Home nursing method and system, electronic equipment and storage medium

Abstract

The invention discloses a home nursing method and system, electronic equipment and a storage medium. According to the scheme, a task instruction is generated and sent through an intelligent calculation center based on radar scanning data, a robot determines a target position coordinate of an abnormal nursing object according to the task instruction, and planning and determining a task path are performed according to a map and the position coordinate of the robot; the robot moves to a target position coordinate according to the constructed task path, and environment data of the target position and voice interaction data with the nursing object are collected; determining the health state and posture information of the nursing object by analyzing the voice interaction data; the health state and posture information of the nursing object and the collected environment data are sent to an intelligent calculation center to generate a health analysis result; the robot is driven to perform nursing based on radar scanning data and an intelligent calculation center, so that the real-time performance is improved; detection and analysis are performed by combining voice interaction data and environment data, and the detection accuracy is improved. The embodiment of the invention can be widely applied to the technical field of smart home.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of smart home, and in particular to a home care method and system, an electronic device, and a storage medium. BACKGROUND

[0002] With the development of society, the health and care of the elderly are increasingly concerned and valued; due to the decline of physical function, the elderly have difficulty in handling themselves when they encounter problems such as bumps and falls, or sudden illness, and young people are difficult to accompany for a long time due to work; to solve the above problems, the prior art uses a care robot to perform regular patrols and detect the state of the elderly, and performs emergency treatment when an abnormality occurs; or a monitoring camera or sensor is installed in the room to detect the state of the elderly in real time, and an alarm is given when an abnormality occurs, and the guardian is notified; but the regular patrol by the intelligent robot is difficult to discover abnormal events in time, and the detection of the intelligent robot has low accuracy in a complex layout of a house type, and the detection method of the camera or sensor is single and has low accuracy. SUMMARY

[0003] The main purpose of the embodiments of the present application is to provide a home care method and system, an electronic device, and a storage medium, which can improve the real-time performance of care and improve the detection accuracy.

[0004] To achieve the above-mentioned purpose, one aspect of an embodiment of the present application provides a home care method applied to a robot, the method comprising:

[0005] analyzing the received task instruction to determine a target position coordinate; planning according to the target position coordinate to determine a task path; wherein the task instruction is generated by an intelligent calculation center, and the target position coordinate includes a position coordinate of an abnormal event of a care object;

[0006] moving to the target position coordinate according to the task path to obtain current environment data and voice interaction data of the target position coordinate;

[0007] analyzing the voice interaction data to determine a care result; sending the care result and the current environment data to the intelligent calculation center; wherein the care result includes the health status and posture information of the care object.

[0008] In some embodiments, the method further comprises:

[0009] detecting the task path according to a preset map to determine path obstacle information; wherein the preset map is constructed by the robot;

[0010] If the path obstacle information is that there is an obstacle, interaction is performed according to a preset voice algorithm, a response result is determined, the care result is determined according to the response result and a preset threshold, and the care result is sent to the intelligent computing center.

[0011] If the path obstacle information is that there is no obstacle, the moving according to the task path to the target position coordinate is returned to be executed.

[0012] In some embodiments, the care result is determined according to the response result and a preset threshold, specifically including:

[0013] The response result is analyzed to determine the number of consecutive non-responses, and the number of consecutive non-responses is compared with the preset threshold;

[0014] If the number of consecutive non-responses is less than the preset threshold, the preset voice algorithm is returned to be executed to interact to determine the response result;

[0015] If the number of consecutive non-responses is greater than or equal to the preset threshold, a warning information is generated, and the warning information is taken as the care result.

[0016] In some embodiments, the preset map is constructed by the following method:

[0017] A mapping instruction and user input information are received, radar scanning data is acquired, environment scanning data is determined according to the mapping instruction, and an original map and a first coordinate system are established according to the environment scanning data;

[0018] The user input information is analyzed to determine a radar position coordinate, the radar position coordinate is converted according to the first coordinate system to obtain a target radar coordinate, the target radar coordinate is bound with the original map to obtain a first map;

[0019] The radar scanning data is analyzed to determine radar boundary information, the first map is calculated according to the radar boundary information to determine a map deviation, and the first map is corrected according to the map deviation to determine a corrected map;

[0020] The corrected map is calibrated according to preset interference source information to determine the preset map, wherein the preset interference source information is set by a caregiver, and the preset interference source information includes boundary information, furniture position and entrance information.

[0021] To achieve the above-mentioned purpose, another aspect of the embodiment of the present application provides a home care method applied to an intelligent computing center, and the method comprises:

[0022] Acquire current radar data, parse the current radar data, determine attitude information and first position information, and analyze the attitude information to determine a behavior type of a care object; wherein the first position information includes distance information and angle information;

[0023] If the behavior type is an abnormal event, perform coordinate conversion on the first position information according to a preset map to determine target position information; wherein the abnormal event is set by a caregiver;

[0024] Generate a task instruction according to the target position information, and send the task instruction to a robot, so that the robot performs care according to the task instruction.

[0025] In some embodiments, the coordinate conversion on the first position information according to the preset map to determine the target position information specifically includes:

[0026] Determine a radar position coordinate according to the preset map, and determine a rotation angle by calculating according to the preset map and the current radar data; wherein the radar position coordinate includes a position coordinate of the radar in a coordinate system of the preset map;

[0027] Determine map boundary data according to the preset map, and determine radar boundary data according to the current radar data; perform difference calculation according to the map boundary data and the radar boundary data to determine an error correction parameter;

[0028] Perform coordinate conversion according to the first position information, the radar position coordinate, and the rotation angle to determine map coordinate information; and perform correction according to the map coordinate information and the error correction parameter to determine the target position information.

[0029] In some embodiments, the method further includes:

[0030] Receive care results and current environment data, analyze the care results and the current environment data to generate a health analysis result, and send the health analysis result to a remote monitoring platform to enable the remote monitoring platform to display the health analysis result; wherein the care results and the current environment data are sent by the robot.

[0031] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application proposes a home care system, the system comprising:

[0032] The detection radar is configured to scan an environment, generate radar data, and send the radar data to the intelligent computing center;

[0033] The robot is configured to perform any of the methods applied to the robot;

[0034] The intelligent computing center is configured to execute any of the methods applied to the intelligent computing center.

[0035] The remote monitoring platform is configured to generate mapping instructions and user input information, and display health analysis results.

[0036] To achieve the above-mentioned purposes, another aspect of the embodiments of the present application provides an electronic device, which comprises a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the method described above.

[0037] To achieve the above-mentioned purposes, another aspect of the embodiments of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the method described above.

[0038] The implementation of the embodiments of the present application has the following beneficial effects: the embodiments provide a home care method, system, electronic device and storage medium, the scheme generates and sends task instructions based on radar scanning data through an intelligent computing center, a robot determines target position coordinates of an abnormal care object according to the task instructions, plans according to a map constructed by the robot and position coordinates of the care object, and determines a task path; the robot moves to the target position coordinates according to the constructed task path, collects environmental data of the target position, and collects voice interaction data with the care object; the health status and posture information of the care object are determined by analyzing the voice interaction data; the health status and posture information of the care object and the collected environmental data are sent to the intelligent computing center to generate health analysis results; the robot is driven by the intelligent computing center to care for the care object according to the radar scanning data, improving the real-time performance of care; the health analysis results of the care object are determined by performing care according to the constructed map and target position coordinates obtained from the radar scanning data, and combining voice interaction data and environmental data for detection and analysis, combining multiple data for care detection, and improving detection accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a step flowchart diagram of a robot applied in a home care method provided by the embodiments of the present application;

[0040] Figure 2 is a step flowchart diagram of a robot performing a care task in a home care method provided by the embodiments of the present application;

[0041] Figure 3 is a step flowchart diagram of determining a care result in a home care method provided by the embodiments of the present application;

[0042] Figure 4is a step flow diagram of establishing a map in a home care method provided by an embodiment of the present application;

[0043] Figure 5 is a step flow diagram of a home care method applied to an intelligent calculation center provided by an embodiment of the present application;

[0044] Figure 6 is a step flow diagram of coordinate conversion by the intelligent calculation center in a home care method provided by an embodiment of the present application;

[0045] Figure 7 is a structure diagram of an implementation system in a specific embodiment provided by an embodiment of the present application;

[0046] Figure 8 is a flow diagram of establishing a map in a specific embodiment provided by an embodiment of the present application;

[0047] Figure 9 is a flow diagram of performing care in a specific embodiment provided by an embodiment of the present application;

[0048] Figure 10 is a structure block diagram of a home care system provided by an embodiment of the present application;

[0049] Figure 11 is a hardware structure diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0050] The present application will be further described below in conjunction with the accompanying drawings and specific embodiments. For the step numbers in the following embodiments, they are only set for the convenience of description, and the order between the steps is not limited in any way, and the execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0051] In the following description, "some embodiments" are described, which describe a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0052] In the following description, the terms "first\second\third" are only to distinguish similar objects, and do not represent a specific order of the objects. It can be understood that "first\second\third" can be interchanged in a specific order or sequence as allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0053] Unless otherwise defined, all technical and scientific terms used in the embodiments of the application have the same meanings as those commonly understood by one of ordinary skill in the art to which this application belongs. The terms used in the embodiments of the application are merely used to describe the embodiments of the application, and are not intended to limit the application.

[0054] Before the embodiments of the application are further described in detail, the terms and phrases involved in the embodiments of the application are explained, and the terms and phrases involved in the embodiments of the application are applicable to the following explanations.

[0055] Millimeter Wave Rader: a radar working in the frequency band of 30 GHz to 300 GHz, which can detect the position, distance, speed and other information of an object through electromagnetic waves, and is commonly used for indoor positioning, edge detection and the like;

[0056] SLAM (Simultaneous Localization and Mapping): a technology for enabling a robot to construct an environment map and locate itself in real time in an unknown environment through sensors such as laser radars and vision;

[0057] Home Computing Hub: a data processing center of a home smart device, which has strong computing power and supports communication between devices, data storage and task allocation;

[0058] Room Segmentation: a map generated by a SLAM algorithm, which is used for identification and segmentation of rooms so as to arrange and locate millimeter wave radars subsequently;

[0059] Millimeter Wave Rader Calibration: a method for determining the installation position of a millimeter wave radar on a SLAM map, so as to ensure that the space monitored by the millimeter wave radar is accurately matched with the map generated by the SLAM.

[0060] In the related art, by setting a timed patrol task for a care robot, a corresponding program is automatically run periodically to patrol the room to determine the state of the old person, or a microphone and a camera are set for the robot to respond in time when detecting an abnormal event such as a fall of a person and take corresponding processing measures, or a camera or a sensor is set in the activity area of the old person to detect the state of the old person in real time, and when detecting that the old person has an abnormal condition, the guardian is notified and an alarm is linked; but the method of setting a timed task has poor real-time performance and cannot respond to unexpected situations; the method of setting a sensor for the robot or setting a sensor in the activity area of the old person for sensing is affected by spatial limitations and has low detection accuracy; real-time detection by setting a camera has the problem of privacy invasion and poor user experience.

[0061] Therefore, the embodiments of the present application provide a home care method, system, electronic device and storage medium, which detects non-contact by radar, constructs a room map based on SLAM technology, deeply integrates radar detection data and SLAM technology, corrects according to radar detection data and the established room map, maintains the consistency of radar detection data and the robot map, improves the detection accuracy, sets an intelligent algorithm center to process the data uploaded by the robot and the radar, determines an abnormal event, and controls the robot to process, realizes local processing, and improves the response efficiency; the robot collects data by multi-modal interaction at the occurrence position of the abnormal event, determines the state of the old person, improves the detection accuracy, and protects the privacy of the old person.

[0062] Figure 1 is an optional flowchart of a home care method provided by the embodiments of the present application, and the method is applied to a robot, Figure 1 The method in the robot can include but is not limited to steps S101 to S103.

[0063] Step S101, analyzing the received task instruction to determine the target position coordinates; planning according to the target position coordinates to determine the task path; wherein the task instruction is generated by the intelligent algorithm center according to the radar scanning data, and the target position coordinates include the position coordinates of the abnormal event of the care object;

[0064] Step S102, moving to the target position coordinates according to the task path to obtain the current environment data and voice interaction data of the target position coordinates;

[0065] Step S103, analyzing the voice interaction data to determine the care result; sending the care result and the current environment data to the intelligent algorithm center to enable the intelligent algorithm center to generate a health analysis result according to the care result and the current environment data; wherein the care result includes the health state and posture information of the care object.

[0066] The steps S101 to S103 shown in the embodiments of the present application are performed by a smart robot equipped with autonomous navigation capability and capable of freely moving in a home environment to perform the care task for the elderly; the smart robot is connected with a home intelligence center arranged in the home environment through wireless communication to realize the intercommunication of data and instructions; when the home intelligence center detects an abnormal event such as falling of the elderly, a task instruction is generated and sent to the smart robot; after receiving the task instruction, the smart robot stops the task being currently executed, analyzes the received task instruction, determines the position where the abnormal event of the elderly occurs, and autonomously plans a path according to the position; the robot moves to the position where the abnormal event of the elderly occurs according to the planned path, performs natural voice communication with the elderly through a voice recognition and synthesis module carried by the robot, and determines the health status of the elderly through the interaction; meanwhile, the smart robot is also provided with a camera, through which the video communication with the elderly can be performed, the video including the elderly and the environment is shot in real time, the voice interaction data and the shot video data are uploaded to the home intelligence center, the home intelligence center analyzes the data uploaded by the smart robot, determines a health analysis report of the elderly, and sends the health analysis report to a remote monitoring platform to remind the guardian or the care personnel.

[0067] In step S101 of some embodiments, the intelligence center detects the elderly in real time through a radar arranged in the room in a non-contact manner, analyzes the detection data in real time to determine whether the elderly has an abnormal condition, and further determines whether to generate a task instruction to drive the robot to perform care. The radar can also analyze the detection data in real time to determine whether the elderly has an abnormal condition, and further generate an instruction to drive the robot to perform care, which is not limited thereto.

[0068] Please refer to Figure 2 In some embodiments, the home care method provided by the embodiments of the present application can further include but is not limited to steps S201 to S203:

[0069] In step S201, the task path is detected according to a preset map to determine path obstacle information; wherein the preset map is constructed by the robot;

[0070] In step S202, if the path obstacle information is that there is an obstacle, the interaction is performed according to a preset voice algorithm, the response result is determined, the care result is determined according to the response result and a preset threshold, and the care result is sent to the intelligence center;

[0071] In step S203, if the path obstacle information is that there is no obstacle, the moving to the target position coordinates according to the task path is returned to be executed.

[0072] In step S201 of some embodiments, when the robot is performing the care task, the robot determines whether there is an obstacle on the travel path in real time according to the home room map and the planned path previously constructed by the robot; if the robot detects that there is an obstacle such as a chair or a table on the travel path, the robot re-plans the path and continues to travel along the re-planned path to bypass the obstacle.

[0073] In step S202 of some embodiments, if the robot still cannot bypass the obstacle such as the wall of the room through multiple path planning, the robot collects voice interaction data by voice recognition and synthesis model to interact with the elderly through voice, determines the health status of the elderly according to the voice interaction data, whether the elderly is conscious and answers the voice interaction of the robot, and uploads the determined result to the intelligent computing center for further analysis.

[0074] In step S203 of some embodiments, if the robot detects that there is no obstacle on the travel path, the robot moves to the position of the elderly according to the planned path, collects environmental data and real-time video, and interacts with the elderly through voice to collect voice interaction data, and uploads the collected data to the intelligent computing center for further analysis.

[0075] Please refer to Figure 3 In some embodiments, step S202 can include but is not limited to steps S301 to S303:

[0076] Step S301, the answer result is analyzed to determine the number of consecutive unanswered times, and the number of consecutive unanswered times is compared with a preset threshold value;

[0077] Step S302, if the number of consecutive unanswered times is less than the preset threshold value, return to execute the preset voice algorithm to interact to determine the answer result;

[0078] Step S303, if the number of consecutive unanswered times is greater than or equal to the preset threshold value, generate a warning information, and the warning information is taken as a care result.

[0079] In step S301 of some embodiments, the robot still cannot avoid the obstacle through multiple path planning, and the robot determines whether the elderly answers through voice inquiry by the function module of voice recognition and synthesis integrated by itself; if the elderly answers the inquiry of the robot, the robot continues to interact and collects voice interaction data; if the elderly does not answer, the robot re-initiates the inquiry and records the number of consecutive unanswered times of the elderly.

[0080] In step S302 of some embodiments, the robot compares the recorded consecutive unanswered times with the preset number threshold value, if the consecutive unanswered times are less than the preset number threshold value, it indicates that the elderly person may not hear the previous inquiry, and the robot reinitiates the inquiry through the voice recognition and synthesis model.

[0081] In step S303 of some embodiments, if the recorded consecutive unanswered times are greater than the preset number threshold value, it indicates that the elderly person may be unconscious and unable to respond to the inquiry of the robot, and the robot generates an alarm information and sends the alarm information to the remote monitoring platform through the intelligent calculation center to remind the guardian or caregiver; after completing the care task, the robot continues to perform the task before the care task, or returns to the charging base of the robot for charging.

[0082] Please refer to Figure 4 In some embodiments, the preset map in the home care method provided by the embodiments of the present application can be constructed by the following steps S401 to S404:

[0083] Step S401, receiving a mapping instruction and user input information, obtaining radar scanning data; performing environment scanning according to the mapping instruction, determining environment scanning data, and establishing an original map and a first coordinate system according to the environment scanning data;

[0084] Step S402, analyzing the user input information to determine the radar position coordinates; converting the radar position coordinates according to the first coordinate system to obtain target radar coordinates, binding the target radar coordinates with the original map to obtain a first map;

[0085] Step S403, analyzing the radar scanning data to determine radar boundary information; performing deviation calculation on the first map according to the radar boundary information to determine the map deviation; correcting the first map according to the map deviation to determine a corrected map;

[0086] Step S404, calibrating the corrected map according to preset interference source information to determine a preset map; wherein the preset interference source information is set by the caregiver, and the preset interference source information includes boundary information, furniture position and entrance information.

[0087] In step S401 of some embodiments, after initialization, the robot needs to model the environment it is in, and establish a map based on its own coordinate system, in order to perform path planning when executing subsequent tasks; the user inputs the position information of the radar set in the room through the corresponding APP or the remote monitoring platform, and the robot receives the mapping instruction, scans the environment through SLAM technology, establishes a SLAM map of the environment, and divides the boundaries of each room in the constructed map.

[0088] In step S402 of some embodiments, the robot receives user input information, analyzes the user input information, extracts the position information of the radar therein, maps the radar position information to the constructed SLAM map, and adjusts the installation angle and direction of the radar through a preset algorithm, so that the monitoring range of the radar coincides with the corresponding area on the SLAM map; at the same time, the robot uploads the adjustment data to the remote monitoring platform to remind the user to adjust the radar; the robot also monitors the radar scanning data in real time, analyzes whether the monitoring area of the radar coincides with the corresponding area on the SLAM map, and makes fine adjustments when necessary.

[0089] In step S403 of some embodiments, the robot receives the scanning data generated by the radar in real time, determines the scanning boundary of the radar through analysis, including the room boundary, furniture boundary, etc. scanned by the radar; the robot compares the boundary information of the radar scanning with the boundary information in the constructed SLAM map, calculates the deviation of the two kinds of boundary information through an algorithm; the robot adjusts the radar scanning data through the system preset correction algorithm, so that the radar scanning data is consistent with the map data constructed by the robot.

[0090] In step S404 of some embodiments, the robot extracts the room boundary, entrance and exit, furniture, etc. input by the user according to the user input information, calibrates in the corrected map data, saves the calibrated map data on the robot side, and uses it for path planning and obstacle avoidance when performing subsequent tasks; at the same time, uploads the calibrated map data to the intelligent algorithm center for backup.

[0091] Figure 5 is an optional flowchart of a home care method provided by an embodiment of the application, which is applied to the intelligent algorithm center, Figure 5 The method in the intelligent algorithm center can include but is not limited to steps S501 to S503.

[0092] Step S501, acquiring current radar data, analyzing the current radar data to determine attitude information and first position information, and analyzing the attitude information to determine the behavior type of the care object; wherein the first position information includes distance information and angle information;

[0093] Step S502, if the behavior type is an abnormal event, performing coordinate conversion on the first position information according to a preset map to determine target position information; wherein the abnormal event is set by a caregiver;

[0094] Step S503, generating a task instruction according to the target position information, and sending the task instruction to the robot, so that the robot performs care according to the task instruction.

[0095] The steps S501 to S503 shown in the embodiment of the present application, the intelligent computing center as a local data storage and data processing device, analyzes the data uploaded by the robot and the radar, generates corresponding instructions to drive the robot to perform tasks, and communicates with the remote monitoring platform, receives the instructions and input information sent by the remote monitoring platform, and uploads the execution results of the care tasks for the guardian or caregiver to view; in the present embodiment, the intelligent computing center receives and analyzes the scanning data uploaded by the radar in real time to determine the position information and posture information of the elderly; the intelligent computing center further analyzes the posture information to determine whether the elderly has fallen or has a tendency to fall; if it is determined that the elderly has fallen or has a tendency to fall, the intelligent computing center generates a task instruction according to the position information of the elderly and issues it to the robot, so that the robot goes to the position of the elderly according to the task instruction to provide care; in the present embodiment of the present application, the guardian or caregiver can freely set abnormal events according to actual conditions, which are not limited to falling events.

[0096] Please refer to Figure 6 In some embodiments, step S502 can include but is not limited to steps S601 to S603:

[0097] Step S601, determining the radar position coordinates according to the preset map, calculating the rotation angle according to the preset map and the current radar data; wherein the radar position coordinates include the position coordinates of the radar in the coordinate system of the preset map;

[0098] Step S602, determining the map boundary data according to the preset map, and determining the radar boundary data according to the current radar data; performing difference calculation according to the map boundary data and the radar boundary data to determine the error correction parameter;

[0099] Step S603, performing coordinate conversion according to the first position information, the radar position coordinates and the rotation angle to determine the map coordinate information; performing correction according to the map coordinate information and the error correction parameter to determine the target position information.

[0100] In step S601 of some embodiments, after the intelligent computing center determines that the elderly has fallen or has a tendency to fall, the intelligent computing center determines the position coordinates of each radar in the room according to the preset map stored in the system, calculates the rotation angle a between the radar coordinate system constructed by the radar detection data and the map coordinate system in the preset map according to the radar uploaded detection data and the preset map in the system, so as to calibrate the position coordinates of the elderly after coordinate conversion, and realize high-precision positioning; for example, in the radar coordinate system, the position coordinates of the radar are the origin of the coordinate system, and in the radar coordinate system, the detected position coordinates are (r, θ), wherein r is the distance and θ is the angle; in the map constructed by the robot, the initial position of the robot is the origin of the coordinate system, and in this coordinate system, the detected position coordinates are (x, y); the rotation angle a is the angle between the radar coordinate system and the map coordinate system, and the rotation angle a is calculated according to the following formula:s ,y s )。

[0101] In step S602 of some embodiments, the intelligence center determines the boundary information in the system according to the preset map, such as room boundary, entrance and the like; at the same time, the intelligence center analyzes the detection data uploaded by the radar to determine the boundary information detected by the radar; the edge difference between the two kinds of boundary information is calculated according to the boundary information in the preset map and the boundary information detected by the radar, the preset map and the data detected by the radar are aligned through the least square method, a plurality of edge points in the boundary information are selected, the edge difference of different boundary information is calculated, the error sum of squares of the edge difference is obtained through the calculation, the error correction parameter is obtained, the radar data and the preset map are corrected through the error correction parameter, and high-precision positioning is realized; in the embodiment, the calculation formula of the edge difference is as follows:

[0102] Δx=x sSLAM -x sRadar

[0103] Δy=y sSLAM -y sRadar

[0104] Wherein, Δx is the measurement difference of the x-axis direction of the edge, Δy is the measurement difference of the y-axis direction of the edge, x sSLAM 、y sSLAM is the edge position coordinate of the SLAM map generated by the robot, x sRadar 、y sRadar is the edge position coordinate detected by the radar.

[0105] In step S603 of some embodiments, the position coordinates of the elderly detected by the radar are converted according to the rotation angle and the error correction parameter calculated in the foregoing, and the position coordinates in the radar coordinate system are converted to the position coordinates in the preset map, so that the robot can plan the path according to the map information constructed by itself and perform the care task; in the embodiment, due to the measurement method of the radar, the position coordinates of the elderly in the radar coordinate system are polar coordinates, the intelligence center calculates the position coordinates converted from the polar coordinates detected by the radar to the position coordinates in the map coordinate system according to the position coordinates of the radar in the preset map, the polar coordinates detected by the radar coordinate system and the rotation angle; then, the position coordinates after conversion are corrected according to the calculated error correction parameter to obtain the accurate position of the fall of the elderly in the preset map of the system; wherein, the position coordinates detected by the radar are converted to the position coordinates in the SLAM map established by the robot according to the following formula:

[0106] x s =x r0 +(r*cosθ*cosα-r*sinθ*sinα)

[0107] y s = y r0 + (r*cos theta*sin alpha + r*sin theta*cos alpha)

[0108] Wherein, x s , y s are position coordinates in the SLAM map established by the robot, (x r0 , y r0 ) are position coordinates of the radar in the SLAM map, (r, theta) are polar coordinates of the radar detection, and alpha is a rotation angle of the SLAM map coordinate system and the radar coordinate system; the converted position coordinates are corrected according to the following formula:

[0109] x' s = x s + delta x

[0110] y' s = y s + delta y

[0111] Wherein, (x' s , y' s ) are corrected position coordinates, (x s , y s ) are position coordinates in the SLAM map established by the robot, and (delta x, delta y) are error correction parameters of the SLAM map and the radar detection.

[0112] Next, the scheme of the embodiment of the present application is described in detail in combination with a specific application example:

[0113] Please refer to Figure 7 , the home care method provided by the embodiment of the present application is applied to Figure 7In the shown home care system, the system includes a millimeter wave radar, an intelligent robot, a home intelligence center, a care service platform and a user interaction terminal. The millimeter wave radar, the intelligent robot, the home intelligence center and the user interaction terminal are connected through a local area network for data transmission. The millimeter wave radar is arranged in a room to non-contact monitor vital signs and activity state of the elderly and provide high-precision positioning information. The intelligent robot is based on SLAM technology to construct a high-precision map and path planning, is provided with a voice recognition and synthesis module, a camera and various sensors, has natural language interaction, high-definition video transmission and night vision functions, and can go to the incident location for processing by itself. The home intelligence center receives scanning data of the millimeter wave radar, analyzes the scanning data through a preset algorithm, determines a behavior model and a health state of the elderly, drives the intelligent robot to perform a care task, processes video data uploaded by the intelligent robot, stores and manages data uploaded by the millimeter wave radar and the intelligent robot, and generates a data analysis report to be uploaded to the user interaction terminal and the care service platform. The user interaction terminal and the care service platform provide remote monitoring and management functions for caregivers and guardians, display monitoring results in real time and receive alarm information. The caregivers and guardians can check historical data and remotely control the intelligent robot through the user interaction terminal and the care service platform, and manage multi-user permissions.

[0114] Please refer to Figure 8 After the user constructs the above home care system, before performing daily home care, the user selects a mapping operation through a user interaction interface. The care service platform receives the operation of the user, generates a mapping instruction, and sends the mapping instruction to the intelligent robot through the home intelligence center. The intelligent robot scans a home environment according to the mapping instruction and a SLAM algorithm, establishes map data based on a coordinate system of the intelligent robot, and divides the map data into regions to identify different room boundaries. The intelligent robot saves the divided and identified map data, and uploads the map data to the home intelligence center for backup. The system prompts the user that the mapping is completed through the user interaction interface, and visually displays the mapping map data. The user calibrates an installation position of the millimeter wave radar in the visual map through the user interaction interface to calibrate the radar. The care service platform receives scanning data of the millimeter wave radar according to the operation of the user in the user interaction interface, and displays scanning results in the visual map of the user interaction interface. The user determines room boundaries, entrances and exits, furniture and other information in the visual map to complete establishment of a system preset map. The system saves the established map, sends the map to the home intelligence center for backup, and stores the scanning data of the radar.

[0115] Please refer to Figure 9After the system completes the map construction, it enters the daily home care. The millimeter wave radar scans the environment in real time, monitors the life state and behavior of the old people, and provides corresponding positioning information. When the millimeter wave radar monitors the abnormal activities of the old people, such as falling down, it uploads the corresponding radar scanning data to the home intelligence center and sends the abnormal information. After the home intelligence center monitors the abnormal information and the corresponding radar scanning data sent by the millimeter wave radar, it performs coordinate conversion according to the backup map data and the radar scanning data, determines the position coordinates of the abnormal activities of the old people, generates the related event log and uploads it to the care service platform for storage. At the same time, the home intelligence center generates the robot instruction according to the position coordinates obtained by the coordinate conversion, and sends it to the intelligent robot. After the intelligent robot receives the robot instruction, it suspends the current task, plans according to the position coordinates and the constructed map, and moves to the position coordinates based on the planning result. In the process of moving to the position coordinates, the intelligent robot monitors whether it has arrived at the position coordinates in real time. If the intelligent robot detects that the obstacle blocks the position coordinates and cannot reach the position coordinates, it inquires and interacts through the voice recognition and synthesis module and the corresponding algorithm to determine whether the old people answer. If the old people answer, the condition of the old people is determined according to the voice interaction data, and the result is uploaded to the home intelligence center. On the contrary, if the old people do not answer for many times, an alarm information is generated, which is transmitted to the care service platform and the user interaction interface through the home intelligence center to remind the user or the care personnel. If the intelligent robot reaches the position coordinates, it starts the sensor and the camera to scan and detect the surrounding environment, and inquires and interacts through the voice recognition and synthesis module and the algorithm. If the sensor and the camera detect the human body, the condition of the old people is determined according to the scanning detection data and the voice interaction data, and the result is uploaded to the home intelligence center. Otherwise, the intelligent robot completes the current care task, returns to the charging seat for charging, or continues to execute the previous task. The home intelligence center analyzes the result uploaded by the intelligent robot, generates the health status report of the old people, and uploads it to the care service platform and the user interaction interface to inform the user to check the result. At the same time, the care service platform generates the event log according to the data uploaded by the home intelligence center for storage, so that the user and the care personnel can check the historical data.

[0116] The implementation of the embodiment of the present application includes the following beneficial effects: the embodiment provides a home care method, system, electronic device and storage medium, the scheme generates and sends task instructions based on radar scanning data through an intelligent computing center, the robot determines the target position coordinates of the abnormal care object according to the task instructions, plans according to the map constructed by the robot and the position coordinates of the care object, and determines the task path; the robot moves to the target position coordinates according to the constructed task path, collects environmental data of the target position, and collects voice interaction data with the care object; the health status and posture information of the care object are determined by analyzing the voice interaction data; the health status and posture information of the care object and the collected environmental data are sent to the intelligent computing center to generate health analysis results; the robot is driven by the intelligent computing center to care for the care object according to the radar scanning data, improving the real-time of care; the target position coordinates are obtained according to the constructed map and radar scanning data, and the health analysis results of the care object are determined by combining voice interaction data and environmental data for detection and analysis, combining multiple data for care detection, and improving detection accuracy; the radar data and the robot SLAM map are fused and corrected to reduce errors and improve perception accuracy; the data uploaded by the radar and the robot are processed and stored by the home intelligent computing center, the response efficiency of abnormal events is improved through localized processing; the state of the old people is determined through multiple ways such as millimeter wave radar, camera and voice interaction, the probability of false positives and false negatives is reduced, and the detection accuracy is improved; a user interaction interface is set, the user interaction interface can be used to view data and control the intelligent robot, and the health status analysis results of the old people are displayed, improving the user experience; at the same time, the intelligent robot only starts the camera to collect data when it arrives at the incident location, avoiding long-term monitoring and improving privacy protection.

[0117] As Figure 10 shown, the embodiment of the present application also provides a home care system, which can implement the above-mentioned home care method, the system includes a detection radar, a robot, an intelligent computing center and a remote monitoring platform; wherein:

[0118] The detection radar is used to scan the environment, generate radar data, and send the radar data to the intelligent computing center;

[0119] The robot is used to execute any of the methods applied to the robot;

[0120] The intelligent computing center is used to execute any of the methods applied to the intelligent computing center;

[0121] The remote monitoring platform is used to generate mapping instructions and user input information, and display health analysis results.

[0122] It can be understood that the contents in the method embodiments are applicable to the device embodiments, the device embodiments specifically implement the same functions as the method embodiments, and achieve the same beneficial effects as the method embodiments.

[0123] The application further provides an electronic device, which comprises a memory and a processor. The memory stores a computer program, and the processor implements the home care method when executing the computer program. The electronic device can be any intelligent terminal, such as a tablet computer or a vehicle-mounted computer.

[0124] It can be understood that the contents in the method embodiments are applicable to the device embodiments, the device embodiments specifically implement the same functions as the method embodiments, and achieve the same beneficial effects as the method embodiments.

[0125] Please refer to Figure 11 , Figure 11 The hardware structure of the electronic device of another embodiment is illustrated, and the electronic device comprises:

[0126] The processor 1101 can be implemented in the form of a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, and is used to execute related programs to implement the technical solutions provided by the embodiments of the application.

[0127] The memory 1102 can be implemented in the form of a ROM (ReadOnly Memory), a static storage device, a dynamic storage device, or a RAM (Random Access Memory). The memory 1102 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the related program codes are stored in the memory 1102 and are called and executed by the processor 1101 to implement the home care method.

[0128] The input / output interface 1103 is used to realize information input and output.

[0129] The communication interface 1104 is used to realize the communication interaction between the device and other devices. The communication can be realized in a wired manner (for example, USB, network cable, etc.), or in a wireless manner (for example, mobile network, WIFI, Bluetooth, etc.).

[0130] A bus 1105 transmits information between various components (e.g., a processor 1101, a memory 1102, an input / output interface 1103, and a communication interface 1104) in the device.

[0131] The processor 1101, the memory 1102, the input / output interface 1103, and the communication interface 1104 are communicatively connected to each other within the device through the bus 1105.

[0132] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. The memory can include a high-speed random access memory and can further include a non-transitory memory such as at least one disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include remote memory that is remotely located relative to the processor, and the remote memory can be connected to the processor through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0133] In addition, the embodiments of the present application further disclose a computer program product or a computer program, which is stored in a computer-readable storage medium. The processor of the computer device can read the computer program from the computer-readable storage medium, and the processor executes the computer program to enable the computer device to perform the method described above. Similarly, the contents in the method embodiments described above are applicable to the present storage medium embodiments, the present storage medium embodiments specifically implement the functions of the above method embodiments, and achieve the same beneficial effects as the above method embodiments.

[0134] The embodiments of the present application further provide a computer-readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the home care method described above.

[0135] It can be understood that the contents in the method embodiments described above are applicable to the present storage medium embodiments, the present storage medium embodiments specifically implement the functions of the above method embodiments, and achieve the same beneficial effects as the above method embodiments.

[0136] It is to be understood that all or some of the steps, systems, etc. in the methods disclosed above can be embodied in software, firmware, hardware, and any suitable combination thereof. Some or all of the physical components can be implemented with software executed by a processor, such as a central processing unit, a digital signal processor, or microprocessor, or with hardware, or with any suitable combination thereof. Such software can be distributed over one or more computer-readable media, which can include computer storage media (or non-transitory media) and communication media (or transitory media). Computer storage media, as used herein, includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Further, it should be appreciated that a computer program product can include a computer readable medium having computer program code embodied therein, that a computer readable medium can include any medium, or combination thereof, from which a computer can read instructions, and that a computer program product can include a computer readable medium having computer program code embodied therein.

[0137] The home care method and system, the electronic device and the storage medium provided by the embodiments of the present application can generate and send a task instruction based on radar scanning data through an intelligent computing center, determine a target position coordinate of an abnormal care object by a robot according to the task instruction, plan a task path according to a map constructed by the robot and the position coordinate of the care object, and move the robot to the target position coordinate according to the constructed task path, collect environmental data of the target position, and collect voice interaction data with the care object. The health state and posture information of the care object are determined by analyzing the voice interaction data, the health state and posture information of the care object and the collected environmental data are sent to the intelligent computing center to generate a health analysis result, the robot is driven by the intelligent computing center to care for the care object according to the radar scanning data, and the real-time performance of the care is improved. The care is performed according to the constructed map and the target position coordinate obtained from the radar scanning data, the voice interaction data and the environmental data are combined for detection and analysis, the health analysis result of the care object is determined, the care detection is performed in combination with multiple data, and the detection accuracy is improved.

[0138] The above is a specific description of the preferred embodiments of the present application, but the present application is not limited to the embodiments described above. Those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application, and these equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. A home care method, characterized by, The method is applied to a robot, and the method comprises the following steps: parsing a received task instruction to determine a target position coordinate; planning according to the target position coordinate to determine a task path; wherein the task instruction is generated by an intelligence calculation center according to radar scanning data, and the target position coordinate comprises a position coordinate of an abnormal event of a care object; moving to the target position coordinate according to the task path to obtain current environment data and voice interaction data of the target position coordinate; parsing the voice interaction data to determine a care result; and sending the care result and the current environment data to the intelligence calculation center to enable the intelligence calculation center to generate a health analysis result according to the care result and the current environment data; wherein the care result comprises a health state and posture information of the care object.

2. The method of claim 1, wherein, The method further comprises the following steps: detecting the task path according to a preset map to determine path obstacle information; wherein the preset map is constructed by the robot; if the path obstacle information indicates that there is an obstacle, interacting according to a preset voice algorithm to determine a response result, determining the care result according to the response result and a preset threshold, and sending the care result to the intelligence calculation center; if the path obstacle information indicates that there is no obstacle, returning to the step of moving to the target position coordinate according to the task path.

3. The method of claim 2, wherein, The step of determining the care result according to the response result and the preset threshold specifically comprises the following steps: analyzing the response result to determine a continuous non-response number, and comparing the continuous non-response number with the preset threshold; if the continuous non-response number is less than the preset threshold, returning to the step of interacting according to the preset voice algorithm to determine a response result; if the continuous non-response number is greater than or equal to the preset threshold, generating an early warning information, and taking the early warning information as the care result.

4. The method of claim 2, wherein, The preset map is constructed by the following method: receiving a mapping instruction and user input information to obtain the radar scanning data; scanning an environment according to the mapping instruction to determine environment scanning data, and establishing an original map and a first coordinate system according to the environment scanning data; parsing the user input information to determine a radar position coordinate; converting the radar position coordinate according to the first coordinate system to obtain a target radar coordinate, binding the target radar coordinate with the original map to obtain a first map; parsing the radar scanning data to determine radar boundary information; calculating a map deviation according to the radar boundary information; correcting the first map according to the map deviation to determine a corrected map; calibrating the corrected map according to preset interference source information to determine the preset map; wherein the preset interference source information is set by a care person, and the preset interference source information comprises boundary information, furniture position and entrance information.

5. A home care method characterized by, The method is applied to an intelligence calculation center, and the method comprises the following steps: Obtaining current radar data, parsing the current radar data, determining attitude information and first position information, and analyzing the attitude information to determine a behavior type of a care object; wherein the first position information includes distance information and angle information; If the behavior type is an abnormal event, performing coordinate conversion on the first position information according to a preset map to determine target position information; wherein the abnormal event is set by a caregiver; Generating a task instruction according to the target position information and sending the task instruction to a robot to make the robot perform care according to the task instruction.

6. The method of claim 5, wherein, The coordinate conversion on the first position information according to the preset map to determine the target position information specifically includes: Determining a radar position coordinate according to the preset map, and determining a rotation angle by calculating according to the preset map and the current radar data; wherein the radar position coordinate includes a position coordinate of the radar in a coordinate system of the preset map; Determining map boundary data according to the preset map, and determining radar boundary data according to the current radar data; performing difference calculation according to the map boundary data and the radar boundary data to determine an error correction parameter; Performing coordinate conversion according to the first position information, the radar position coordinate, and the rotation angle to determine map coordinate information; and performing correction according to the map coordinate information and the error correction parameter to determine the target position information.

7. The method of claim 5, wherein, The method further includes: Receiving care results and current environment data, analyzing the care results and the current environment data to generate a health analysis result, and sending the health analysis result to a remote monitoring platform to make the remote monitoring platform display the health analysis result; wherein the care results and the current environment data are sent by the robot.

8. A home care system, characterized by, It includes a detection radar, a robot, an intelligent computing center, and a remote monitoring platform; Among them: The detection radar is used to scan the environment, generate radar data, and send the radar data to the intelligent computing center; The robot is used to execute the method of any one of claims 1-4; The intelligent computing center is used to execute the method of any one of claims 5-6; The remote monitoring platform is used to generate mapping instructions and user input information, and display health analysis results.

9. An electronic device, comprising: It includes: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method of any one of claims 1-4 or any one of claims 5-7.

10. A computer readable storage medium having stored therein a program that is executable by a processor, characterized in that, The processor-executable program, when executed by the processor, is used to execute the method of any one of claims 1-4 or any one of claims 5-7.

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