WO2018010091A1 - 一种老年服务机器人 - Google Patents
一种老年服务机器人 Download PDFInfo
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- WO2018010091A1 WO2018010091A1 PCT/CN2016/089771 CN2016089771W WO2018010091A1 WO 2018010091 A1 WO2018010091 A1 WO 2018010091A1 CN 2016089771 W CN2016089771 W CN 2016089771W WO 2018010091 A1 WO2018010091 A1 WO 2018010091A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- the invention relates to the field of health service electronic devices, in particular to an elderly service robot for thermal infrared identification tracking.
- the existing home robot has the functions of autonomous walking and collision avoidance, voice and touch screen interaction, and integrates safety monitoring type sensor parts, which can provide early education, subject education, customized information inquiry for users of different age levels. And push, security monitoring, psychological counseling and auxiliary medical diagnosis and other functions.
- safety monitoring type sensor parts which can provide early education, subject education, customized information inquiry for users of different age levels.
- push, security monitoring, psychological counseling and auxiliary medical diagnosis and other functions At the same time, with the aging of China's aging trend, the number of elderly population has increased sharply, and the number of empty nesters has increased. How to ensure the healthy life of the elderly will become a major social problem to be solved.
- the existing elderly service robots rely on visible light and its visual tracking technology, but because the technology is greatly affected by the change of light intensity, it is difficult to accurately locate when the light is weak.
- There is also an elderly service robot designed based on the label recognition technology which requires the elderly to carry the label as a target in real time. This identification method is not only inconvenient
- the present invention provides an elderly service robot based on thermal infrared recognition and tracking technology, which is not only affected by ambient light, has high accuracy, and does not require any elderly person to wear any label, and is simple to use. Convenient.
- the invention provides an elderly service robot, which comprises a humanoid shell, a sensing module, a motion module, a control module and a power supply module, wherein
- the human shell includes a head and a torso
- the sensing module is disposed on an outer surface of the human shell for sensing a transport position of the service object
- the motion module is disposed at the bottom of the humanoid shell for driving the elderly service robot to move;
- the control module is communicatively coupled to the sensing module and the motion module, respectively, and the control module is configured to receive information representing the location of the service object from the sensing module, analyze the information, and instruct the motion module to make a corresponding movement;
- the power supply module supplies power to the sensing module, the motion module, and the control module.
- the sensing module comprises a long-wave infrared sensor and an infrared image pre-processor, wherein the infrared image pre-processor is configured to pre-process the image acquired by the long-wave infrared sensor and transmit the pre-processed image to the control module.
- the sensing module further includes an ultrasonic sensor for measuring the distance between the elderly service robot and the service object.
- the motion module includes a chassis disposed at the bottom of the humanoid casing, a wheel mounted on the chassis, and a motor and a speed reducer mounted inside the chassis.
- the elderly service robot further includes a human-computer interaction module, and the human-computer interaction module is communicatively coupled to the control module to provide information to the control module and receive an indication from the control module.
- the head of the aged service robot is provided with a switch for controlling the opening and closing of the elderly service robot.
- the elderly service robot includes an alarm device, and the alarm device performs an alarm operation when the control module determines that the service object falls.
- the present invention has the following advantages compared with the prior art:
- the elderly service robot uses a thermal infrared sensor to find and track a person's target, thereby improving the environmental adaptability of the system, and still being able to reliably search for a tracking target under ambient light conditions and dark night conditions;
- thermal infrared sensor instead of a visible light sensor effectively protects the privacy of the tracked object by extracting the thermal image of the tracking target;
- the overall structure of the robot is simple, the appearance is beautiful and generous, suitable for home use;
- 1 is a block diagram showing the structure of an elderly service robot
- FIG. 2 is a schematic view of an elderly service robot in accordance with the present invention.
- 3a and 3b are front and side views, respectively, of an aged service robot in accordance with the present invention.
- the service robot includes a humanoid housing 100, a sensing module 200, a motion module 300, a control module 400, and a power supply module 500.
- the sensing module 200 is disposed on an outer surface of the human shell 100 for sensing the position of the service object, that is, the elderly.
- the motion module 300 is generally disposed at the bottom of the humanoid housing 100 for driving the elderly service robot to move.
- the control module 400 is disposed inside the human-shaped housing 100, and is communicatively coupled to the sensing module 200 and the motion module 300, respectively, for receiving location information of the service object from the sensing module 200, analyzing the location information, and indicating the motion module 300. Make the appropriate move.
- the power supply module 500 is disposed inside the humanoid housing 100 for the sensing module 200, the motion module 300, and Control module 400 provides electrical energy.
- the human outer casing 100 generally has two portions, a head portion 110 and a trunk portion 120.
- a switch for controlling the opening and closing of the elderly service robot may be provided on the head 100.
- the sensing module 200 includes a long-wave infrared sensor 210 disposed at the head of the human-shaped housing 100 and an infrared image pre-processor coupled thereto. It can realize infrared imaging of the object in front of the long-wave infrared sensor 210. If there is a person target in the field of view, the coordinates of the person object in the field of view are obtained and transmitted to the control module 400 through the RS232 communication port.
- the long-wave infrared sensor 210 has a resolution of 80*60, a transmission frame rate of 7.5 frames, a wavelength of 8-14 um, a field of view angle of 51°, and a vertical field of view of 40°.
- the thermal infrared image processor is composed of an FPGA chip and other peripheral chips, and is used for preprocessing a series of pictures collected by the long-wave infrared sensor 210.
- the pre-processing includes: supplying power to the thermal infrared sensor and reading the image; using the threshold in sequence Segmentation, video frame difference, area matching, centroid extraction algorithm, processing the read thermal infrared image, finding the character target, and calculating the coordinates; and passing the coordinates to the control module 400 via RS232.
- the purpose of the threshold segmentation algorithm is to convert the grayscale image into a binarized image.
- the threshold algorithm is as follows:
- f(x, y) corresponds to the pixel value in the infrared thermal image
- T 1 and T 2 respectively represent the upper and lower limits, which can be obtained experimentally.
- the video frame difference algorithm aims to propose a moving target, and equation (2) can be used to represent the difference between frames and represent the gray level change between adjacent frames.
- Area matching first uses the search contour algorithm to find the contour algorithm to scan each pixel in the image line by line. It is assumed that black is the target and white is the background in the binary image. If the neighbors of each pixel 8 are all black, if yes, then This point is the internal point of the character's target, which can be removed, that is, the black point turns white, otherwise it remains. After the contour is searched, the contour area is calculated, and the largest contour is selected as the character target, and then the contour is filled.
- centroid refers to a hypothetical point on the material system where the quality is considered to be concentrated.
- the system takes the centroid of the character's target as the final coordinate.
- algorithm of the patent centroid extraction is as follows:
- x is the abscissa of the target pixel of the person in the image
- y is the ordinate
- the abscissa and the ordinate are summed in the image, and then the number of pixels is removed, and the centroid coordinate can be obtained.
- the coordinates of the point and the coordinates of the center point of the image are sent to the control module 400 through the RS232 serial port.
- the sensing module 200 may further include an ultrasonic sensor 220 disposed on the human shell 100 to measure the distance between the elderly service robot and the service object, and transmit the measured distance to the control module 400.
- the control module 400 combines the distance and the image acquired by the long-wave infrared sensor 210 to determine the motion state of the client, such as walking, standing, sitting, lying down, falling, etc., and making a reasonable response plan.
- the aged service robot further includes an alarm device.
- the alarm processing may be performed to enable the elderly person who has fallen to receive timely treatment.
- the motion module 300 can be instructed to perform corresponding operations, such as tracing, tracking, and the like.
- the motion module 300 includes a chassis 310 disposed at the bottom of the humanoid housing 100, wheels 320 mounted on the chassis 310 (see FIGS. 3a and 3b), and a motor and reducer mounted inside the chassis 310.
- the elderly service robot may further include a human-machine interaction module 600 composed of a speaker 610, a display 620, and the like.
- the human-machine interaction module 600 can also provide power by the power supply module 500 and communicate with the control module 400 to communicate with the control module.
- the 400 provides information and receives an indication from the control module 400.
- the human-computer interaction module 500 can realize functions such as entertainment play, human-machine dialogue, voice recognition, etc., so that the elderly will not be lonely even when they are alone at home, which increases the user-friendly design of the present invention.
- the elderly service robot of the invention not only overcomes the defects of low accuracy and single function of the existing elderly service device on the market, but also has the advantages of beautiful appearance, convenient use and low cost, and is a function for judging the fall of the old man and alarming. It effectively avoids the adverse consequences caused by the inability of the elderly to be treated in time, and is especially suitable for more and more empty nesters in today's society.
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Abstract
一种老年服务机器人，包括人形外壳（100）、感应模块（200）、运动模块（300）、控制模块（400）以及供电模块（500），其中，人形外壳（100）包含头部（110）和躯干部（120）；所述感应模块（200）设置于人形外壳（100）的外表面，用于感测服务对象的运动位置；运动模块（300）设置于人形外壳（100）的底部，用于驱动老年服务机器人移动；控制模块（400）分别通信连接至感应模块（200）和运动模块（300）；以及供电模块（500）为感应模块（200）、运动模块（300）以及控制模块（400）提供电能。该老年服务机器不仅不受环境光线影响、准确性高，还无需老人佩戴任何标签，使用简单、便捷。
Description
本发明涉及健康服务电子装置领域，特别涉及一种热红外识别跟踪的老年服务机器人。
随着机器人领域的不断发展，家用机器人产品以较低售价面向家庭推广。现有的家用机器人具有自主行走与避碰、语音与触屏交互等功能，并集成安全监控类传感器件，其针对不同年龄层次的用户需求，可以提供早期教育以及学科教育、定制化的资讯查询与推送、安全监控、心理辅导以及辅助医疗诊断等功能。同时，随着我国老龄化趋势的不断加强，老年人口数量急剧增加，以及空巢老人的不断增多，如何保证老年人健康生活将成为亟待解决的一大社会难题。现有的老年服务机器人多依赖于可见光及其视觉跟踪技术，但由于该技术受光强变化的影响较大，在光线较弱时难以准确定位。也有基于标签识别技术来设计的老年服务机器人，其需要老人实时携带标签作为定位目标，这种识别方式不仅不便利，还无法判断老人具体的运动状态，功能局限性较大。
发明内容
为了克服现有技术中所存在的缺陷，本发明提供一种以热红外识别跟踪技术为基础的老年服务机器人，其不仅不受环境光线影响、准确性高，还无需老人佩戴任何标签，使用简单、便捷。
本发明提供一种老年服务机器人，其特征在于，包括人形外壳、感应模块、运动模块、控制模块以及供电模块，其中，
人形外壳包含头部和躯干部；
感应模块设置于人形外壳的外表面，用于感测服务对象的运位置；
运动模块设置于人形外壳的底部，用于驱动老年服务机器人移动；
控制模块分别通信连接至感应模块和运动模块，并且控制模块用于从感应模块接收表示服务对象位置的信息、对信息进行分析、以及指示运动模块做出相应的移动；以及
供电模块为感应模块、运动模块以及控制模块提供电能。
进一步地，感应模块包含长波红外传感器和红外图像预处理器，其中红外图像预处理器用于对长波红外传感器采集到的图像进行预处理，并将预处理后的图像传递至控制模块。
进一步地，感应模块还包含超声波传感器，超声波传感器用于测量老年服务机器人与服务对象之间的距离。
进一步地，运动模块包含设置于人形外壳底部的底盘、安装于底盘上的车轮、以及安装于底盘内部的电机和减速器。
进一步地，老年服务机器人还包括人机交互模块，人机交互模块与控制模块通信连接，以便向控制模块提供信息并接收来自控制模块的指示。
进一步地，老年服务机器人的头部设置有用于控制老年服务机器人启闭的开关。
进一步地，老年服务机器人包含报警装置，报警装置在控制模块判断出服务对象跌到时进行报警操作。
由于采用于上技术方案，本发明与现有技术相比具有如下优点：
1.依据本发明的老年服务机器人采用热红外传感器寻找并跟踪人物目标，提高了系统的环境适应性，在环境光较弱和黑夜条件下，依然能够可靠寻找跟踪目标；
2.使用热红外传感器替代可见光传感器，由于提取为跟踪目标的热图像，有效的保护了被跟踪对象的隐私；
3.使用小面阵热红外探测器寻找目标，降低硬件成本，提高系统运行速度；
4.机器人整体结构简单，外表美观大方，适于居家使用；
5.老人无需佩戴任何标签，使用方便；
6.使用阈值、视频帧差、面积匹配、质心提取等机器视觉算法，实时计算老人位置，并依据老人的运动状态调整下一步动作或进行报警等操作，智能化程度高。
图1为显示老年服务机器人的结构的框图；
图2为依据本发明的老年服务机器人的示意图；
图3a和3b分别为依据本发明的老年服务机器人的主视图和侧视图。
附图标记说明：
100人形外壳，110头部，120躯干部，130开关，200感应模块，210长波红外传感器，220超声波传感器，300运动模块，310底盘，320车轮，400控制模块，500供电模块，600人机交互模块，610扬声器，620显示器。
为了使本发明的目的、技术方案及优点更加清楚明白，下面结合实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用于解释本发明，并不用于限定本发明。
图1为依据本发明的老年服务机器人的总体结构框图。如图1所示，该老年服务机器人总体包括人形外壳100、感应模块200、运动模块300、控制模块400以及供电模块500。其中，感应模块200设置于人形外壳100的外表面，用于感测服务对象——即老人——的位置。运动模块300总体设置于人形外壳100的底部，用于驱动老年服务机器人移动。控制模块400则设置于人形外壳100的内部，其分别与感应模块200和运动模块300通信连接，用于从感应模块200接收服务对象的位置信息、对该位置信息进行分析、并指示运动模块300做出相应的移动。供电模块500设置于人形外壳100内部，用于为感应模块200、运动模块300以及
控制模块400提供电能。
具体来说，如图2所示，人形外壳100总体具有头部110和躯干部120两部分。在头部100上可以设置用于控制该老年服务机器人启闭的开关。感应模块200包含设置于人形外壳100头部的长波红外传感器210和与之相连的红外图像预处理器。其可以实现对长波红外传感器210前方物体红外成像，如果视场内有人物目标，则将人物目标在视野中的坐标求出，通过RS232通信口传递给控制模块400。在本发明的一个实施例中，长波红外传感器210分辨率为80*60，传输帧率为7.5帧，波长为8-14um，视场角为水平为51°，垂直视场为40°。热红外图像处理器由FPGA芯片及其他外围芯片组成，用于对长波红外传感器210采集到的一系列图片进行预处理，该预处理包括：对热红外传感器供电及图像的读取；依次使用阈值分割、视频帧差、面积匹配、质心提取算法，处理读取的热红外图像，寻找人物目标，并计算坐标；以及将坐标通过RS232传递至控制模块400。
其中，阈值分割算法的目的是将灰度图像转换为二值化后的图像，阈值算法式如下：
在式(1)中，f(x,y)对应红外热图像中像素点值，T1与T2分别表示上下限值，可以通过实验得出。
视频帧差算法目的为将运动目标提出来，式(2)可以用来表示帧间的差异和代表相邻帧之间的灰度变化，
其中{I(x,y)}为图像序列，(x,y)表示像素位置，i表示帧序号(i＝1,2,3，……N)，N为序列总帧数，式(2)中T为阈值。由于CDMi(x，y)表示位置(x,y)处像素点沿时间轴方向的变化，因此可以根据CDMi(x，y)是否大于零进行分段。
面积匹配首先使用查找轮廓算法，查找轮廓算法对图像中各像素进行逐行扫描，假设二值图像中黑色为目标，白色为背景，查找各像素8邻点是否全为黑，如果是，则说明该点为人物目标的内部点，可以去除，即黑点变白点，否则保留。轮廓查找完毕后，对轮廓面积进行计算，选取最大轮廓即为人物目标，随后对该轮廓进行填充。
质量中心简称质心，指物质系统上被认为质量集中于此的一个假想点。该系统取人物目标的质心作为最终坐标，本专利质心提取算法如下：
式(3)中，x为图像中人物目标像素的横坐标，y为纵坐标，对图像中横坐标和纵坐标求和，然后除去像素点个数，即可即可求得质心坐标。
求取质心坐标后，将该点坐标与图像中心点坐标做差后即可通过RS232串口传递至控制模块400。
另外，进一步如图2所示，感应模块200还可以包含设置于人形外壳100上的超声波传感器220，以便测量老年服务机器人与服务对象之间的距离，并将测得的距离传递至控制模块400。控制模块400结合该距离以及由长波红外传感器210采集的图像来判断服务对象的运动状态，例如行走、站立、坐着、躺下、跌到等状态，并做出合理的应对方案。优选地，该老年服务机器人还包含报警装置，当控制模块400依据服务对象的运动状态判断出其跌到时，还可以进行报警处理，以使跌到的老人得到及时的救治。
控制模块400确定应对方案后便可指示运动模块300进行相应的操作，例如寻人、跟踪等。运动模块300包括设置于人形外壳100底部的底盘310、安装于底盘310上的车轮320(见图3a和3b)、以及安装于底盘310内部的电机和减速器。
优选地，依据本申请的老年服务机器人还可以包括由扬声器610和显示器620等构成的人机交互模块600。该人机交互模块600同样可由供电模块500来提供电能，并与控制模块400通信连接，以便向控制模块
400提供信息并接收来自控制模块400的指示。人机交互模块500能够实现娱乐播放、人机对话、语音识别等功能，使老人即便独自在家时也不会寂寞，是增加了本发明的人性化的设计。
本发明的老年服务机器人不仅克服了市场上现有老年服务装置准确率低、功能单一等缺陷，还具有外表美观大方、使用方便以及成本低等优点，由其是判断老人跌倒并报警的功能，有效避免了老人因不能及时救治而造成的不良后果，特别适用于当今社会越来越多的空巢老人。
以上实施例仅表达了本发明的实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。
Claims (7)
- 一种老年服务机器人，其特征在于，包括人形外壳、感应模块、运动模块、控制模块以及供电模块，其中，所述人形外壳包含头部和躯干部；所述感应模块设置于所述人形外壳的外表面；所述运动模块设置于所述人形外壳的底部；所述控制模块分别通信连接至所述感应模块和所述运动模块，并且所述控制模块从所述感应模块接收表示所述服务对象位置的信息、对所述信息进行分析、以及指示所述运动模块做出相应的移动；以及所述供电模块为所述感应模块、所述运动模块以及所述控制模块提供电能。
- 根据权利要求1所述的老年服务机器人，其特征在于，所述感应模块包含长波红外传感器和红外图像预处理器。
- 根据权利要求2所述的老年服务机器人，其特征在于，所述感应模块还包含超声波传感器。
- 根据权利要求1所述的老年服务机器人，其特征在于，所述运动模块包含设置于所述人形外壳底部的底盘、安装于所述底盘上的车轮、以及安装于所述底盘内部的电机和减速器。
- 根据权利要求1所述的老年服务机器人，其特征在于，所述老年服务机器人还包括人机交互模块，所述人机交互模块与所述控制模块通信连接并向所述控制模块提供信息以及接收来自所述控制模块的指示。
- 根据权利要求1所述的老年服务机器人，其特征在于，所述老年服务机器人的所述头部设置有用于控制所述老年服务机器人启闭的开关。
- 根据权利要求1所述的老年服务机器人，其特征在于，所述老年服务机器人包含报警装置，所述报警装置在所述控制模块判断出服务对象跌到时进行报警操作。
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