method of the elderly welfare support robot, characterized in that to carry out.

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