Implementation method of old-age care robot

Abstract

The invention relates to the technical field of movable health monitoring, in particular to a realization method of an old-age care robot, the old-age care robot adopts myRIO as a main controller, and is combined with LabVIEW graphical programming software to carry out system design, so that multifunctional integration and control of the robot are realized; the functions of obstacle avoidance operation, voice interaction, health data monitoring and analysis, environment monitoring and motion control are realized; according to the invention, myRIO is adopted as a main controller and LabVIEW graphical programming is combined, so that tasks such as obstacle avoidance operation, voice interaction, health monitoring and environment monitoring can be completed at the same time, the problem of single function of existing old-age nursing auxiliary equipment is solved, all-around intelligent services are provided for old people, and the old-age nursing auxiliary equipment has a wide application prospect. Through cooperative work of ultrasonic and infrared sensors and combination of an optimized obstacle avoidance algorithm, high-precision environment perception and autonomous obstacle avoidance functions are realized, so that the moving safety of the robot in a home environment is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile health monitoring, in particular to an implementation method of an elderly care robot. BACKGROUND

[0002] With the deepening of the aging of society, the daily life assistance and health monitoring needs of the elderly are constantly increasing. The traditional elderly care mode mainly relies on artificial care or simple monitoring equipment, which is difficult to meet the diversified and personalized needs of the elderly.

[0003] The existing elderly care assistance equipment has relatively single function, usually only has basic monitoring or simple interaction ability, and it is difficult to realize comprehensive health monitoring and life assistance. Some devices can only monitor a single physiological parameter, and lack comprehensive analysis ability for abnormal data. Although some devices have voice interaction function, the response speed is slow and the recognition accuracy is low, which cannot meet the actual needs of the elderly. In addition, the existing technology mainly adopts fixed type or function module dispersion design, which leads to poor flexibility and insufficient expansion of the equipment, and it is difficult to adapt to different use scenes of the elderly. Moreover, the linkage of environmental monitoring and health data is weak, which cannot provide timely and effective early warning and suggestion for the elderly.

[0004] Therefore, in view of the above problems, the present application provides an implementation method of an elderly care robot, which integrates obstacle avoidance running, voice interaction, health monitoring, environmental monitoring and data analysis functions to provide more intelligent and comprehensive life assistance and health management solutions for the elderly. SUMMARY

[0005] In order to overcome the problem that the existing elderly care assistance equipment has relatively single function and cannot give timely abnormal reminder, the present application provides an implementation method of an elderly care robot.

[0006] The technical scheme of the present application is: an implementation method of an elderly care robot, comprising: the elderly care robot adopts myRIO as a main controller, and combines LabVIEW graphical programming software to design the system, realizing multifunctional integration and control of the robot. The functions that can be realized include obstacle avoidance running, voice interaction, health data monitoring and analysis, environmental monitoring and motion control functions.

[0007] As a preferred, the obstacle avoidance running function includes: ultrasonic and infrared sensors are installed around the elderly care robot, which are used to detect the obstacle information around the robot in real time. The sensor transmits the detected distance signal to the myRIO main control module. The main control module generates control instructions based on the preset obstacle avoidance algorithm, dynamically adjusts the steering and speed of the wheels by adjusting the PWM duty cycle of the motor drive module, and realizes the obstacle avoidance running function.

[0008] As preferred, the health data monitoring and analysis function includes real-time collection of body temperature, blood oxygen concentration and pulse data of the elderly through infrared temperature sensor and photoplethysmography sensor, and transmission of analog signals to the myRIO host module, data processing and storage by the host module after A / D conversion, and drawing of health data trend curve by using data analysis algorithm in LabVIEW software.

[0009] As preferred, the environmental monitoring function monitors environmental temperature and humidity in real time through a temperature and humidity sensor, and transmits data to the myRIO host module, which provides dressing suggestions for the elderly according to a preset algorithm, and monitors abnormal gas composition and concentration in the room through an MQ series gas sensor, triggering voice warning when abnormal.

[0010] As preferred, the voice interaction function realizes the collection, recognition and feedback of voice instructions through the integration of a voice recognition chip and a voice synthesis chip, combined with a microphone and a loudspeaker, supporting music playback control and simple voice interaction.

[0011] As preferred, the motion control function is realized through a motor drive module and wheels, and the myRIO host module controls the speed and steering of the wheels according to obstacle avoidance strategies and motion instructions, completing the forward, backward and turning actions of the robot.

[0012] As preferred, the robot supports both manual and automatic working modes: in manual mode, motion control and single health test are completed through the host computer interface; in automatic mode, automatic obstacle avoidance, timed health test, voice-controlled music playback and environmental abnormality warning are realized.

[0013] As preferred, the robot adopts a multi-sensor cooperative working architecture, and realizes the perception of complex environments through data fusion analysis methods. The sensors include ultrasonic sensors, infrared sensors, temperature and humidity sensors, gas sensors and photoplethysmography sensors.

[0014] As preferred, the robot realizes data interaction through network data flow and shared variable communication between the host computer and the lower computer. The host computer program is responsible for data processing and display, and the lower computer program is responsible for real-time collection of sensor data.

[0015] As preferred, the robot has a health data abnormality warning function. The data analysis algorithm in LabVIEW programming software is used to analyze the trend of health data, and then draw the curves of body temperature, blood oxygen concentration and pulse change over time. When the monitored body temperature, blood oxygen concentration or pulse data exceeds the preset safety range, the voice module broadcasts the warning information, and the abnormal data is stored and a trend curve is drawn, providing a reference for medical personnel or family members.

[0016] The beneficial effects of the present application are:

[0017] 1. The present application adopts myRIO as the main controller and combines LabVIEW graphical programming, which can complete the tasks of obstacle avoidance running, voice interaction, health monitoring and environment monitoring at the same time, solves the problem of single function of the existing pension auxiliary equipment, provides all-round intelligent service for the elderly, realizes high-precision environment perception and autonomous obstacle avoidance function through the cooperative work of ultrasonic and infrared sensors and the optimized obstacle avoidance algorithm, thereby effectively improves the mobile safety of the robot in the home environment, and overcomes the defects of insufficient flexibility of traditional equipment.

[0018] 2. The myRIO real-time control and FPGA reconfigurable advantages are used, and the LabVIEW programming flexibility is combined, so that the present application has good function expansion and system upgrade capability, and can quickly adjust and optimize the function configuration according to different user needs, and breaks through the limitation of poor expansion of traditional equipment.

[0019] 3. The present application provides real-time monitoring of health data and trend analysis, which can discover abnormalities in time, thereby improving the life safety of the elderly, and through voice interaction, the emotional companionship demand can be met, the life pleasure and happiness of the elderly are improved, and the dressing suggestion can be given according to the environment data, so as to provide more considerate life assistance for the elderly. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 The working flowchart of the present application is shown;

[0021] Figure 2 The manual mode working flowchart of the present application is shown;

[0022] Figure 3 The automatic mode working flowchart of the present application is shown. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0024] The application provides an embodiment: an implementation method of an old-age robot, comprising the following steps: the old-age robot adopts myRIO as a main controller, combines LabVIEW graphical programming software to design a system, realizes multifunctional integration and control of the robot, and includes obstacle avoidance running, voice interaction, health data monitoring and analysis, environment monitoring and motion control functions.

[0025] The application adopts myRIO as a main control to realize efficient control and data processing of each module of the robot, programs the myRIO through LabVIEW programming software, realizes overall logical control and coordination function of the robot.

[0026] The obstacle avoidance running function includes the following steps: ultrasonic and infrared sensors are installed around the old-age robot, which are used for detecting obstacle information around the robot in real time, the distance signals detected by the sensors are transmitted to the myRIO main control module, the main control module generates control instructions based on a preset obstacle avoidance algorithm, the PWM duty cycle of the motor driving module is adjusted to dynamically adjust the steering and rotating speed of the wheels, and the obstacle avoidance running function is realized.

[0027] Further, after the robot is started, the ultrasonic sensors and infrared sensors installed around the robot start to scan the surrounding environment in real time, the ultrasonic sensors calculate the distance of obstacles by emitting sound waves and receiving echoes, the infrared sensors judge the position of obstacles by emitting infrared rays and detecting reflection signals, the distance signals collected by the two kinds of sensors are transmitted to the myRIO main control module, the main control module analyzes the received multi-channel sensor data, when the distance of obstacles in any direction is less than a safety threshold, the main control module immediately starts an obstacle avoidance strategy, calculates an optimal obstacle avoidance path according to the position and distance of obstacles, generates corresponding control instructions, changes the rotating speed difference of the left and right drive wheels by adjusting the PWM output signal of the motor driving module, controls the robot to perform deceleration, stop or steering action, and continues to move along the preset path after avoiding obstacles, meanwhile, the system continuously monitors new environmental information and dynamically adjusts the motion state, realizes omnidirectional obstacle avoidance function, and the whole process is circularly executed until the robot stops working.

[0028] The health data monitoring and analysis function includes the following steps: the infrared temperature sensor, blood oxygen concentration sensor and photoelectric plethysmography pulse sensor are used to collect the body temperature, blood oxygen concentration and pulse data of the old people in real time, analog signals are transmitted to the myRIO main control module, the data are processed and stored by the main control module after A / D conversion, and a health data trend curve is drawn by using a data analysis algorithm in the LabVIEW software.

[0029] Further, the old-age robot measures the body temperature of the elderly in a non-contact manner through an infrared temperature sensor, and simultaneously uses a photoelectric plethysmography pulse sensor to clamp a finger to obtain a blood oxygen saturation and a pulse frequency signal. These sensors transmit the collected analog physiological signals to the myRIO host module. The ADC converter built into the host module converts the analog signals into digital signals, and then performs data filtering and calibration processing. The processed body temperature, blood oxygen, and pulse data are stored in the myRIO host module in real time. The system analyzes these health data through the data analysis algorithm of the LabVIEW software, stores and trend analyzes the test results to draw curves. When the monitored body temperature exceeds 37.3 degrees Celsius, or the blood oxygen is lower than 90%, or the pulse exceeds the normal range of 60-100 times / minute, the system immediately triggers the speech synthesis module to issue a corresponding health warning prompt, and records the abnormal data and its occurrence time in the storage unit. Medical personnel or family members can view the historical health data curves and abnormal records through the host computer interface to timely grasp the health status change trend of the elderly.

[0030] The environmental monitoring function monitors the environmental temperature and humidity in real time through a temperature and humidity sensor, and transmits the data to the myRIO host module. The host module provides dressing suggestions for the elderly according to a preset algorithm, and simultaneously monitors abnormal gas components and concentrations in the room through an MQ series gas sensor, and triggers a voice warning when abnormal.

[0031] Further, the old-age robot collects indoor environmental temperature and humidity data in real time through the built-in temperature and humidity sensor. The sensor transmits the detected data to the myRIO host module. The system compares and analyzes the temperature and humidity values with preset human comfort parameters. When the environmental temperature is lower than 18 degrees Celsius or higher than 28 degrees Celsius, the voice module automatically broadcasts the prompt information "the current temperature is low, please add clothes" or "the current temperature is high, it is suggested to reduce clothes". Meanwhile, the gas sensor carried by the robot continuously monitors the concentration of harmful gases in the indoor air. When the concentration of harmful gases such as carbon monoxide or methane exceeds the safety threshold, the host module immediately starts the voice alarm system to issue a warning "harmful gases are detected, please ventilate". All environmental monitoring data are stored in the system memory in real time, and the historical records and change trend curves can be viewed through the host computer software, providing comprehensive living environment safety protection for the elderly.

[0032] The voice interaction function realizes the collection, recognition, and feedback of voice instructions through the integration of a voice recognition chip and a voice synthesis chip, combined with a microphone and a loudspeaker, supports music playback control and simple voice interaction.

[0033] Further, when the elderly person issues a voice instruction, the microphone array built into the robot collects the voice signal, the voice recognition chip converts the original voice into digital instructions after noise reduction processing and feature extraction, and transmits the instructions to the myRIO master module through serial communication. The master module calls the preset instruction analysis program to identify the specific instruction content such as "play music" and "measure body temperature". If the instruction is music control, the I2C interface sends a control signal to the music playback module to drive the speaker to play the stored audio file and support functions such as pausing and changing songs. For other operation instructions, the corresponding function module is triggered to execute the action. At the same time, the speech synthesis chip converts the system feedback information into voice waveform data, which is driven by the power amplifier to drive the speaker to broadcast response content such as "body temperature is being measured". The entire interaction process uses a duplex communication mode to realize real-time conversation. The system continuously monitors the environmental voice and remains on standby, ensuring that the elderly can communicate with the robot at any time through language without barriers.

[0034] The motion control function is realized through the motor drive module and the wheels. The myRIO master module controls the speed and steering of the wheels according to the obstacle avoidance strategy and motion instructions to complete the forward, backward and turning actions of the robot.

[0035] Further, the myRIO master module continuously receives motion instructions from the host computer control instructions or the autonomous navigation system, determines the target motion direction and speed parameters through the instructions, and calculates the required speed difference and steering angle of the left and right drive wheels in real time. The master module generates corresponding PWM control signals and outputs them to the motor drive module. The motor drive circuit converts the PWM signal into the required drive current for the DC motor, accurately controls the speed and steering of the two drive wheels, and realizes the forward, backward, rotation or curve movement of the robot. During the motion process, the master module monitors the actual motor speed in real time through the encoder feedback and dynamically adjusts the PWM output using the PID control algorithm to maintain motion stability.

[0036] The robot supports both manual and automatic working modes. In manual mode, motion control and single health test are completed through the host computer interface. In automatic mode, automatic obstacle avoidance, timed health test, voice-controlled music playback and environmental anomaly warning are realized.

[0037] Further, the system automatically enters the initialization state after starting, and the user can select the manual or automatic working mode through the upper computer operation interface, in the manual mode, the user directly sends control instructions through the interface button, including moving direction control, immediate execution of health detection or environment parameter reading and other operations, the robot responds to each instruction in real time and feeds back the execution result, while in the automatic mode, the system runs the preset program automatically, the infrared obstacle avoidance sensor continuously scans the surrounding environment, when detecting obstacles, automatically plans the obstacle avoidance path and adjusts the moving direction, the timer automatically triggers the health monitoring process every two hours to collect temperature and pulse data, at the same time, the voice recognition module responds to the voice instructions such as playing music at any time, the environment monitoring system continuously detects the temperature and humidity and harmful gas concentration and issues a warning when abnormal, the two modes can be switched at any time through the upper computer.

[0038] The robot adopts a multi-sensor cooperative working architecture, and realizes the perception of a complex environment through a data fusion analysis method, and the sensors include ultrasonic sensors, infrared sensors, temperature and humidity sensors, gas sensors and photoelectric volume pulse sensors.

[0039] The robot realizes data interaction through network data flow and shared variable communication of the upper computer and the lower computer, the upper computer program is responsible for data processing and display, and the lower computer program is responsible for real-time acquisition of sensor data.

[0040] The robot has a health data abnormality warning function, utilizes a data analysis algorithm in LabVIEW programming software to analyze the trend of health data, then draws the curves of temperature, blood oxygen concentration and pulse changing with time, when the monitored temperature, blood oxygen concentration or pulse data exceeds the preset safety range, the voice module broadcasts the warning information, at the same time, the abnormal data is stored and a trend curve is drawn, to provide a reference basis for medical staff or family members.

[0041] Please refer to Figure 1 , further, the working process of the application is described, in particular:

[0042] The robot automatically executes initialization after being powered on, the myRIO master module initializes various sensors and actuators, after completing the network hotspot parameter setting on the upper computer, the communication is successful.

[0043] After initialization, the temperature and humidity sensor and the gas sensor collect indoor environmental parameters. If the manual mode is selected, the system sends control instructions directly through the interface buttons in the manual mode, including movement direction control, immediate execution of health detection or environmental parameter reading, etc. The robot responds to each instruction in real time and feeds back the execution result. If the automatic mode is selected, the ultrasonic and infrared sensor group continuously scans the environment around the robot, and real-time detection of obstacle distance and position information is performed. The system automatically judges whether the distance is less than the safety distance. If it is less than the safety distance, the main control module immediately starts the obstacle avoidance strategy, calculates the optimal obstacle avoidance path according to the position and distance of the obstacle, generates the corresponding control instruction, changes the speed difference of the left and right drive wheels by adjusting the PWM output signal of the motor drive module, controls the robot to execute the deceleration, stop or turning action, and continues to move along the preset path after avoiding the obstacle. At the same time, the system continuously monitors new environmental information and dynamically adjusts the motion state. If it is greater than the safety distance, the system drives the motor to move straight, completes the body temperature and pulse test at regular intervals, can automatically play and stop music through voice control, can also realize song switching, and the detected data is uploaded to the myRIO main control module in real time. When the data is abnormal, the system issues an abnormal alarm.

[0044] Please refer to Figure 2 , Example 1, manual test:

[0045] After the system is powered on and self-checked, the myRIO main control module initializes each sensor and actuator. After completing the network hotspot parameter setting on the host computer, the communication is successful, the user selects the manual mode, and the user can complete the action control of the robot, the single test of the environmental temperature and humidity, the body temperature and the pulse through the relevant button operation on the host computer operation interface.

[0046] Please refer to Figure 3 , Example 2, manual test:

[0047] After the system is powered on and self-checked, the myRIO main control module initializes each sensor and actuator. After completing the network hotspot parameter setting on the host computer, the communication is successful, the user selects the automatic mode, the infrared obstacle avoidance sensor scans the front obstacle in real time, and when the detected obstacle distance is less than the safety threshold, the main control module calculates the obstacle avoidance path and controls the wheel steering through the motor drive module. The temperature and humidity sensor periodically collects data, which is stored in the myRIO memory after A / D conversion. The system compares the data with the preset threshold in real time, triggers a voice warning when it is abnormal, and also judges the sudden change of air temperature and reminds the monitored person to add / remove clothes in time. The system reminds the monitored person to test the body temperature and pulse at regular intervals and stores the test results. When someone issues the voice "play music", the system automatically plays music. When music is not needed, only the voice "stop playing" is needed.

[0048] The above merely describes the preferred embodiments of the present application, and is not intended to limit the present application in other forms. Any person skilled in the art can make modifications or changes to the equivalent embodiments of the above disclosed technical contents, and apply them to other fields, but any simple modification, equivalent change and alteration made to the above embodiments without departing from the technical solution of the present application, and according to the technical essence of the present application, still belong to the protection scope of the technical solution of the present application.

Claims

1. A method for implementing an elderly care robot, characterized in that: Including: the elderly care robot uses myRIO as the main controller and combines LabVIEW graphical programming software for system design to achieve multi-functional integration and control of the robot. The achievable functions include obstacle avoidance operation, voice interaction, health data monitoring and analysis, environmental monitoring and motion control functions.

2. The method for implementing a robot for elderly care according to claim 1, characterized in that: The obstacle avoidance function includes: installing ultrasonic and infrared sensors around the elderly care robot to detect obstacle information around the robot in real time. The sensors transmit the detected distance signals to the myRIO main control module. The main control module generates control instructions based on the preset obstacle avoidance algorithm, and dynamically adjusts the wheel steering and speed by adjusting the PWM duty cycle of the motor drive module to realize the obstacle avoidance function.

3. The method for implementing a robot for elderly care according to claim 1, characterized in that: The health data monitoring and analysis function includes real-time collection of the elderly's body temperature, blood oxygen concentration and pulse data through infrared temperature sensors and photoelectric capacitance pulse sensors, and transmitting the analog signals to the myRIO main control module. After A / D conversion, the main control module processes and stores the data, and uses the data analysis algorithm in LabVIEW software to draw health data trend curves.

4. The method for implementing a robot for elderly care according to claim 1, characterized in that: The environmental monitoring function uses temperature and humidity sensors to monitor the ambient temperature and humidity in real time, and transmits the data to the myRIO main control module. The main control module provides clothing matching suggestions for the elderly based on a preset algorithm. At the same time, it uses the MQ series gas sensors to monitor abnormal gas composition and concentration in the room, and triggers a voice warning when an abnormality occurs.

5. The method for implementing a robot for elderly care according to claim 1, characterized in that: The voice interaction function integrates a voice recognition chip and a voice synthesis chip, combines a microphone and a speaker to realize the collection, recognition and feedback of voice commands, and supports music playback control and simple voice interaction.

6. The method for implementing a robot for elderly care according to claim 1, characterized in that: The motion control function is achieved through the motor drive module and wheels. The myRIO main control module controls the speed and direction of the wheels according to the obstacle avoidance strategy and motion instructions to complete the robot's forward, backward and turning movements.

7. The method for implementing a robot for elderly care according to claim 1, characterized in that: The robot supports both manual and automatic working modes: in manual mode, motion control and single health test are completed through the host computer interface; in automatic mode, automatic obstacle avoidance, timed health test, voice-controlled music playback and environmental abnormality warning are realized.

8. The method for implementing a robot for elderly care according to claim 1, characterized in that: The robot adopts a multi-sensor collaborative working architecture and realizes perception of complex environments through data fusion and analysis methods. The sensors include ultrasonic sensors, infrared sensors, temperature and humidity sensors, gas sensors and photoelectric capacitance pulse sensors.

9. The method for implementing a robot for elderly care according to claim 1, characterized in that: The robot realizes data interaction through network data flow and shared variable communication between the upper computer and the lower computer. The upper computer program is responsible for data processing and display, and the lower computer program is responsible for real-time collection of sensor data.

10. The method for implementing a robot for elderly care according to claim 1, characterized in that: The robot has an abnormal health data warning function. It uses the data analysis algorithm in LabVIEW programming software to perform trend analysis on health data, and then draws curves of body temperature, blood oxygen concentration and pulse changes over time. When the monitored body temperature, blood oxygen concentration or pulse data exceeds the preset safety range, the robot broadcasts the warning information through the voice module, and at the same time stores the abnormal data and draws a trend curve to provide a reference for medical staff or family members.

Images