基於ROS之智能生命徵象監控機器人

ROS-based intelligent vital sign monitoring robot

吳鴻昕(HONG-XIN WU)

指導教授 ： 廖裕評

中原大學/電機資訊學院/電機工程學系/碩士(2022年)

https://doi.org/10.6840/cycu202301128

摘要

隨著台灣將邁入超高齡社會，老人照護是我們即將面對的一大難題。在65歲以上老人的五大死因中，心臟疾病位居第二，僅次於癌症。我們希望解決當老人或有心臟疾病的患者在家中時，突然猝死或發生緊急事件時，不要錯過黃金救援的最佳時機。因此，本研究提出了一款基於機器人作業系統(ROS)之智能生命徵象監控機器人。它可以藉由陣列式麥克風來聽到人員呼救以及辨識音源方向，來尋找呼救的人，也具備基於邊界探索的演算法來讓機器人可以自主探索建立使用者家中的地圖，並利用AMR機器人家中進行多點巡邏讓居家安全無死角。透過毫米波雷達來量測並監控心率，同時使用紅外線熱像儀結合物件辨識透過YOLOv7網路模型進行訓練用來偵測人臉，並利用偵測到人臉區域來量測人體體溫，並結合Firebase雲端資料庫與區塊鏈技術定期上傳量測到的體溫及心率資料，建立完整的生命徵象資料庫。當機器人偵測到發生意外狀況時，則利用IFTTT發送Line簡訊通知於第一時間通知家人或是救援單位，來避免更多的憾事發生。

關鍵字

YOLOv7 ； 機器人作業系統 ； 毫米波雷達 ； AMR ； 熱像儀 ； Firebase

並列摘要

As Taiwan will enter a super-aged society, elderly care is a major problem that we will face. Among the top five causes of death for people over 65, heart disease ranks second, after cancer. We hope to solve the problem of not missing the prime time for rescue when the elderly or patients with heart disease are sudden death or emergency event at home. Therefore, this study proposes an intelligent vital sign monitoring robot based on Robotic Operating System (ROS). It can use microphone array to hear person calling for help and find out the direction of the sound source. It also uses frontier-based exploration algorithm that allows the robot to independently explore and build a map of the user’s home, and uses the AMR robot to allow home safety without blind corner by multi-target patrols. The heart rate is measured and monitored through the millimeter wave module. At the same time, the infrared thermal imager is combined with object recognition to train through YOLOv7 to detect the face and use face area to measure head temperature, and the measured head temperature and heart rate data are regularly uploaded in combination with Firebase cloud database and blockchain technology to establish a complete vital signs database. When the robot detects an unexpected situation, it uses IFTTT service to send a Line message notification to notify the family or the rescue unit as soon as possible to avoid more unfortunate accidents.

並列關鍵字

YOLOv7 ； Robot Operating System ； Millimeter wave radar ； Autonomous Mobile Robot ； Thermal imager ； Firebase

參考文獻

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