Design and Implementation of Smart Home Care Robot Based on MCU

Core Tip : The advent of an aging society has made the care of elderly people living alone increasingly important. Researchers have developed a microcontroller (MCU) with high control and computing capabilities to develop a fall detection and emergency notification that can follow the elderly living alone at any time. Intelligent care robots that interact with the Internet and other functions to improve the quality of home care.

Taiwan has gradually entered an aging society. Most children work outside and cannot take care of the elderly wholeheartedly. Therefore, care for the elderly at home is very important. Some people choose to hire a caregiver to take care of them at home, or decide to send them to the Anyang Center, but these methods are too expensive, and the children ca n’t directly take care of their loved ones. In order to effectively solve this problem, electronic devices that can care for and care for the life of the elderly are increasingly valued. Through the monitoring and interactive functions of the device, not only can the elderly be informed of their relatives abroad at home, but children can also get home from them at any time. Parental health and life information.

The elderly care system is designed with home monitoring and interaction with family members. Through the Internet service, when the elderly have care needs, they can use the gesture recognition function to call the robot to the side; when they want to watch relatives and friends on Facebook You can use Facebook's dynamic service to get the latest news of relatives and friends in real-time, and you can also make video chats with family members in distant places through Internet calls; at the same time, you can also monitor at any time, and notify your family when an accident occurs And medical staff to deal with.

The system uses the main system chip to sense the skeleton tracking sensed by Kinect, gesture recognition, and webcam video calls to access the value, and then uses serial transmission (USART) to send the value to the main system chip and make the distance In the recognition mode, follow the elderly, control the motor and interact with the elderly.

Kinect sensing function helps innovative applications of care robots expand

The innovative functions of the system are follow-up care mode-Kinect skeleton tracking and ultrasonic positioning, skeleton judgment-fall detection, emergency notification-SMS transmission, and interactive functions-gesture recognition and network video (Figure 1).

Figure 1 Ideal interactive function of care robot

Figure 1 Ideal interactive function of care robot

In the follow-up care service, the system uses skeleton tracking and ultrasonic positioning. When the old man moves, the robot will follow the rear to take care of it. It can determine whether the old man has fallen at any time, and it is also very convenient to operate. Most existing fall detection systems rely on cameras or equipment worn by users to identify falls. The fall detection of this system only requires tracking through the Kinect skeleton to determine whether a fall has occurred.

As for the emergency newsletter transmission part, when the old man judges that he has fallen, the robot will automatically issue a newsletter from the main system chip to the mobile phone of the designated family member. After receiving the message, the relatives can immediately react or watch the video. As for Facebook dynamic and interactive video services, the system is equipped with Facebook dynamic services and online video, so that the elderly can care about the pictures of their children outside, and allow relatives and friends to use video interaction to see the elderly at home, which can effectively bring the elderly and Family distance.

. Follow care service

The care robot main system uses the chip to interact with Kinect for the elderly and care services. The intelligent care robot can follow the elderly behind by Kinect at any time, and use Kinect's own skeleton recognition to determine the number and movement of skeletons under normal conditions. When the old man accidentally falls, it is judged according to the instantaneous lowering or disappearing of the skeleton, and then the digital signal is returned to the main system, which can be sent to the child's mobile phone for notification through the emergency SMS function, and the family can view it through the online video The condition of the elderly at home so as not to miss the time to seek medical treatment.

In order to respond and transmit the value in real time to follow and protect the safety of the elderly, the nursing system provides USART through the main system chip, which can directly use the USART without the need for a serial peripheral interface (SPI) to perform the conversion action. In terms of follow-up, the pulse width modulation (PWM) pulse wave is used to control the HB-25 motor driver to drive the DC motor. Since the control waveform can be forward and reverse, it can be used in the main chip and combined with the transfer of the robot. Actions and functions.

The system must also use the PING ultrasonic distance sensor (Figure 2) to detect distance. In addition to applying PWM for sound wave transmission and reception, it also uses general-purpose input / output to receive values ​​such as numerical distance judgment and Kinect skeleton.

Figure 2 PING ultrasonic distance sensor

Figure 2 PING ultrasonic distance sensor

The chip is used to track the robot, the distance is detected by ultrasound, the main system determines the position of the old man, and the motor is commanded to move, so that the robot can follow, and can follow the old man at any time, pay attention to whether there is a sudden situation. With a wave of hand, you can make video calls with your family and other functions.

PING ultrasonic distance sensor is used to measure the distance to objects, the range is between 3cm? 3.3m, easy to install on robot or automatic equipment. Ultrasonic sensors use pulse waves to generate signals through the sonic horn to send and receive signals. The length of time after the sensor sends the signal to the object and reflects it is calculated. Can get a precise distance. In order to realize the tracking function, the ultrasonic positioning tracking method uses the main system chip to generate pulse waves and judgment, so that the ultrasonic wave can automatically follow the object, and the care function is more stable.

In order to load the necessities of life, the walking power source chooses a motor with a large torque (IG-30GM) as the drive, and a high current 12V (V) motor driver chip (HB-25) to control the DC motor. In order to adjust the width of the pulse wave and control the parameters of the two motors, such as forward and reverse, time difference and rotation speed, the chip plays an important role in motion control functions, such as the forward, backward and turning of the car body.

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