WO2021196517A1

WO2021196517A1 - Community service robot for assisting mobility of the elderly

Info

Publication number: WO2021196517A1
Application number: PCT/CN2020/112544
Authority: WO
Inventors: 邓辅秦; 李伟科; 林淮荣; 黄永深; 冯华; 岳洪伟; 丁毅; 龙佳乐; 张建民; 王栋; 钟东洲; 李澄非; 习江涛
Original assignee: 五邑大学
Priority date: 2020-03-31
Filing date: 2020-08-31
Publication date: 2021-10-07
Also published as: CN111438698A

Abstract

Disclosed is a community service robot for assisting the mobility of the elderly, comprising a main body, the main body being provided with: a main control end, capable of achieving overall control and storing big-data information of the elderly in a community; a camera device, capable of acquiring and feeding back feature information of the elderly, and being connected to the main control end; a collaboration module, capable of assisting the elderly according to an instruction, and being connected to the main control end; and a location and navigation module, capable of providing a movement path for a collaborative robot to reach a home address of the elderly, and being connected to the navigation module and the main control end. Compared with the traditional technology, the present invention has a rational design and is intelligent and efficient in control, and can provide accurate assistance and guidance for the elderly in a community, thereby alleviating worries of children.

Description

A community service robot assisting the elderly to travel

Technical field

The invention relates to the field of intelligent robots, in particular to a community service robot assisting the elderly to travel.

Background technique

With the continuous development of the social population, the aging trend is becoming more and more serious, especially in some communities, which basically occupy the main activity area of the elderly. Due to the busy work of young children, most of them do not have the time and energy to carefully look after the elderly in the community. Therefore, the care of the elderly is particularly important. At present, some of them are solved by hiring a dedicated person to look after, but this is relatively expensive and the degree of intelligence is not high. Another method is to confirm the location coordinates of the elderly through mobile phones or other electronic terminals to achieve monitoring, but the elderly are forgetful It is not very familiar with the use of this type of equipment, and there are also disadvantages such as inconvenience to carry when going out.

Summary of the invention

In order to solve the above problems, the purpose of the present invention is to provide an elderly-assisted travel community service robot, which has a good intelligent control effect and can provide accurate assistance guidelines for the elderly in the community.

In order to make up for the deficiencies of the prior art, the technical solutions adopted in the embodiments of the present invention are:

A travel-assisted community service robot for the elderly includes a main body, and the main body is provided with:

The main control terminal can realize overall control and store the big data of the elderly in the community;

A camera device that can acquire and feed back characteristic information of the elderly, and is connected to the main control terminal;

The collaboration module can assist the elderly according to instructions and is connected to the main control terminal;

The positioning and navigation module can provide a moving path for the collaborative robot to reach the residential address of the elderly, and are respectively connected with the navigation module and the main control terminal.

The one or more technical solutions provided in the embodiments of the present invention have at least the following beneficial effects: real-time acquisition of characteristic information of the elderly through the camera module, so as to understand the living conditions of the elderly in the community, and be able to compare the information with the elderly The pre-stored big data is compared, so as to accurately know the real identity of the elderly and their supporting address and other information. Therefore, the collaboration module and the positioning and navigation module can provide corresponding assistance for the elderly so that they can return to their location. The residential address in the community does not need to worry about the situation where the elderly are left unattended in the community, and the above modules or devices are all under the overall control of the main control terminal to achieve their work. Therefore, the overall control effect is more intelligent and effective, and there is no need The manual care also improves the efficiency of guidance and assistance to the elderly. Therefore, the present invention has reasonable design, high-efficiency control intelligence, and can provide accurate assistance guidelines for the elderly in the community, thereby solving the worries of children.

Further, the camera device includes a first camera used for face recognition of the elderly and a second camera used for recording the face recognition process of the elderly, the first camera and the second camera are both Connect with the main control terminal.

Further, the step of performing face recognition on the elderly by the first camera includes:

Train all the elderly from the taken pictures containing the elderly, and obtain the average value of the face vectors of all the elderly

in,

Is the average value, M is the number of training portraits of the elderly in the picture, and Γ is the training face vector;

Calculate the difference between the face vector of each elderly person and the average value

Among them, Φ _i is the difference;

Get the feature vector of the face vector of the elderly

Among them, λ _k is the feature vector and u is the unit vector;

Project the training set image and the test set image of the elderly on the feature vector, make each image in the test set image find the nearest neighbor in the training set image, and compare the found image with the community in the main control terminal The big data data of the elderly are compared, so as to realize the face recognition of the elderly.

Further, the cooperation module includes a seat, a driving mechanism, and a collaborative robot for supporting the elderly. A movable wheel is installed under the seat, and the driving mechanism is respectively connected to the movable wheel and the main control terminal. Connected, the collaborative robot is connected to the main control terminal.

Further, the positioning and navigation module includes a positioning module for locating a specific position of the collaborative robot and a navigation module for planning a moving path of the collaborative robot, and both the positioning module and the navigation module are connected to the Collaborative robots.

Further, a display screen with a remote communication connection function is also provided on the main body, and the display screen is connected with the main control terminal.

Further, a network transmission module for realizing communication between the cooperation module and the master control terminal is provided.

Further, the main control terminal adopts a microprocessor or a host computer.

The additional aspects and advantages of the present invention will be partly given in the following description, and partly will become obvious from the following description, or be understood through the practice of the present invention.

Description of the drawings

Hereinafter, preferred embodiments of the present invention are given in conjunction with the drawings to illustrate the implementation of the present invention in detail.

FIG. 1 is a schematic block diagram of the structure of a travel-assisted community service robot for the elderly according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the steps of the first camera in the travel-assisted community service robot for the elderly to perform face recognition on the elderly according to an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not used to limit the present invention.

It should be noted that if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, and all fall within the protection scope of the present invention. In some cases, the steps shown or described may be executed in a different order from the module division in the system or the order in the flowchart.

The embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

Referring to Fig. 1, an embodiment of the present invention provides a travel-assisted community service robot for the elderly, including a main body, and the main body is provided with:

The main control terminal 200 can realize overall control and store big data of the elderly in the community;

A camera device, which can acquire and feed back characteristic information of the elderly, and is connected to the main control terminal 200;

The collaboration module 500 can assist the elderly according to instructions, and is connected to the main control terminal 200;

The positioning and navigation module 700 can provide a moving path for the collaborative robot to reach the residence of the elderly, and is connected to the navigation module and the main control terminal 200 respectively.

In this embodiment, the feature information of the elderly is acquired in real time through the camera module, so as to understand the living conditions of the elderly in the community, and the elderly information can be compared with pre-stored big data, so as to accurately know the elderly. The real identity of the person and its supporting address and other information, therefore, the collaboration module 500 and the positioning and navigation module 700 can provide corresponding assistance to the elderly so that they can return to their residential address in the community without worrying about the elderly in the community. Unattended situations, and all the above modules or devices are under the overall control of the main control terminal 200 to achieve their work. Therefore, the overall control effect is more intelligent and effective, without manual care, and it also improves the protection for the elderly. The guidelines help efficiency. Therefore, the present invention has reasonable design, high-efficiency control intelligence, and can provide accurate assistance guidelines for the elderly in the community, thereby solving the worries of children.

Preferably, the main control terminal 200 adopts a microprocessor or a host computer. Whether it is a microprocessor or a host computer, it has good communication transmission, overall control and other functions, and can complete instructions fetching, executing instructions, and communicating with external memory. Exchange information with logical components and other operations, and has good storage space, can integrate big data information of the elderly in the community, which is very convenient and reliable; in addition, between the collaboration module 500 and the main control terminal 200 The network transmission module 400 for realizing communication between the two is provided, and transmission methods such as 5G can be adopted, which is beneficial to speed up the communication speed between the cooperation module 500 and the main control terminal 200, and makes the assistance control for the elderly more timely.

Further, referring to FIG. 1, the camera device includes a first camera 100 for face recognition of the elderly and a second camera 300 for recording the face recognition process of the elderly. The first camera Both the 100 and the second camera 300 are connected to the main control terminal 200. Specifically, the division of labor between the two cameras can not only realize face recognition, but also record real-time information of the elderly for file viewing.

Furthermore, referring to FIG. 2, the steps of the first camera 100 performing face recognition on the elderly include:

S100. Train all the elderly from the taken pictures containing the elderly, and obtain the average value of the face vectors of all the elderly

in,

S200. Calculate the difference between the face vector of each elderly person and the average value

Among them, Φ _i is the difference;

S300. Obtain the feature vector of the face vector of the elderly

Among them, λ _k is the feature vector and u is the unit vector;

S400. Project both the training set image and the test set image of the elderly on the feature vector, so that each image in the test set image finds the nearest neighbor in the training set image, and compare the found image with the main control terminal Compare the big data of the elderly in 200 communities, so as to realize the face recognition of the elderly.

Specifically, through training, vectorization, and feature vectorization of the pictures of the elderly, the core image information of the elderly can be reflected, so that the training set images and the test set images of the elderly can be used to transform the images in the training set. The characteristics of the elderly are characterized, and finally the face recognition of the elderly can be realized through comparison. It can be seen that this face recognition method can be realized with the help of simple training, which is very efficient and reliable.

Among them, the collaboration module 500 designed by the inventor includes a seat, a driving mechanism, and a collaborative robot for assisting the elderly. A movable wheel is installed under the seat, and the driving mechanism is connected to the movable wheel and the main body respectively. The control terminal 200 is connected, and the collaborative robot is connected with the main control terminal 200.

Specifically, if the elderly do not need a seat, they only need to be supported by the collaborative robot (where the support can be specifically determined by the bottom-up body posture estimation algorithm of Part Affinity Fields (PAFs) to determine the bones of the elderly , To support it in the correct position), otherwise the collaborative robot will help it to sit on the seat. In particular, the driving mechanism can drive the seat to move. At this time, it only needs to be guided by the assisting robot correctly. This reduces the workload of the collaborative robot, and makes the overall help for the elderly more organized. Preferably, the driving mechanism is a motor, which can be installed under the seat.

Furthermore, the positioning and navigation module 700 includes a positioning module for locating a specific location of the collaborative robot and a navigation module for planning a moving path of the collaborative robot, and both the positioning module and the navigation module are connected to the Collaborative robots.

Specifically, the positioning module can feed back the specific location information of the collaborative robot to the main control terminal 200, such as through GPS, so as to stimulate the navigation module to plan the movement path for the collaborative robot. It can be seen that there is a cooperative relationship between the two. The cooperation can provide a stable and accurate path planning scheme for the collaborative robot, and the control effect is better. Since the specific method of path planning has been explained in the field, it will not be repeated here.

Furthermore, the main body is also provided with a display screen 600 with a remote communication connection function, and the display screen 600 is connected to the main control terminal 200.

In this embodiment, the real-time information of the elderly can be visually transmitted to the control terminal 200 through the display screen 600, which can more accurately reflect the real-time information of the elderly, so as to determine whether they are sick, fatigued, etc. Symptoms have good practical guiding significance. Correspondingly, a smart pill box is also set on the main body, and some special medicines for the elderly can be configured inside, so that they can be used by the elderly in emergency situations, which is very convenient.

The above content has described the preferred embodiments and basic principles of the present invention in detail, but the present invention is not limited to the above-mentioned embodiments. Those skilled in the art should understand that there will be various types without departing from the spirit of the present invention. Equivalent deformations and replacements, these equivalent deformations and replacements all fall within the scope of the claimed invention.

Claims

A travel-assisted community service robot for the elderly, which is characterized by comprising a main body, and the main body is provided with:

The main control terminal can realize overall control and store the big data of the elderly in the community;

A camera device that can acquire and feed back characteristic information of the elderly, and is connected to the main control terminal;

The collaboration module can assist the elderly according to instructions and is connected to the main control terminal;

The positioning and navigation module can provide a moving path for the collaborative robot to reach the residential address of the elderly, and are respectively connected with the navigation module and the main control terminal.
The travel-assisted community service robot for the elderly according to claim 1, wherein the camera device includes a first camera for face recognition of the elderly and a first camera for recording the faces of the elderly. The second camera in the identification process, the first camera and the second camera are both connected to the main control terminal.
The travel-assisted community service robot for the elderly according to claim 2, wherein the step of performing face recognition on the elderly by the first camera comprises:

Train all the elderly from the taken pictures containing the elderly, and obtain the average value of the face vectors of all the elderly

in,
Is the average value, M is the number of training portraits of the elderly in the picture, and Γ is the training face vector;

Calculate the difference between the face vector of each elderly person and the average value

Among them, Φ i is the difference;

Get the feature vector of the face vector of the elderly

Among them, λ κ is the feature vector and u is the unit vector;

Project the training set image and the test set image of the elderly on the feature vector, make each image in the test set image find the nearest neighbor in the training set image, and compare the found image with the community in the main control terminal The big data data of the elderly are compared, so as to realize the face recognition of the elderly.
The travel-assisted community service robot for the elderly according to claim 1, wherein the collaboration module includes a seat, a driving mechanism, and a collaborative robot for assisting the elderly, and a mobile robot is installed under the seat. Wheel, the driving mechanism is respectively connected with the moving wheel and the main control terminal, and the collaborative robot is connected with the main control terminal.
The travel-assisted community service robot for the elderly according to claim 4, wherein the positioning and navigation module includes a positioning module for locating the specific position of the collaborative robot and for planning the movement of the collaborative robot. The navigation module of the path, the positioning module and the navigation module are both connected to the collaborative robot.
The travel-assisted community service robot for the elderly according to claim 1, wherein the main body is also provided with a display screen with a remote communication connection function, and the display screen is connected to the main control terminal. .
The travel-assisted community service robot for the elderly according to claim 1, wherein a network transmission module for realizing communication between the cooperation module and the main control terminal is provided.
The travel-assisted community service robot for the elderly according to any one of claims 1 to 7, wherein the main control terminal adopts a microprocessor or an upper computer.