Control system and method of household intelligent health service machine

Abstract

The invention belongs to the technical field of automation control, and relates to a control system and method of a household intelligent health service machine. The control system comprises an autonomous mobile platform of the robot, a mobile terminal and a server which communicate with one another through a communication module and interact with the communication module through a control module; the autonomous mobile platform comprises a motion module, a positioning module and a user information module; the control module can control the movement and positioning of the autonomous mobile platform, call the health state information of the user through the information classification module, send the health state information of the user to the beverage pushing module through the communication module, push the beverage and remind the old to take medicines as required; the information classification module is deployed on the server and used for classifying and storing information, the information can be called by the control module through the communication module and the server, and interaction among the robot, the server and the mobile terminal is achieved. The system can control the robot to serve for the elderly in the home environment, and the beverage or medicine use requirements of the elderly in the home are met.

Description

Technical Field

[0001] This invention belongs to the field of automation control technology, specifically relating to a control system and control method for a home-use intelligent health service machine. Background Technology

[0002] Currently, Chinese families mainly consist of middle-aged and young adults who frequently work away from home, elderly people staying at home, and children. The elderly have needs for medication, water, and various health drinks. Bedridden elderly people often keep a variety of drinks, food, and medicines by their bedside for occasional consumption. Adults and teenagers have needs for both hot and cold drinks, while infants and young children need warm water and warm milk. Surveys show that over 75% of consumers drink expired beverages because they forget when they were opened. Furthermore, the spoilage rate of opened fruit juice increases by 300% in environments above 37°C.

[0003] Currently, most families in Chinese cities live in cramped conditions, equipped with appliances such as refrigerators, water dispensers, heaters, and insulated boxes. This often leads to overcrowding and negatively impacts quality of life. In this home environment, users have the following needs: 1. Unfinished cold drinks may require consumption at different times of the day. These drinks need to be kept fresh and of good quality, requiring reminders and ideally, delivery to the user. 2. Users may not be familiar with the functions of different drinks and may not know which ones they need. Suitable drinks should be recommended based on the user's age, skin dryness, shine, and roughness. 3. Liquid traditional Chinese medicine taken by the elderly may not be finished at once and may need to be consumed within a day or several days. This requires preservation, reminders, and heating to the appropriate temperature before consumption. The liquid medicine should also be delivered to the user. 4. Elderly people with chronic illnesses may need to take certain medications long-term. These medications require daily reminders and delivery. Therefore, developing a machine that can fulfill these functions has a broad market demand for the elderly, especially those with mobility issues.

[0004] However, existing household appliances such as refrigerators and water dispensers typically only perform one or a few functions, such as heating, cooling, heat preservation, or refrigeration. Families often need to purchase multiple appliances to meet diverse needs. Retrieving refrigerated beverages and food requires repeated trips to the refrigerator; obtaining hot water requires going to the water dispenser to boil it, and then returning to the dispenser to pour the water, prepare drinks, and adjust the temperature – all requiring repeated movement and operation. To address the diverse functional needs of Chinese families, a multi-functional home service machine is needed. More importantly, to better serve the home environment, a control system and method for a smart home health service machine are urgently needed to effectively solve the problem of its intelligent operation. Summary of the Invention Summary of the Invention

[0005] The purpose of this invention is to provide a control system for a home intelligent health service machine and a control method for the home intelligent health service machine, so as to solve the problems of existing home appliances having limited functions, being unable to judge user needs based on the user's physiological state, resulting in a large variety of equipment to be purchased, high economic costs, and large indoor space occupation.

[0006] This invention is achieved through the following technical solution: A control system for a home-use intelligent health service machine includes an autonomous mobile platform 106 of the service machine 100, a mobile terminal, and a server; the mobile terminal, the server, and the autonomous mobile platform 106 communicate with each other through a communication module and interact through a control module and a communication module. The autonomous mobile platform 106 includes a motion module, a positioning module, and a user information module; wherein, the motion module is the mechanical moving part of the mobile platform; the positioning module uses multi-sensor fusion, combined with environmental recognition and path planning algorithms to achieve positioning and obtain user location information; the user information module can identify the user after the camera 105-1 captures a face image, and perform multi-faceted state analysis based on the face image to obtain the user's health information; The control module can control the movement and positioning of the autonomous mobile platform 106, retrieve user health status information through the information classification module, and send the user health status information to the beverage push module through the communication module. The beverage push module can select suitable beverages from the storage area 100-1 based on the user's health status information, push the beverages to the user, remind the user of the storage conditions and usage precautions of the beverages, and push beverages to the user via voice or push message. The information classification module is deployed on the server and is used to classify and store user health status information, route planning information, inventory information, early warning information and time information. The above information can be called by the control module through the communication module and the server to realize the interaction between the server 100, the server and the mobile terminal.

[0007] Furthermore, the mobile terminal is a mobile APP or a line selector. The autonomous mobile platform 106 and the line selector transmit signals through built-in communication devices, using 433MHz frequency band or dual-frequency hopping communication to ensure real-time data synchronization between the intelligent health service machine 100 and the line selector.

[0008] Furthermore, the route selector has a voice prompt function. When the service machine 100 delivers beverages or medicines, the service machine 100 can use the prompt function of the route selector to notify the user to select a route, so that the service machine 100 can plan the delivery route.

[0009] Furthermore, the control module can obtain inventory information from the inventory database through the information classification module and push the inventory information; it can obtain temperature and humidity warning information generated by the warning algorithm through the information classification module and send the warning information through the push module; it can obtain preset route and user location information through the information classification module and send the user location and route information to the autonomous mobile platform 106 through the communication module; and it can obtain the opening time information of beverages or liquid Chinese medicines through the information classification module and push drinking information to the user.

[0010] Furthermore, after detecting a new storage condition, the control module can control the various parameter adjustment sub-modules in the storage area 100-1 of the service machine 100 where the beverage is located, and adjust the corresponding environmental parameters in the storage area 100-1 according to the storage conditions of the beverage.

[0011] Furthermore, the storage area 100-1 includes a room temperature storage area 103, a refrigerated storage area 101, and a thermal insulation storage area 102; the room temperature storage area 103 is used to store thermometers, sphygmomanometers, and room temperature medicines; the refrigerated storage area 101 has built-in sterilization equipment, environmental temperature and humidity monitoring sensors, and temperature and humidity control equipment; the thermal insulation storage area 102 is used to store warm water, hot drinks, or liquid traditional Chinese medicine; the temperature and humidity of the refrigerated storage area 101 and the thermal insulation storage area 102 can be adjusted via a touch screen 105; a camera 105-1 is installed on the upper part of the touch screen 105, which can capture facial images and scan codes; The storage area 100-1 is also equipped with a temperature and humidity monitoring module and a time acquisition module; wherein, the temperature and humidity of the temperature and humidity monitoring module are measured by temperature and humidity sensors; the time acquisition module can obtain information such as whether the beverage, medicine or liquid traditional Chinese medicine has been opened, the name of the beverage, medicine or liquid traditional Chinese medicine, production date, manufacturer and shelf life when it is placed in the corresponding storage area, and transmit the time information to the information classification module on the server through the control module and communication module.

[0012] Furthermore, the time acquisition module is a camera 105-1 installed on the server 100 or a mobile phone rear camera driven by a mobile APP; The touch screen 105 can modify and display the temperature and humidity of the storage area, input and output storage information of beverages and medicines, view the user's health information, and set the travel route of the service machine 100. The touch screen 105 or the mobile APP can set the storage environment parameters of the refrigerated storage area 101 and the insulated storage area 102. Users can set the storage environment according to the storage conditions of the product. The refrigerated storage area 101 and the insulated storage area 102 can adjust the temperature and humidity according to the corresponding storage conditions to form the most suitable storage conditions for the preservation of beverages or medicines.

[0013] Furthermore, the user information module includes a facial age analysis submodule, a dryness analysis submodule, a radiance analysis submodule, and a roughness analysis submodule. The facial age analysis submodule analyzes the user's facial age information, the dryness analysis submodule analyzes the dryness data of the face, the radiance analysis submodule analyzes the radiance and hydration data of the face, and the roughness analysis submodule analyzes the wrinkles data of the user's face. When the facial age is greater than 40 years old, a low-sugar beverage recommendation is triggered; when the skin dryness is greater than 0.8, an electrolyte water recommendation is pushed; when the radiance is less than 0.3, a hydration reminder is activated; and when the facial roughness is greater than a threshold, a collagen-containing beverage is recommended.

[0014] A control method for a home-use smart health service machine, used to control the delivery of medicines by the home-use smart health service machine, includes the following steps: S101. For bedridden elderly users with pre-set fixed delivery routes, the service unit 100 calls the delivery route through the control module at the set time. S102, the service machine 100 uses multi-sensor fusion to identify the delivery environment according to the aforementioned delivery route, autonomously moves to the target user's location, and prompts the user to perform facial recognition; S103. If the user is the target user, the voice prompt will provide the user with information on the medicine or liquid Chinese medicine that needs to be retrieved and the storage area information, and the user will be prompted to scan the QR code of the medicine through the camera. S104, Service machine 100 matches the medicine with the target user's facial information, and after successful matching; S105. For routine medicines, inform the user of the dosage for each use and remind the user to take an appropriate amount of warm water from the insulated storage area. S106. For liquid Chinese medicines that need to be taken warm, the user is prompted with the dosage for each use and is advised to place the portion of liquid Chinese medicine to be taken into the heat preservation storage area for heating. S107. When the required portion of the liquid Chinese medicine reaches the preset drinking temperature, prompt the user to take the liquid Chinese medicine.

[0015] A control method for a home-use smart health service machine, used to control the machine to deliver opened beverages, includes the following steps: S201 and service machine 100 will remind users of the shelf life information of the beverage they have taken and send the reminder to the user's mobile phone. S202. Select delivery location. Service machine 100 receives the delivery location and generates a delivery route.

[0016] S203, the service machine 100 uses multi-sensor fusion to identify the delivery environment according to the aforementioned delivery route, autonomously moves to the target location, and prompts the user to perform facial recognition; S204. If the user is the target user, prompt the user with the information of the beverage to be picked up, and prompt the user to scan the QR code of the beverage through the camera; After S205 and the service machine 100 determine that the beverage to be taken matches the facial information of the target user, they inform the user of the shelf life of the beverage.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. The control system of the intelligent health service machine of the present invention includes an autonomous mobile platform, a mobile terminal, and a server. The mobile terminal, the server, and the autonomous mobile platform communicate with each other through a communication module and interact through a control module and a communication module. The autonomous mobile platform includes a motion module, a positioning module, and a user information module. It also includes a camera, multiple storage areas, a temperature and humidity monitoring module configured in the storage areas, a time acquisition module, and an information classification module and a push module set on the server. It can integrate location information, user health information, storage area inventory information and environmental information, and shelf-life and freshness information of beverages or medicines. 2. In this invention, the control system can control the intelligent health service machine to set storage environment parameters for beverages or medicines and adjust storage conditions; it can also provide voice or text message prompts regarding storage conditions, shelf life, reminders, and self-delivery functions for beverages or medicines; in addition to a mobile app, the intelligent health service machine is also equipped with a route selector, which is very useful for elderly people with poor eyesight or those who are not familiar with smartphones; the intelligent health service machine can greatly improve human-computer interaction and enhance the user experience. The intelligent health service machine can not only meet the beverage or medicine needs of elderly people living at home, but also the beverage needs of adults, teenagers, and infants, thus having a broad application market. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 3D rendering of a home-use intelligent health service machine; Figure 2 Control system architecture diagram of a home-use intelligent health service machine; Figure 3 Schematic diagram of the control system for a home-use intelligent health service machine; Figure 4 Diagram illustrating the control method for delivering medicines or liquid traditional Chinese medicine using a home-based intelligent health service machine; Figure 5 Diagram illustrating the control method for delivering opened beverages using a home-use smart health service machine.

[0021] In the diagram, 100. Service machine; 100-1. Storage area; 101. Refrigerated storage area; 102. Insulated storage area; 103. Ambient temperature storage area; 104. Binocular vision navigation; 105. Touch screen; 105-1. Camera; 106. Autonomous mobile platform; 107. Enclosure; 110-1. Movable cover; 110-2. Handle I; 120-1. Openable panel; 120-2. Handle II. Detailed Implementation

[0023] The present invention will be further described below with reference to embodiments: The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0024] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] This invention provides a control system for a home-use intelligent health service machine, including an autonomous mobile platform 106 of the service machine 100; the autonomous mobile platform 106, together with a mobile terminal and a server, forms the control system architecture of the service machine 100. Figure 2 As shown, the autonomous mobile platform 106, the mobile terminal, and the server communicate via a communication module. The autonomous mobile platform 106 and the line selector transmit signals via a built-in communication device, which is a 433MHz / 2.4GHz band wireless transmission module supporting bidirectional communication. The communication method employs either the 433MHz band or dual-band frequency hopping technology to ensure real-time data synchronization between the server 100 and the line selector.

[0026] The autonomous mobile platform 106 includes a motion module, a positioning module, and a user information module; the motion module is the mechanical moving part of the mobile platform; the positioning module uses multi-sensor fusion, combined with environmental recognition and path planning algorithms to achieve positioning and obtain user location information; the user information module can identify the user after the camera 105-1 captures a face image, and perform multi-faceted state analysis based on the face image to obtain the user's health information. The control module can control the movement and positioning of the autonomous mobile platform 106, retrieve user health status information through the information classification module, and send the user health status information to the beverage push module through the communication module. The beverage push module can select suitable beverages from the storage area 100-1 based on the user's health status information, push the beverages to the user, remind the user of the storage conditions and usage precautions of the beverages, and push beverages to the user via voice or push message. The information classification module is deployed on the server and is used to classify and store user health status information, route planning information, inventory information, early warning information and time information. The above information can be called by the control module through the communication module and the server to realize the interaction between the server 100, the server and the mobile terminal.

[0027] The mobile device is a mobile app or a line selector.

[0028] The storage area 100-1 is located within the service unit 100 and includes a normal temperature storage area 103, a refrigerated storage area 101, and a thermal insulation storage area 102. It is also equipped with a temperature and humidity monitoring module and a time acquisition module. In this invention, the service unit 100, including its mechanical structure, component connections, parameter settings, etc., are existing technologies and are not protected by this invention; therefore, they will not be described in detail.

[0029] The storage box in the ambient temperature storage area 103 is 150mm wide, 300mm long, and 300mm deep, and can store items such as thermometers, sphygmomanometers, and room-temperature medicines. The top of the ambient temperature storage area 103 is equipped with a movable cover 110-1, with a handle I 110-2 at each end. The handle I 110-2 facilitates the removal and installation of the movable cover 110-1. The movable cover 110-1 is advantageous for accessing items in confined spaces, and the top of the movable cover 110-1 can be used to place temporary items such as teacups, beverages, and medicines.

[0030] The refrigerated storage area 101 is 400mm wide, 300mm long, and 200mm deep, with a temperature adjustment range of -5°C. o C to 5 oC. The refrigerated storage area 101 has built-in sterilization equipment, environmental temperature and humidity monitoring sensors, and temperature and humidity control equipment. The sterilization equipment includes ultraviolet germicidal lamps and ion generators. The refrigerated storage area 101 is equipped with a hinged lower section and an openable upper panel 120-1. The upper part of the openable panel 120-1 has a handle 120-2, which facilitates opening and closing the panel 120-1.

[0031] The refrigeration temperature and humidity of the cold storage area are adjusted via a touch screen 105.

[0032] The insulated storage area 102 has a storage box with a width of 150mm, a length of 300mm, and a depth of 300mm, and a temperature adjustment range of 40°C. o C to 60 o C. This storage area can store warm water, hot drinks, or liquid traditional Chinese medicine. The top of the insulated storage area 102 is equipped with a movable cover 110-1. This cover 110-1 has an insulation function, with built-in insulation material such as polyurethane foam. The seal of the movable cover 110-1 is made of elastic rubber-plastic foam. The function of the handle 110-2 on the movable cover 110-1 is the same as that of the movable cover 110-1 in the ambient temperature storage area 103.

[0033] The insulated storage area 102 has built-in sterilization equipment, such as ultraviolet germicidal lamps or photocatalysts, temperature and humidity monitoring sensors, and temperature and humidity control equipment.

[0034] The insulated storage area 102 controls its temperature using thermocouples and a PID algorithm, achieving a temperature control accuracy of 0.5. o C. The temperature and humidity of the insulated storage area can be adjusted via the touch screen 105.

[0035] The temperature and humidity of the temperature and humidity monitoring module are measured using a temperature and humidity sensor. The temperature measurement accuracy of the temperature and humidity sensor is ±0.2. o C. Humidity measurement accuracy is ±2%RH. A microbial proliferation algorithm is used to predict the safety period of beverages; for example, when the temperature is below 25°C. o At temperature C, the formula for calculating the safe period of orange juice is t = 72h - 0.8 × T, where t is the remaining safe period, h is in hours, and T is the ambient temperature, in units of... o C.

[0036] For cold storage area 101, when the measured temperature differs from the preset temperature by more than 0.5... o At time C, a PID (proportional, integral, derivative) control strategy is activated, using a thermoelectric cooler for temperature compensation. The PID control strategy can improve the system's response speed and stability, achieving temperature control accuracy at the ±0.1℃ level, and reducing energy consumption by approximately 40%.

[0037] For the insulated storage area 102, when the difference between the measured temperature and the preset temperature exceeds 0.5... o At time C, the PID control strategy is activated. When the measured temperature is lower than the set temperature, a PTC ceramic heater is used for heating, and when the measured temperature is higher than the set temperature, air cooling is used for heat dissipation.

[0038] For the cold storage area 101 and the insulated storage area 102, the humidity control range is 45%-60%RH. When the humidity exceeds the humidity control range, the humidification / dehumidification system will be activated in real time to adjust the humidity.

[0039] For the ambient temperature storage area 103, the cold storage area 101, and the heat preservation storage area 102, ultraviolet germicidal lamps or photocatalytic sterilization are used.

[0040] The time acquisition module is either a camera 105-1 installed on the service unit 100 or a rear-facing camera of a mobile phone driven by a mobile app. When beverages, medicines, or liquid traditional Chinese medicines are placed in the corresponding storage area, a QR code needs to be scanned to obtain information such as whether the beverage, medicine, or liquid traditional Chinese medicine has been opened. If it has been opened, the time of scanning the code is considered the opening time. In addition, information such as the name, production date, manufacturer, and shelf life of the beverage can also be obtained through the QR code. For medicines and liquid traditional Chinese medicines, users need to input information such as storage conditions, shelf life, number of times to take per day, time of each dose, and number of days to take the medicine on the mobile app or touch screen 105. The time acquisition module transmits the time information to the information classification module on the server through the control module and communication module.

[0041] The upper part of the service machine 100 is surrounded by a barrier 107, which is 50mm-80mm high. The barrier 107 can prevent water cups and drinks temporarily placed on the cover from slipping off. A touch screen 105 is installed above the front panel of the barrier 107, and a binocular visual navigation camera 104 is installed below it.

[0042] The touchscreen 105 is an OLED flexible touchscreen with an outer transparent polyimide (CPI) + polyacrylic resin hardening coating (HC), a resolution of 1080×2400, a pixel density of 400PPI, a refresh rate of 90Hz, and a color accuracy ΔE<2.

[0043] The touch screen 105 allows users to modify and display the temperature and humidity of the storage area, input (output) storage information for beverages and medicines, view user health information, and set the travel route of the service machine 100.

[0044] The storage environment parameters of the refrigerated storage area 101 and the insulated storage area 102 can be set on the touch screen 105 or the mobile APP. Users can set the storage environment according to the storage conditions of the product. The refrigerated storage area 101 and the insulated storage area 102 can adjust the temperature and humidity according to the corresponding storage conditions to form the most suitable storage conditions for beverages (or medicines), thereby extending the shelf life of the beverages.

[0045] A camera 105-1 is installed on the upper part of the touch screen 105. The camera 105-1 has functions such as capturing facial images and scanning QR codes.

[0046] The autonomous mobile platform 106 includes a motion module, a positioning module, and a user information module. The motion module mainly refers to the mechanical moving parts of the mobile platform, which can be omnidirectional wheels or hub motor-driven wheels. The positioning module employs multi-sensor fusion, combining environmental recognition and path planning algorithms to achieve positioning. This multi-sensor fusion refers to the fusion of binocular vision navigation and lidar navigation. Multi-sensor fusion improves the robustness of positioning; it can generate 2D / 3D maps in real time, and combined with visual odometry, it can achieve positioning and path planning, avoid positioning failures caused by changes in lighting, and achieve centimeter-level positioning; it can detect low obstacles (small stools, children's toys) and avoid them in time; for children and small animals (pet dogs and cats), it issues voice warnings and drives the animals away from the planned path.

[0047] The binocular vision navigation 104 camera includes a binocular global shutter, an adjustable baseline (adjustable range 50mm-150mm), and a built-in AI acceleration chip. It identifies obstacles using depth perception maps, with a minimum detection size of 100mm, and has the function of planning driving paths.

[0048] The user information module is implemented through the face detection function of camera 105-1. After acquiring facial images, it performs multi-faceted state analysis based on the facial images to obtain user health information. For example, the user health information may include the user's facial age, dryness, smoothness, and roughness. Thus, the user information module includes a facial age analysis submodule, a dryness analysis submodule, a smoothness analysis submodule, and a roughness analysis submodule.

[0049] The facial age analysis submodule analyzes the user's facial age information, the dryness analysis submodule analyzes the dryness of the face, the radiance analysis submodule analyzes the hydration and shine of the face, and the roughness analysis submodule analyzes the wrinkles on the user's face. When the facial age is greater than 40, a low-sugar beverage recommendation is triggered; when the skin dryness is greater than 0.8, an electrolyte water recommendation is pushed; when the radiance is less than 0.3, a hydration reminder is activated; and when the facial roughness is greater than a threshold, a collagen-containing beverage is recommended.

[0050] The face detection function relies primarily on the deep integration of a camera module and AI algorithms. Face detection features face localization and tracking capabilities, and can recognize facial contours and facial expression changes. The AI ​​algorithm for face detection refers to computer vision and deep learning algorithms, which can analyze the physiological and medical characteristics of facial images to provide auxiliary assessments of health status.

[0051] The route selector has a voice prompt function. When the service machine 100 needs to deliver beverages (or medicines), it first needs to obtain the user's location information. The service machine 100 can use the prompt function of the route selector (or send a message to the mobile phone) to notify the user to select a route so that the service machine 100 can plan the delivery route.

[0052] The method for implementing the planned path is as follows: First, it is necessary to determine the charging position of the home intelligent health service machine 100. For example, the charging position can be set in a corner of the living room. The coordinates of the charging position are set as the initial coordinates (0,0,0). The initial coordinates are located by multi-sensor fusion. Then, the autonomous mobile platform (106) is driven to move in a straight line. The movement time (t1) is recorded by the timing device, and the movement speed (V1) is measured by the speed measuring device. The distance is calculated according to L1=V1×t1, and the location node of the room is marked. Then, the autonomous mobile platform is controlled to turn, and the turning angle is recorded. The next node of the room is marked according to the aforementioned method. The key nodes of each room are generated repeatedly. Some nodes are connected on the mobile APP or touch screen (105) to generate a planned path. Through the above method, multiple planned paths can be generated between the coffee table and dining table in the living room, the left side of the bed in the bedroom, the right side of the bed in the bedroom, the desk in the study, and the initial coordinates.

[0053] The method for matching a planned path to a line selector is as follows: a path is sent to the control module via the APP, and the control module and communication module match this path to the paired line selector.

[0054] Multiple line selectors can be configured in a home, with each selector having two selectable lines to meet home delivery needs. For example, in a bedroom, the left side of the bed can be designated as line 1, and the right side as line 2; in a study, the left side of the desk can be designated as line 3, and the right side as line 4. Service requests can be sent to service unit 100 via line selectors placed on desks, coffee tables, beds, etc. Upon receiving a service request, service unit 100 can deliver items according to the selected line lines.

[0055] Since elderly people often have poor eyesight or are unable to operate smartphones, using a mobile phone to select routes has certain limitations. Compared to a mobile phone, a route selector is more convenient to use, especially suitable for the elderly. The route selector can replace a mobile phone in sending service requests, avoiding the problems of traditional navigation methods such as QR codes, RFID landmarks, and magnetic tracks affecting home décor and aesthetics.

[0056] The mobile app can be a standalone app or a WeChat mini-program. Through the app, users can request services from service machine 100 or cancel a service. The app also allows users to view beverage recommendations and health information suggested by service machine 100 based on their health information and AI algorithms; to view information such as the brand, manufacturer, production date, opening time, and remaining shelf life of opened beverages; and to view the usage of medicines (or liquid traditional Chinese medicine), including the number of times taken, the time of administration, the total dosage, the cumulative dosage, and the remaining dosage.

[0057] The control module can control the movement and positioning of the autonomous mobile platform. The control module can retrieve the user's health status information through the information classification module stored on the server, and send the user's health status information to the beverage recommendation module via the communication module, along with beverage recommendation information.

[0058] Specifically, the control module can recommend appropriate beverages to users based on their health status information and remind them to purchase or take them. For opened beverages, the module can recommend the shelf life via a mobile app and remind users to drink them within the shelf life through voice or push notifications. It can also autonomously move to the user's location to remind them to drink the beverage. For liquid traditional Chinese medicine that elderly users need to take, which needs to be used within one or several days, the control system can remind them to store the liquid medicine in the refrigerated area. At the user-set time of consumption, the system will autonomously move to the user according to a preset path, reminding them to pour out the required dose of refrigerated liquid medicine and place it in the insulated storage area 102. Then, the service unit 100 autonomously returns to the charging position. Once the liquid medicine in the insulated storage area 102 has reached the preset temperature (40℃ to 60℃), the service unit 100 will again autonomously move to the elderly user to remind them to take the liquid medicine. For medications that elderly people need to take long-term, such as antihypertensive tablets and sleeping pills, the system can automatically move to the user's location based on the user's location information to remind the user to take the medication. Warm water can be obtained from the insulated storage area 102.

[0059] The control module can obtain inventory information from the inventory database through the information classification module and push this information. The control module can also obtain temperature and humidity warning information generated by the warning algorithm through the information classification module and send this warning information through the push module. Furthermore, the control module can obtain preset routes (or autonomous navigation) and user location information through the information classification module and send this information to the autonomous mobile platform through the communication module. Finally, the control module can obtain the opening time information of beverages (or liquid traditional Chinese medicine) through the information classification module and push consumption (taken) information to the user.

[0060] Specifically, users can scan the QR code on the beverage bottle using a mobile app or camera 105-1 to obtain information such as the beverage's production date and shelf life. Scanning the QR code again determines whether the beverage has been opened. If "yes" is selected, the scan date is set to the beverage's opening date. The mobile app or smart health service machine then transmits this opening date to the server and control module via the communication module. The control module uses the obtained opening date and the existing shelf-life information for opened beverages in its database to remind the user to drink the beverage promptly. If "no" is selected, the control module determines the beverage's shelf life based on its production date and reminds the user to drink it two months before its expiration date.

[0061] For liquid traditional Chinese medicines without QR codes, a QR code can be generated via a mobile app or service machine 100. By setting the shelf life and reminder of consumption time for the liquid traditional Chinese medicine corresponding to the QR code, the mobile app or service machine 100 sends the QR code to the server and control module through the communication module. The control module then sends the QR code information to the service machine 100 through the communication module, and the service machine 100 prints the QR code. The user then affixes the printed QR code to the outside of the liquid traditional Chinese medicine container, using the QR code as an information identifier for the liquid traditional Chinese medicine.

[0062] After detecting a new storage condition, the control module controls the parameter adjustment sub-modules in the storage area where the beverage is located according to the storage conditions of the beverage, and adjusts the corresponding environmental parameters in the storage area 100-1.

[0063] The information classification module is deployed on the server and is used to classify and store user health status information, route planning information, inventory information, early warning information and time information. This information can be called by the control module through the communication module and the server, thereby realizing the interaction between the server 100, the server and the mobile terminal (phone).

[0064] Understandably, users can see not only the time information of the beverage (liquid Chinese medicine) on the mobile app or touch screen 105, but also other information about the beverage, such as the name, brand, volume, manufacturer, and suitable age of the beverage (liquid Chinese medicine), so as to better understand the beverage they have chosen.

[0065] Understandably, users can see the inventory information of stored items, the temperature and humidity information of the storage area, the route planning information, and the remaining battery power of the service unit 100 on the mobile app or touch screen 105.

[0066] The information classification module can also be used to: count the number of people who purchased the recommended beverages within a preset historical time period. For example, it can count the number of users who purchased the beverage in the past year or one month, making it easier for users to understand the popularity of each recommended beverage and thus providing them with purchasing references.

[0067] The communication module is used for information transmission between the server 100, the mobile terminal (line selector), and the server. The server 100, the mobile terminal (line selector), and the server communicate via a communication protocol.

[0068] The push module is used to select suitable beverages from the smart refrigerator's storage area based on the user's facial status data, and then push these beverages to the user, providing them with the recommended beverages and reminding the user of the storage conditions and usage precautions. The push module can also deliver beverages to the user via voice (or push message). Specifically, the push notification module can compare a user's health status information with reference facial data stored in the health database to determine the user's health condition. Based on this, it can then recommend suitable beverages to improve the user's health. The module can also adjust its recommendations based on individual adverse reactions after consumption. For example, if a user is allergic to honey, honey water should not be recommended. Furthermore, if adverse reactions (such as facial allergies) occur after consuming a recommended beverage, the user can trigger an alert on the app, which will then notify the push notification module, allowing it to switch to a different, more suitable beverage category.

[0069] When the service machine 100 reminds a user to drink a beverage (or liquid traditional Chinese medicine), it identifies the user through the user information module and prompts the user to take the correct beverage (or liquid traditional Chinese medicine). To prevent different users in the same household from taking the wrong opened beverage (or liquid traditional Chinese medicine), the service machine 100 prompts the user to scan the code of the beverage (or liquid traditional Chinese medicine) to match the user and the beverage, thus avoiding misuse of the beverage (or liquid traditional Chinese medicine).

[0070] like Figure 2 As shown, the control system architecture of the home intelligent health service machine of the present invention includes a service machine 100, a mobile terminal (line selector), and a server. The service machine 100, the mobile terminal (line selector), and the server communicate through a communication module. The service machine 100, the mobile terminal (line selector), and the server can interact through the control module and the communication module.

[0071] The hardware deployment method for the information collection terminal is as follows: The server 100 is equipped with temperature and humidity sensors, cameras (for facial information collection), binocular visual navigation and lidar navigation equipment and control modules; the mobile terminal (or touch screen) is used to provide user interaction such as beverage (medicine) scanning, facial registration and detection; the server is used to provide storage for user identity database, global map, historical task logs and beverage (medicine) information data pool.

[0072] The storage and computing deployment methods are as follows: Face detection, real-time obstacle avoidance navigation, closed-loop temperature and humidity control, temporary face feature codes, cached map data, etc. are stored and processed on the intelligent health service machine 100; face feature matching, big data analysis (such as the temperature control model of medicines), user privacy database, task history logs, etc. are deployed on the server.

[0073] The communication link design method is as follows: The server 100 communicates with the server using 4G / 5G+TLS encryption; the mobile phone and the server communicate using HTTP+WebSocket; and the server 100 and the mobile terminal (line selector) communicate via the 433MHz frequency band.

[0074] like Figure 4 and Figure 5 As shown in the figure, the control method for delivering beverages and medicines by the home intelligent health service machine proposed in this embodiment of the invention includes the following steps.

[0075] 1. Control of medicines (or liquid traditional Chinese medicines) delivered by the 100 service machine: S101. For bedridden elderly users with pre-set fixed delivery routes, the home health service machine 100 will call the delivery route through the control module at the set time.

[0076] S102, the service machine 100 uses multi-sensor fusion to identify the delivery environment according to the aforementioned delivery route, autonomously moves to the target user's location, and prompts the user to perform facial recognition.

[0077] S103. If the user is the target user, the system will provide a voice prompt with information about the medicine (or liquid traditional Chinese medicine) and storage area that the user needs to retrieve, and will prompt the user to scan the QR code of the medicine (or liquid traditional Chinese medicine) using the camera.

[0078] S104, Service machine 100 matches the medicine (or liquid Chinese medicine) with the facial information of the target user, and after successful matching.

[0079] S105. For routine medicines, inform the user of the dosage for each use and remind the user to take an appropriate amount of warm water from the insulated storage area.

[0080] S106. For liquid Chinese medicines that need to be taken warm, the user is prompted with the dosage for each use and is advised to place the portion of liquid Chinese medicine to be taken into the heat preservation storage area for heating.

[0081] S107. When the required portion of the liquid Chinese medicine reaches the preset drinking temperature, prompt the user to take the liquid Chinese medicine.

[0082] 2. Control of opened beverages delivered by the 100-service machine: S201 and Service Unit 100 will send the user's beverage shelf life information to the user's mobile phone via SMS (or line selector reminder).

[0083] S202. The user selects a delivery location on the mobile APP (or selects a delivery location on the route selector), and the service unit 100 receives the delivery location and generates a delivery route.

[0084] S203 and Service Machine 100 use multi-sensor fusion to identify the delivery environment according to the aforementioned delivery route, autonomously move to the target location, and prompt the user to perform facial recognition.

[0085] S204. If the user is the target user, prompt the user for the beverage information they need to take, and prompt the user to scan the beverage's QR code using the camera.

[0086] After S205 and the service machine 100 determine that the beverage to be taken matches the facial information of the target user, they inform the user of the shelf life of the beverage.

[0087] In addition, the present invention also provides a storage and computing device for an intelligent service machine, including a memory, a processor, and a computer program stored in the memory that can run on the processor. When the program is executed in the processor, the aforementioned functions of the intelligent health service machine can be realized.

[0088] Note that the design of the digital prototype model, the parameter settings for each material, and the selection of the measuring plane described above are merely preferred embodiments and technical principles of the present invention. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A control system for a home-use intelligent health service machine, characterized in that: The autonomous mobile platform (106) includes a server (100), a mobile terminal, and a server; the mobile terminal, the server, and the autonomous mobile platform (106) communicate with each other through a communication module and interact through a control module and a communication module. The autonomous mobile platform (106) includes a motion module, a positioning module, and a user information module; wherein, the motion module is a mechanical motion component of the mobile platform; the positioning module uses multi-sensor fusion and combines environmental recognition and path planning algorithms to achieve positioning and obtain user location information; the user information module can identify the user after the camera (105-1) collects the face image, and perform multi-faceted state analysis based on the face image to obtain the user's health information; The control module can control the movement and positioning of the autonomous mobile platform (106), can call the user's health status information through the information classification module, and can send the user's health status information to the beverage push module through the communication module; the beverage push module can select suitable beverages from the storage area (100-1) according to the user's health status information as push beverages, push the push beverages to the user, and remind the user of the storage conditions and usage precautions of the push beverages, and can also push beverages to the user through voice or push messages; The information classification module is deployed on the server and is used to classify and store user health status information, route planning information, inventory information, early warning information and time information. The above information can be called by the control module through the communication module and the server to realize the interaction between the server (100), the server and the mobile terminal.

2. The control system of a home-use intelligent health service machine according to claim 1, characterized in that: The mobile terminal is a mobile APP or a line selector. The autonomous mobile platform (106) and the line selector transmit signals through built-in communication devices, using 433MHz frequency band or dual-frequency hopping communication to ensure real-time data synchronization between the intelligent health service machine (100) and the line selector.

3. The control system of a home-use intelligent health service machine according to claim 2, characterized in that: The route selector has a voice prompt function. When the service machine (100) delivers beverages or medicines, the service machine (100) can use the prompt function of the route selector to notify the user to select a route, so that the service machine (100) can plan the delivery route.

4. The control system of a home-use intelligent health service machine according to claim 1, characterized in that: The control module can obtain inventory information from the inventory database through the information classification module and push the inventory information; it can obtain temperature and humidity warning information generated by the warning algorithm through the information classification module and send the warning information through the push module; it can obtain preset route and user location information through the information classification module and send the user location and route information to the autonomous mobile platform (106) through the communication module; it can obtain the opening time information of beverages or liquid Chinese medicines through the information classification module and push drinking information to the user.

5. The control system of a home-use intelligent health service machine according to claim 4, characterized in that: After detecting a new storage condition trigger, the control module can control the various parameter adjustment sub-modules in the storage area (100-1) of the service machine (100) where the beverage is located, and adjust the corresponding environmental parameters in the storage area (100-1) according to the storage conditions of the beverage.

6. The control system of a home-use intelligent health service machine according to claim 5, characterized in that: The storage area (100-1) includes a room temperature storage area (103), a refrigerated storage area (101), and a thermal insulation storage area (102); the room temperature storage area (103) is used to store thermometers, sphygmomanometers, and room temperature medicines; the refrigerated storage area (101) is equipped with sterilization equipment, environmental temperature and humidity monitoring sensors, and temperature and humidity control equipment; the thermal insulation storage area (102) is used to store warm water, hot drinks, or liquid Chinese medicines; the temperature and humidity of the refrigerated storage area (101) and the thermal insulation storage area (102) can be adjusted via a touch screen (105); a camera (105-1) is installed on the upper part of the touch screen (105) to capture facial images and scan codes; The storage area (100-1) is also equipped with a temperature and humidity monitoring module and a time acquisition module; wherein, the temperature and humidity of the temperature and humidity monitoring module are measured by a temperature and humidity sensor; the time acquisition module can obtain information such as whether the beverage, medicine or liquid Chinese medicine has been opened, the name of the beverage, medicine or liquid Chinese medicine, production date, manufacturer and shelf life when it is placed in the corresponding storage area, and transmit the time information to the information classification module on the server through the control module and communication module.

7. The control system of a home-use intelligent health service machine according to claim 6, characterized in that: The time acquisition module is a camera (105-1) installed on the server (100) or a mobile phone rear camera driven by a mobile APP; The touch screen (105) can modify and display the temperature and humidity of the storage area, input and output the storage information of beverages and medicines, view the user's health information, and set the travel route of the service machine (100). The touch screen (105) or the mobile APP can set the storage environment parameters of the refrigerated storage area (101) and the insulated storage area (102). The user can set the storage environment according to the storage conditions of the product. The refrigerated storage area (101) and the insulated storage area (102) can adjust the temperature and humidity according to the corresponding storage conditions to form the most suitable storage conditions for the preservation of beverages or medicines.

8. The control system of a home-use intelligent health service machine according to claim 1, characterized in that: The user information module includes a facial age analysis submodule, a dryness analysis submodule, a radiance analysis submodule, and a roughness analysis submodule. The facial age analysis submodule analyzes the user's facial age information, the dryness analysis submodule analyzes the dryness of the face, the radiance analysis submodule analyzes the hydration and shine of the face, and the roughness analysis submodule analyzes the wrinkles on the user's face. When the facial age is greater than 40, a low-sugar beverage recommendation is triggered; when the skin dryness is greater than 0.8, an electrolyte water recommendation is pushed; when the radiance is less than 0.3, a hydration reminder is activated; and when the facial roughness is greater than a threshold, a collagen-containing beverage is recommended.

9. The control method of the control system of a home-use intelligent health service machine according to any one of claims 1-8, characterized in that, A control method for a home-use smart health service machine, used to control the delivery of medicines by the home-use smart health service machine, includes the following steps: S101. For bedridden elderly users with a fixed delivery route that has been set, the service unit (100) calls the delivery route through the control module at the set time. S102, The service machine (100) uses multi-sensor fusion to identify the delivery environment according to the aforementioned delivery route, autonomously moves to the target user's location, and prompts the user to perform facial recognition; S103. If the user is the target user, the voice prompt will provide the user with information on the medicine or liquid Chinese medicine that needs to be retrieved and the storage area information, and the user will be prompted to scan the QR code of the medicine through the camera. S104, The service machine (100) matches the medicine with the facial information of the target user, and after successful matching; S105. For routine medicines, inform the user of the dosage for each use and remind the user to take an appropriate amount of warm water from the insulated storage area. S106. For liquid Chinese medicines that need to be taken warm, the user is prompted with the dosage for each use and is advised to place the portion of liquid Chinese medicine to be taken into the heat preservation storage area for heating. S107. When the required portion of the liquid Chinese medicine reaches the preset drinking temperature, prompt the user to take the liquid Chinese medicine.

10. The control method of the control system of a home-use intelligent health service machine according to any one of claims 1-8, characterized in that, A control method for a home-use smart health service machine, used to control the machine to deliver opened beverages, includes the following steps: S201, the service machine (100) will remind the user of the shelf life information of the beverage they have taken, and send the reminder to the user's mobile phone. S202. Select delivery location. The service machine (100) receives the delivery location and generates a delivery route. S203, the service machine (100) uses multi-sensor fusion to identify the delivery environment according to the aforementioned delivery route, autonomously moves to the target location, and prompts the user to perform facial recognition; S204. If the user is the target user, prompt the user with the information of the beverage to be picked up, and prompt the user to scan the QR code of the beverage through the camera; S205. After determining that the beverage to be taken matches the facial information of the target user, the service machine (100) informs the user of the shelf life of the beverage.

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