A smart elderly care robot, robot system and control method thereof

Abstract

The present application relates to a smart elderly care robot, a robot system and a control method thereof, and belongs to the field of elderly care auxiliary equipment. The smart elderly care robot includes a robot head, a robot ear, a robot neck, a speaker, a robot body, a sensing device, a human-computer interaction display screen, a warning device, a medicine box, a main switch, a heat dissipation port, a first wheel, an axle, a second wheel, and also includes a wearable wireless physiological sensor device, such as: a bracelet, a wearable top, and shoes for the elderly; the present application also provides a smart elderly care robot system; the present application also provides a control method for a smart elderly care robot and its system. Compared with the prior art, the beneficial effects of the present application are: it can monitor the health and safety of the elderly, can move autonomously, prevent the elderly from getting lost, receive alarm information, can avoid misjudgment and false alarm, is more scientific and humane, and has good adaptability. The present application has a broad market and application prospects.

Description

Technical Field

[0001] The present application relates to a smart elderly care robot, a robot system and a control method thereof, and belongs to the field of elderly care auxiliary equipment. Background Art

[0002] At present, the proportion of the elderly population in society is showing a continuous increasing trend, and aging is becoming more and more prominent. The current situation of population aging brings new challenges, which are closely related to health, economy and social issues. Therefore, how to provide timely and effective life assistance and care to the elderly, especially when the elderly encounter emergencies (such as being sick but family members are unaware, falling and unable to get up, going out and getting lost, etc.), can provide emergency rescue services and notify guardians in time to protect the physical and mental health and personal safety of the elderly, is an important social issue facing us now, full of opportunities and challenges. Among them, elderly care robots can replace manual care for the elderly, effectively reduce the burden on families and society, and alleviate the pressure of the severe shortage of elderly care workers. It is of great significance to improve the quality of life of the elderly and ensure social stability and development ([1] Wei Jia. Research on the design and development of home-based elderly care intelligent service robots [J]. China Management Informationization, 2018, 21(02): 117-118).

[0003] Existing technologies have conducted some research on elderly care robots, but the elderly care robot products currently on the market have problems such as single function, inability to move autonomously, and false alarms and misjudgments, which cannot meet people's current multi-faceted needs for elderly care robots. Summary of the invention

[0004] The purpose of this application is to solve the above-mentioned problems existing in the existing technology and to provide a smart elderly care robot, a robot system and a control method thereof.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] A smart elderly care robot comprises a robot body, a robot neck is mounted on the upper part of the robot body, a robot head is mounted on the robot neck, robot ears are arranged on the left and right sides of the robot head; a pair of decorative ears are mounted on the top of the robot head;

[0007] A facial display screen is provided in the middle of the front of the robot head; a high-definition camera is also installed inside the facial display screen;

[0008] A sensing device is provided at the lower part of the front of the robot body, a human-machine interactive display screen is provided at the middle part of the front of the robot body, and a warning device is provided above the human-machine interactive display screen; a medicine box is provided at the upper part of the front of the robot body, and speakers are installed on both sides of the upper part of the robot body;

[0009] A main switch is arranged on the back of the robot body, and a heat dissipation port is arranged on the bottom of the back of the robot body; a wheel axle is arranged at the bottom of the robot body, a first wheel is arranged on the wheel axle, and a second wheel is arranged circumferentially of the first wheel.

[0010] Preferably, the robot neck is composed of a servo, which can realize circumferential rotation, can adjust the robot head to rotate horizontally within the range of 0° to 360°, and can adjust the human-computer interaction display screen to move vertically within the range of -90° to 180°.

[0011] Preferably, the robot also includes a wearable wireless physiological sensor device, which includes but is not limited to a wristband, a wearable top, and elderly shoes; the wristband includes a wristband strap, a display screen, a locking component, and a light button; the wristband strap includes a base layer, an intermediate layer, a decorative layer, and a ball.

[0012] Preferably, the material of the base layer is any one of rubber, silicone, and plastic; the material of the piezoelectric layer is any one of piezoelectric composite materials, piezoelectric ceramics, bio-based materials, and piezoelectric crystals; the decorative layer is any one of rubber, silicone, and plastic; the ball is any one of a magnet and a sphere of a drug ingredient.

[0013] Preferably, the wristband is also provided with a GPS locator, which is connected to the robot signal and can also be connected to the guardian network signal. The wristband user's position can be located on the mobile terminal device, and the wristband user can be tracked through the mobile terminal APP to assist in determining the place and situation where the user may have an accident. In addition, it can also prevent elderly users with memory disorders from getting lost.

[0014] The present application also provides a smart elderly care robot system, including a smart elderly care robot and a functional module, wherein the functional module is composed of a hardware part and a software part, and the functional module includes:

[0015] Physiological indicator monitoring module, involving health detection, including but not limited to monitoring the user's blood pressure, blood sugar, sleep status, heart rate, digestion status, used to discover the user's physical health problems and transmit health reports to target receiving devices and personnel;

[0016] Daily affairs processing module, including daily life monitoring and healthy diet monitoring, is used to monitor and remind the elderly of daily affairs that need to be handled, including but not limited to bathing, hair cutting, sleeping, eating, and taking medicine;

[0017] The face and voice recognition module recognizes and analyzes the user's facial expressions based on the facial images collected by the camera, including but not limited to the user's emotional state and abnormal behavior, and then makes decisions based on the analysis results, and sends the analysis results and decision plans to the target terminal device; the target terminal device includes but is not limited to medical institutions, community service stations, robot terminals, and children's devices;

[0018] Emergency monitoring module, including but not limited to monitoring the elderly's falls; positioning and navigation module;

[0019] Home appliance intelligent control module, used to connect and control including but not limited to smart home appliances and physiological index monitoring equipment related to the home life of the elderly; it can also replace smartphone APP or switch panel to independently control smart home products;

[0020] Environmental monitoring module, which monitors indoor environmental information including air temperature, humidity, smoke, and noise, and displays the suitability of the environment;

[0021] The information interaction function module can establish a connection with a third-party platform to collect and evaluate user information data, and transmit it to smart products including but not limited to mobile phones and computers;

[0022] The intelligent optimization module plans the user's diet based on data information, including but not limited to searching and recommending healthy recipes, and explaining the recipe's method and efficacy through voice and interface display.

[0023] The present application also provides a control method for a smart elderly care robot and its system, comprising the following steps:

[0024] (1) The core control module issues instructions to drive the robot to execute commands, including but not limited to starting, pausing, moving forward, moving backward, accelerating, decelerating, and turning;

[0025] (2) According to the working conditions, the robot can realize physiological indicator monitoring, daily affairs processing, face and voice recognition, emergency monitoring, home appliance intelligent control, environmental monitoring, information interaction, and intelligent optimization operations.

[0026] Preferably, the control method of the smart elderly care robot and its system also includes a fall judgment method, which uses body height, descent rate, and posture angle as judgment indicators, and the steps include:

[0027] (a) Body height determination: Extract the coordinate information of the body center, shoulder center, spine point, and foot point, and obtain the coordinates of the spine point (x i ,y i , z i), calculate the distance between the spine point and the ground, and the calculation method for judging the body height is:

[0028]

[0029] When H is less than a certain threshold, it is determined that the body height determination index is reached; when the ground position information cannot be obtained under complex circumstances, the lower of the two foot positions is used as the ground position information, thereby reducing the error;

[0030] (b) Determination of descent rate: The center point position information is obtained every 20 frames, and the descent rate of the center point is calculated using the change in the vertical coordinates per unit time. The descent rate is calculated as follows:

[0031]

[0032] When the decreasing rate is greater than the set threshold, the judgment index is reached;

[0033] (c) Posture angle judgment: Extract the shoulder information S (x, y, z), spine point H (x, y, z), foot center point coordinate point F (x, y, z), spine vertical point coordinate V (x, y, z), upper limb inclination angle A1 and lower limb inclination angle A2 of the body, and calculate them as follows:

[0034]

[0035]

[0036] When the upper limb inclination angle A1 and the lower limb inclination angle A2 of the body are both less than a certain threshold, it is considered that the posture determination index is met; when the three determination indexes are met at the same time, it is considered that a fall occurs and the processing instruction is executed.

[0037] Preferably, the control method of the smart elderly care robot and its system also includes a control method of the robot navigation system, and the steps include:

[0038] Step a: Use GPS relative positioning method and code measurement pseudo-range dynamic relative positioning to obtain GPS positioning signal;

[0039] Step b: Use the Gauss-Krüger projection method to perform projection transformation on the geodetic coordinate system received by the positioning system;

[0040] Step c: Using a strapdown inertial navigation system, measure the acceleration and angular acceleration at the current moment, and then calculate the relative position;

[0041] Step d: Subtract the position information and speed information output by the GPS positioning system and the INS inertial navigation system, and then input the result into the Kalman combination filter for filtering. The output data after filtering is real-time navigation data, which is used to correct the accumulated error of the inertial navigation system;

[0042] Step e: Using the speed adaptation rule to control the speed during path planning to ensure the speed stability of path planning;

[0043] Step f: Use ultrasonic sensors and visual navigation modules to provide obstacle information for path planning, so that the robot can avoid obstacles during movement.

[0044] Preferably, in the control method of the robot navigation system, step b comprises:

[0045] The Gauss-Krüger projection method is used to project the geodetic coordinate system received by the GPS positioning system onto a commonly used plane coordinate system; let any point on the geodetic coordinate system be (B, L, H), where B is latitude, L is longitude, and H is height. The coordinates corresponding to the projection plane are (x, y), and the coordinate calculation formula is:

[0046]

[0047] Where m0 is the arc length from the equator to the meridian at latitude B; is the radius of curvature of the meridian; is the first eccentricity; a is the major axis of the geodetic coordinate system, b is the minor axis of the coordinate system, l = L-L0, is the difference between the current longitude and the meridian longitude; t = tanB; is the second eccentricity.

[0048] Preferably, in the control method of the robot navigation system, the vector equation of the strapdown inertial navigation system in step c is:

[0049]

[0050] In the formula, is the acceleration vector of the carrier caused by the rotation of the earth; is the acceleration vector of the carrier in the geodetic coordinate system; g n is the local gravity acceleration vector of the vector.

[0051] Preferably, in the control method of the robot navigation system, the step d comprises the following steps:

[0052] Step d1: Select the hardware for GPS / INS integrated navigation;

[0053] Step d2: Establish the measurement equation and state equation:

[0054]

[0055] In the formula, Z p (t) is the difference between the position observations of INS and GPS, which is the position measurement equation of the integrated navigation system. v (t) is the difference of velocity observation quantity to obtain velocity measurement equation; R M is the radius of curvature of each point on the meridian of the reference ellipsoid; δV n , δλ1, δh1 are the position measurement errors of INS; N n 、N e 、N u is the position measurement error of the GPS receiver; δV e , δV n , δV u is the INS speed measurement error; M e 、M n 、M u is the positioning measurement error of the receiving end;

[0056] Step d3: Select the position and velocity errors of the INS, the platform error angle, and the zero bias of the gyroscope and accelerometer as variables of the state equation:

[0057] X=[δLδλδhδV e δV n δV u φ e φ n φ u ε x ε y ε z ▽ x ▽ y ▽ z ](5.1)

[0058] Where: (δL, δλ, δh) are the errors of longitude, latitude and altitude respectively; (δV e , δV n , δV u ) are the projections of the velocity error in the three-axis directions of the navigation coordinate system; (φ e ,φ n ,φ u ) are the projections of the platform error angle in the three-axis directions of the navigation coordinate system; (ε x , ε y , ε z ) are the projections of the gyroscope zero bias on the three axes of the carrier coordinate system; (▽ x ,▽ y ,▽ z) are the projections of the accelerometer zero bias on the three axes of the carrier coordinate system.

[0059] The smart elderly care robot, robot system and control method provided by this application have the following advantages compared with the prior art:

[0060] 1. The smart elderly care robot, robot system and control method of the present application can assist and monitor the daily life of the elderly, especially the health and safety of the elderly; it can also monitor the movement trajectory of the elderly, determine whether they fall, prevent the elderly from getting lost, receive alarm information, and push health advice information and provide health services, creating a good elderly care environment, and has broad market and application prospects.

[0061] 2. When a user encounters an abnormal situation, the analysis results and decision-making plan can be sent to the target terminal device, which includes but is not limited to medical institutions, community service stations, robot terminals, and children's devices; at the same time, the location information of the elderly is sent to the intelligent robot, which can move autonomously to the user, overcome space limitations, and has high flexibility and autonomy; especially when encountering obstacles, the robot can automatically avoid obstacles, which improves the scientificity and accuracy of the work.

[0062] 3. A wheel axle is provided at the bottom of the robot body of the present application, a first wheel is provided on the wheel axle, and a second wheel is provided circumferentially of the first wheel. Such a design can improve the flexibility of the robot's movements, especially turning and other actions.

[0063] 4. The bracelet design in this application is beautiful, practical, user-friendly and suitable for elderly users. It can be used independently or connected to the robot system signal and work in coordination. The bracelet is also provided with a lighting mode. After pressing the light button, it can be illuminated at night. It is suitable for walking at night, sudden power outages, etc. The balls in the bracelet can form gaps, which can play a role in perspiration and ventilation, and can also improve the sensitivity of the middle layer to sense the pulse; the material of the middle layer is preferably piezoelectric material, and the balls help the middle layer to deform quickly. The pulse beat can be used to generate current for the rapid deformation of the middle layer, and the bracelet can store electrical energy while the user wears it, extending the use time, and can better adapt to complex and sudden situations.

[0064] 5. In the fall judgment method of this application, when the body height, descent rate, and posture angle are the judgment indicators and meet the three judgment indicators at the same time, the algorithm considers that the fall behavior has occurred and executes the processing instruction. In the prior art, the judgment method using video surveillance has problems such as excessive information storage, laborious screening, and blind spots in image acquisition; the use of motion acceleration judgment is prone to misjudgment and false alarms due to situations such as rapid movement or rapid squatting of the elderly, causing trouble to children or medical centers; the fall judgment method in this application can avoid misjudgment and false alarms, is more scientific and humane, and improves work efficiency and accuracy.

[0065] 6. The autonomous navigation system in this application can enable the robot to accurately and reliably locate and navigate, realize the robot's global planning and real-time obstacle avoidance, and help the robot flexibly avoid obstacles and move autonomously. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 This is a front view schematic diagram of the smart elderly care robot for this application.

[0067] Figure 2 This is a schematic diagram of the back side of the smart elderly care robot for this application.

[0068] Figure 3 This is a bottom schematic diagram of the smart elderly care robot for this application.

[0069] Figure 4 This is a schematic diagram of the structure of the first and second rounds in this application.

[0070] Figure 5 Schematic diagram of the wristband in this application.

[0071] Figure 6 This is a schematic diagram of the bracelet band structure of the bracelet in this application.

[0072] Figure 7 This is a functional schematic diagram of the smart elderly care robot system in this application.

[0073] Figure 8 Schematic diagram of the human body's posture after falling.

[0074] Fig. 9 This is a flowchart of the fall judgment method in this application.

[0075] Fig.10 This is an overall diagram of the navigation system in this application.

[0076] Fig.11 This is a schematic diagram of the working principle of the inertial navigation system in this application.

[0077] In the figure, 101-ear ornaments, 102-robot head, 103-robot ears, 104-robot neck, 105-speaker, 106-robot body, 107-sensing device, 108-human-machine interaction display screen, 109-alarm, 110-medicine box, 201-main switch, 202-heat dissipation vent, 301-first wheel, 302-axle, 303-second wheel; 401-bracelet, 402-second display screen, 403-locking component, 404-light button, 4011-base layer, 4012-middle layer, 4013-decorative layer, 4014-ball. DETAILED DESCRIPTION

[0078] See also Figures 1 to 11 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the restrictive conditions for the implementation of this application, so they have no substantive technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects and purposes that can be achieved by this application, should still fall within the scope of the technical content disclosed in this application. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and the like cited in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of this application. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of this application without substantially changing the technical content.

[0079] A smart elderly care robot, comprising:

[0080] A robot body 106, wherein a robot neck 104 is mounted on the upper part of the robot body 106, a robot head 102 is mounted on the robot neck 104, robot ears 103 are arranged on the left and right sides of the robot head 102; and a pair of decorative ears 101 are mounted on the top of the robot head 102;

[0081] A facial display screen 111 is provided in the middle of the front of the robot head 102; a high-definition camera is also installed inside the facial display screen 111;

[0082] A sensing device 107 is provided at the lower front part of the robot body 106, a human-machine interactive display screen 108 is provided at the middle of the front part of the robot body 106, and a warning device 109 is provided above the human-machine interactive display screen 108; a medicine box 110 is provided at the upper front part of the robot body 106, and speakers 105 are installed on both sides of the upper part of the robot body 106;

[0083] A main switch 201 is arranged on the back of the robot body 106 , and a heat dissipation port 202 is arranged at the bottom of the back of the robot body 106 ; a wheel axle 302 is arranged at the bottom of the robot body 106 , a first wheel 301 is arranged on the wheel axle 302 , and a second wheel 303 is arranged circumferentially around the first wheel 301 .

[0084] A smart elderly care robot system includes a smart elderly care robot and a functional module, wherein the functional module is composed of a hardware part and a software part, and the functional module includes:

[0085] Physiological indicator monitoring module, involving health detection, including but not limited to monitoring the user's blood pressure, blood sugar, sleep status, heart rate, digestion status, used to discover the user's physical health problems and transmit health reports to target receiving devices and personnel;

[0086] Daily affairs processing module, including daily life monitoring and healthy diet monitoring, is used to monitor and remind the elderly of daily affairs that need to be handled, including but not limited to bathing, hair cutting, sleeping, eating, and taking medicine;

[0087] The face and voice recognition module recognizes and analyzes the user's facial expressions based on the facial images collected by the camera, including but not limited to the user's emotional state and abnormal behavior, and then makes decisions based on the analysis results, and sends the analysis results and decision plans to the target terminal device; the target terminal device includes but is not limited to medical institutions, community service stations, robot terminals, and children's devices;

[0088] Emergency monitoring module, including but not limited to monitoring the elderly's falls; positioning and navigation module;

[0089] Home appliance intelligent control module, used to connect and control including but not limited to smart home appliances and physiological index monitoring equipment related to the home life of the elderly; it can also replace smartphone APP or switch panel to independently control smart home products;

[0090] Environmental monitoring module, which monitors indoor environmental information including air temperature, humidity, smoke, and noise, and displays the suitability of the environment;

[0091] The information interaction function module can establish a connection with a third-party platform to collect and evaluate user information data, and transmit it to smart products including but not limited to mobile phones and computers;

[0092] The intelligent optimization module plans the user's diet based on data information, including but not limited to searching and recommending healthy recipes, and explaining the recipe's method and efficacy through voice and interface display.

[0093] A control method of a smart elderly care robot and its system, comprising the following steps:

[0094] (1) The core control module issues instructions to drive the robot to execute commands, including but not limited to starting, pausing, moving forward, moving backward, accelerating, decelerating, and turning;

[0095] (2) Depending on the work situation, the robot performs tasks including but not limited to physiological indicator monitoring, daily affairs processing, facial and voice recognition, emergency monitoring, smart home appliance control, environmental monitoring, information interaction, and intelligent optimization.

[0096] The following are several specific embodiments of the present application to further illustrate the present application, but the present application is not limited to these embodiments.

[0097] Example 1

[0098] A smart elderly care robot, comprising:

[0099] A robot body 106, wherein a robot neck 104 is mounted on the upper part of the robot body 106, a robot head 102 is mounted on the robot neck 104, robot ears 103 are arranged on the left and right sides of the robot head 102; and a pair of decorative ears 101 are mounted on the top of the robot head 102;

[0100] A facial display screen 111 is provided in the middle of the front of the robot head 102; a high-definition camera is also installed inside the facial display screen 111;

[0101] A sensing device 107 is provided at the lower front part of the robot body 106, a human-machine interactive display screen 108 is provided at the middle of the front part of the robot body 106, and a warning device 109 is provided above the human-machine interactive display screen 108; a medicine box 110 is provided at the upper front part of the robot body 106, and speakers 105 are installed on both sides of the upper part of the robot body 106;

[0102] A main switch 201 is arranged on the back of the robot body 106 , and a heat dissipation port 202 is arranged at the bottom of the back of the robot body 106 ; a wheel axle 302 is arranged at the bottom of the robot body 106 , a first wheel 301 is arranged on the wheel axle 302 , and a second wheel 303 is arranged circumferentially around the first wheel 301 .

[0103] In a preferred embodiment of the present application, the robot neck 104 is composed of servos, each of which can realize circumferential rotation, can adjust the robot head 102 to rotate horizontally within the range of 0° to 360°, and can adjust the human-computer interaction display screen to move vertically within the range of -90° to 180°.

[0104] In another preferred embodiment of the present application, it also includes a wearable wireless physiological sensor device, which includes but is not limited to a wristband, a wearable top, and elderly shoes; the wristband includes a wristband band 401, a second display screen 402, a locking component 403, and a light button 404; the wristband band 401 includes a base layer 4011, an intermediate layer 4012, a decorative layer 4013, and a ball 4014.

[0105] In another preferred embodiment of the present application, the material of the base layer is any one of rubber, silicone, and plastic; the material of the piezoelectric layer is any one of piezoelectric composite materials, piezoelectric ceramics, bio-based materials, and piezoelectric crystals; the decorative layer is any one of rubber, silicone, and plastic; the ball is any one of a magnet and a sphere containing a drug ingredient.

[0106] A smart elderly care robot system includes a smart elderly care robot and a functional module, wherein the functional module is composed of a hardware part and a software part, and the functional module includes:

[0107] Physiological indicator monitoring module, involving health detection, including but not limited to monitoring the user's blood pressure, blood sugar, sleep status, heart rate, digestion status, used to discover the user's physical health problems and transmit health reports to target receiving devices and personnel;

[0108] Daily affairs processing module, including daily life monitoring and healthy diet monitoring, is used to monitor and remind the elderly of daily affairs that need to be handled, including but not limited to bathing, hair cutting, sleeping, eating, and taking medicine;

[0109] The face and voice recognition module recognizes and analyzes the user's facial expressions based on the facial images collected by the camera, including but not limited to the user's emotional state and abnormal behavior, and then makes decisions based on the analysis results, and sends the analysis results and decision plans to the target terminal device; the target terminal device includes but is not limited to medical institutions, community service stations, robot terminals, and children's devices;

[0110] Emergency monitoring module, including but not limited to monitoring the elderly's falls; positioning and navigation module;

[0111] Home appliance intelligent control module, used to connect and control including but not limited to smart home appliances and physiological index monitoring equipment related to the home life of the elderly; it can also replace smartphone APP or switch panel to independently control smart home products;

[0112] Environmental monitoring module, which monitors indoor environmental information including air temperature, humidity, smoke, and noise, and displays the suitability of the environment;

[0113] The information interaction function module can establish a connection with a third-party platform to collect and evaluate user information data, and transmit it to smart products including but not limited to mobile phones and computers;

[0114] The intelligent optimization module plans the user's diet based on data information, including but not limited to searching and recommending healthy recipes, and displaying the methods and functions of healthy foods through voice and interface.

[0115] A control method of a smart elderly care robot and its system, comprising the following steps:

[0116] (1) The core control module issues instructions and executes commands, including but not limited to start, pause, forward, backward, accelerate, decelerate, and turn;

[0117] (2) Depending on the work situation, the robot performs tasks including but not limited to physiological indicator monitoring, daily affairs processing, facial and voice recognition, emergency monitoring, smart home appliance control, environmental monitoring, information interaction, and intelligent optimization.

[0118] In a preferred embodiment of the present application, the control method of the smart elderly care robot system also includes a fall judgment method, which uses body height, descent rate, and posture angle as judgment indicators, and the steps include:

[0119] (a) Body height determination: Extract the coordinate information of the body center, shoulder center, spine point, and foot point, and obtain the coordinates of the spine point (x i ,y i , z i ), calculate the distance between the spine point and the ground; the calculation method for judging the height of the body is:

[0120]

[0121] When H is less than a certain threshold, it is determined that the body height determination index is reached; when the ground position information cannot be obtained under complex circumstances, the lower of the two foot positions is used as the ground position information, thereby reducing the error;

[0122] (b) Determination of descent rate: The center point position information is obtained every 20 frames, and the descent rate of the center point is calculated using the change in the vertical coordinates per unit time. The descent rate is calculated as follows:

[0123]

[0124] When the decreasing rate is greater than the set threshold, the judgment index is reached;

[0125] (c) Posture angle judgment: Extract the shoulder information S (x, y, z), spine point H (x, y, z), foot center point coordinate point F (x, y, z), spine vertical point coordinate V (x, y, z), upper limb inclination angle A1 and lower limb inclination angle A2 of the body, and calculate them as follows:

[0126]

[0127]

[0128] When the upper limb inclination angle A1 and the lower limb inclination angle A2 of the body are both less than a certain threshold, it can be considered that the posture determination index is met; when the three determination indexes are met at the same time, it is considered that a fall occurs and the processing instruction is executed.

[0129] In another preferred embodiment of the present application, the control method of the smart elderly care robot and its system also includes a control method of the robot navigation system, and the steps include:

[0130] Step a: Use GPS relative positioning method and code measurement pseudo-range relative dynamic positioning to obtain GPS positioning signal;

[0131] Step b: Use the Gauss-Krüger projection method to perform projection transformation on the geodetic coordinate system received by the positioning system;

[0132] Step c: Using a strapdown inertial navigation system, measure the acceleration and angular acceleration at the current moment, and then calculate the relative position;

[0133] Step d: Subtract the position information and speed information output by the GPS positioning system and the INS inertial navigation system, and then input the result into the Kalman combination filter for filtering. The output data after filtering is real-time navigation data, which is used to correct the accumulated error of the inertial navigation system;

[0134] Step e: Using the speed adaptation rule to control the speed during path planning to ensure the speed stability of path planning;

[0135] Step f: Use ultrasonic sensors and visual navigation modules to provide obstacle information for path planning, so that the robot can avoid obstacles during movement.

[0136] In a preferred embodiment of the present application, step b of the navigation system control method of the robot system includes:

[0137] The Gauss-Krüger projection method is used to project the geodetic coordinate system received by the GPS positioning system onto a commonly used plane coordinate system; let any point on the geodetic coordinate system be (B, L, H), where B is latitude, L is longitude, and H is height. The coordinates corresponding to the projection plane are (x, y), and the coordinate calculation formula is:

[0138]

[0139] Where m0 is the arc length from the equator to the meridian at latitude B; is the radius of curvature of the meridian; is the first eccentricity; a is the major axis of the geodetic coordinate system, b is the minor axis of the coordinate system, l = L-L0, is the difference between the current longitude and the meridian longitude; t = tanB; is the second eccentricity.

[0140] In another preferred embodiment of the present application, in the control method of the robot navigation system, the vector equation of the strapdown inertial navigation system in step c is:

[0141]

[0142] In the formula, is the acceleration vector of the carrier caused by the rotation of the earth; is the acceleration vector of the carrier in the geodetic coordinate system; g n is the local gravitational acceleration vector of the vector.

[0143] In another preferred embodiment of the present application, in the control method of the robot navigation system, the step d comprises the following steps:

[0144] Step d1: Select the hardware for GPS / INS integrated navigation;

[0145] Step d2: Establish the measurement equation and state equation:

[0146]

[0147] In the formula, Z p (t) is the difference between the position observations of INS and GPS, which is the position measurement equation of the integrated navigation system. v (t) is the difference of velocity observation quantity to obtain velocity measurement equation; R M is the radius of curvature of each point on the meridian of the reference ellipsoid; δV n , δλ1, δh1 are the position measurement errors of INS; N n 、N e 、N u is the position measurement error of the GPS receiver; δV e , δVn , δV u is the INS speed measurement error; M e 、M n 、M u is the positioning measurement error of the receiving end;

[0148] Step d3: Select the position and velocity errors of the INS, the platform error angle, and the zero bias of the gyroscope and accelerometer as variables of the state equation

[0149] X=[δLδλδhδV e δV n δV u φ e φ n φ u ε x ε y ε z ▽ x ▽ y ▽ z ](5.1)

[0150] Where: (δL, δλ, δh) are the errors of longitude, latitude and altitude respectively; (δV e , δV n , δV u ) are the projections of the velocity error in the three-axis directions of the navigation coordinate system; (φ e ,φ n ,φ u ) are the projections of the platform error angle in the three-axis directions of the navigation coordinate system; (ε x , ε y , ε z ) are the projections of the gyroscope zero bias on the three axes of the carrier coordinate system; (▽ x ,▽ y ,▽ z ) are the projections of the accelerometer zero bias on the three axes of the carrier coordinate system.

[0151] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A smart elderly care robot and a control method of its system, characterized in that: The steps include: (1) The core control module issues instructions to drive the robot to execute commands, including starting, pausing, moving forward, moving backward, accelerating, decelerating, and turning; (2) According to the working conditions, the robot can realize tasks including physiological index monitoring, daily affairs processing, face and voice recognition, emergency monitoring, home appliance intelligent control, environmental monitoring, information interaction, and intelligent optimization; The invention also includes a fall judgment method, wherein the fall judgment method uses body height, descent rate, and posture angle as judgment indicators, and the steps include: (a) Body height determination: Extract the coordinate information of the body center, shoulder center, spine point, and foot point, and obtain the coordinates of the spine point (x i ,y i , z i ), calculate the distance between the spine point and the ground, and the calculation method for judging the body height is: Where, (K1, K2, K3) represents the normal vector of the ground; K0 represents the position of the ground in the spatial coordinate system; When H is less than a certain threshold, it is determined that the body height determination index is reached; when the ground position information cannot be obtained under complex circumstances, the lower of the two foot positions is used as the ground position information, thereby reducing the error; (b) Determination of descent rate: The center point position information is obtained every 20 frames, and the descent rate of the center point is calculated using the change in the vertical coordinates per unit time. The descent rate is calculated as follows: In the formula, H i is the height of the body at the i-th frame, H i+20 is the height of the body at the i+20th frame; t i is the time of the i-th frame, t i+20 is the time of the i+20th frame; When the decreasing rate is greater than the set threshold, the judgment index is reached; (c) Posture angle judgment: Extract the shoulder information S (x, y, z), spine point H (x, y, z), foot center point coordinate point F (x, y, z), spine vertical point coordinate V (x, y, z), upper limb inclination angle A1 and lower limb inclination angle A2 of the body, and calculate them as follows: When the upper limb inclination angle A1 and the lower limb inclination angle A2 of the body are both less than a certain threshold, it is considered that the posture determination index is met; when the three determination indexes are met at the same time, it is considered that a fall occurs and the processing instruction is executed.

2. The control method of the smart elderly care robot and its system according to claim 1, characterized in that: Also included is a control method for a robot navigation system, the steps of which include: Step a: Use GPS relative positioning method and code measurement pseudo-range dynamic relative positioning to obtain GPS positioning signal; Step b: Use the Gauss-Krüger projection method to perform projection transformation on the geodetic coordinate system received by the positioning system; Step c: Using a strapdown inertial navigation system, measure the acceleration and angular acceleration at the current moment, and then calculate the relative position; Step d: Subtract the position information and speed information output by the GPS positioning system and the INS inertial navigation system, and then input the result into the Kalman combination filter for filtering. The output data after filtering is real-time navigation data, which is used to correct the accumulated error of the inertial navigation system; Step e: Using the speed adaptation rule to control the speed during path planning to ensure the speed stability of path planning; Step f: Use ultrasonic sensors and visual navigation modules to provide obstacle information for path planning, so that the robot can avoid obstacles during movement.

3. The control method of the smart elderly care robot and its system according to claim 2, characterized in that: The step b comprises: The Gauss-Krüger projection method is used to project the geodetic coordinate system received by the GPS positioning system onto a commonly used plane coordinate system; let any point on the geodetic coordinate system be (B, L, H), where B is latitude, L is longitude, and H is height. The coordinates corresponding to the projection plane are (x, y), and the coordinate calculation formula is: Where m0 is the arc length from the equator to the meridian at latitude B; is the radius of curvature of the meridian; is the first eccentricity of the ellipsoid; a is the major axis of the geodetic coordinate system, b is the minor axis of the coordinate system, l=L-L0, is the difference between the current longitude and the meridian longitude; t=tanB.

4. The control method of the smart elderly care robot and its system according to claim 2, characterized in that: The strapdown inertial navigation system in step c has a vector equation as follows: In the formula, is the acceleration value in the navigation coordinate system; is the acceleration vector of the carrier caused by the rotation of the earth; is the acceleration vector of the carrier in the geodetic coordinate system; g n is the local gravitational acceleration vector of the vector.

5. The control method of the smart elderly care robot and its system according to claim 2, characterized in that: The step d comprises the following steps: Step d1: Select the hardware for GPS / INS integrated navigation; Step d2: Establish the measurement equation and state equation: In the formula, (L I ,λ I ,h I ) is the INS position observation; (L G ,λ G ,h G ) is the GPS position observation; (V Ie , V In , V Iu ) is the INS velocity observation; (V Ge , V Gn , V Gu ) is the GPS velocity observation; Z p (t) is the difference between the position observations of INS and GPS, i.e., the position measurement equation of the integrated navigation system; Z v (t) is the velocity measurement equation obtained by the difference of velocity observations; R M is the radius of curvature of each point on the meridian of the reference ellipsoid; δL I ,δλ I ,δh I is the position measurement error value of INS; N n 、N e 、N u is the position measurement error of the GPS receiver; δV e , δV n , δV u is the INS speed measurement error; M e 、M n 、M u is the positioning measurement error of the receiving end; Step d3: Select the position and velocity errors of the INS, the platform error angle, and the zero bias of the gyroscope and accelerometer as variables of the state equation: Where (δL, δλ, δh) are the errors of longitude, latitude and altitude respectively; (δV e , δV n , δV u ) are the projections of the velocity error in the three-axis directions of the navigation coordinate system; (φ e ,φ n ,φ u ) are the projections of the platform error angle in the three-axis directions of the navigation coordinate system; (ε x , ε y , ε z ) are respectively the projections of the gyroscope zero bias on the three axes of the carrier coordinate system; They are the projections of the accelerometer zero bias on the three axes of the carrier coordinate system.

6. A smart elderly care robot, characterized in that: The control is performed using the method as claimed in any one of claims 1 to 5.

7. The intelligent elderly care robot according to claim 6, characterized in that: include: A robot body (106), wherein a robot neck (104) is installed on the upper part of the robot body (106), a robot head (102) is installed on the robot neck (104), and robot ears (103) are arranged on the left and right sides of the robot head (102); and a pair of decorative ears (101) are installed on the top of the robot head (102); A facial display screen (111) is provided in the middle of the front of the robot head (102); a high-definition camera is also installed inside the facial display screen (111); A sensing device (107) is provided at the lower front part of the robot body (106); a human-machine interactive display screen (108) is provided at the middle front part of the robot body (106); and a warning device (109) is provided above the human-machine interactive display screen (108); a medicine box (110) is provided at the upper front part of the robot body (106); and loudspeakers (105) are installed on both sides of the upper part of the robot body (106); A main switch (201) is arranged on the back of the robot body (106), and a heat dissipation port (202) is arranged at the bottom of the back of the robot body (106); a wheel axle (302) is arranged at the bottom of the robot body (106), a first wheel (301) is arranged on the wheel axle (302), and a second wheel (303) is arranged circumferentially around the first wheel (301).

8. The intelligent elderly care robot according to claim 7, characterized in that: The robot neck (104) is composed of a steering gear, which can realize circumferential rotation, can adjust the robot head (102) to rotate horizontally within the range of 0° to 360°, and can adjust the human-machine interactive display screen to move vertically within the range of -90° to 180°.

9. The intelligent elderly care robot according to claim 7, characterized in that: Also included is a wearable wireless physiological sensor device, which includes a wristband, a wearable top, and elderly shoes; The wristband comprises a wristband band (401), a second display screen (402), a locking component (403), and a light button (404); the wristband band (401) comprises a base layer (4011), an intermediate layer (4012), a decorative layer (4013), and a ball (4014).

10. A smart elderly care robot system, characterized in that: The control is performed using the method as claimed in any one of claims 1 to 5.

11. The intelligent elderly care robot system according to claim 10, characterized in that: It includes a smart elderly care robot and a functional module. The functional module consists of a hardware part and a software part. The functional module includes: Physiological indicator monitoring module, involving health detection, including monitoring the user's blood pressure, blood sugar, sleep status, heart rate, digestion status, used to discover the user's physical health problems and transmit health reports to target receiving devices and personnel; Daily affairs processing module, including daily life monitoring and healthy diet monitoring, is used to monitor and remind the elderly of daily affairs that need to be handled, including bathing, hair cutting, sleeping, eating, and taking medicine; The face and voice recognition module recognizes and analyzes the user's facial expressions based on the facial images collected by the camera, including the user's emotional state and abnormal behavior, and then makes decisions based on the analysis results, and sends the analysis results and decision plans to the target terminal device; the target terminal devices include medical institutions, community service stations, robot terminals, and children's devices; Emergency monitoring module, including monitoring of elderly people’s falls; positioning and navigation module; Home appliance intelligent control module, used to connect and control smart home appliances and physiological index monitoring equipment related to the elderly's home life; it can also replace smartphone APP or switch panel to independently control smart home products; Environmental monitoring module, which monitors indoor environmental information including air temperature, humidity, smoke, and noise, and displays the suitability of the environment; The information interaction function module can establish a connection with a third-party platform to collect and evaluate user information data, and transmit it to smart products including mobile phones and computers; The intelligent optimization module plans the user's diet based on data information, including searching and recommending healthy recipes, and explaining the recipe's method and efficacy through voice and interface display.

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