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系統識別號 U0002-1009201812300100
中文論文名稱 設計與實作具年長者定位能力之居家照護機器人系統
英文論文名稱 Design and Implementation of Elder Localization System on Robot for Home Care
校院名稱 淡江大學
系所名稱(中) 資訊工程學系資訊網路與多媒體碩士班
系所名稱(英) Master’s Program in Networking and Multimedia, Department of Computer Science and Information Engine
學年度 106
學期 2
出版年 107
研究生中文姓名 王道鈞
研究生英文姓名 Dao-Jun Wang
學號 605420149
學位類別 碩士
語文別 中文
第二語文別 英文
口試日期 2018-06-14
論文頁數 45頁
口試委員 指導教授-黃連進
委員-黃連進
委員-張志勇
委員-游國忠
中文關鍵字 居家照護  機器人  老人照護  人臉識別 
英文關鍵字 home care  robot  elderly care  face recognition 
學科別分類
中文摘要 隨高齡化社會來臨,醫療照護的各項需求將大幅增加,造成醫療資源人力短缺,為了降低醫療人員負擔,未來運用醫療照護機器人來支援照護人力缺口的需求勢必日益提升。隨著2025年台灣老年人口估計將達480萬人,平均3.3個青年人要扶養1位老人,未來的生活情境也將以獨身生活及各類機器人應用為主軸,而如何將智慧機器人的發展,應用於高齡化社會的照護產業,將是未來技術發展所在。
然而在台灣,推估全台約有270萬長者可能有「憂鬱與孤寂」的問題,又以「孤寂老人」成為台灣人口老化的新趨勢,目前台灣50歲以上人口約有830萬人,他們曾是台灣經濟發達的中堅分子,如今他們逐漸離開職場,揮別黃金歲月時,面臨新科技難適應、低成就與社會脫節,成為退休的「辛」生兒。許多缺乏子女陪伴而自行就醫的長者,除了慢性病之外、常伴隨疲倦、胃口差與反覆就醫等身心症狀。喪偶、獨居或子女不常探視的老人,會有不常與人往來的習慣,孤單對他們的心理與生活品質會有重大的影響,需要大量的人力來照顧這些老人,因而發明了機器人,而這些機器人大部分只是為了特定場合及特定定點而製作,或有些是用聲音感測器感測物體。並不能偵測空間中人的位置並上前關心等相關動作,如果不能偵測到人的位置那很多的應用並不完全人性化。
本論文使用機器人嵌入的紅外線來感測老人的距離,並以頭部轉動的角度去判斷老人家的位置,再控制滾輪使機器人靠近老人,並開起相機拍照,再將照片上傳至伺服端,伺服端使用OpenCV技術來辨別照片中的人,將辨識結果字串回傳給機器人以便後續相關動作,或發現老人毫無反應及適時的關心、求助。
英文摘要 With the advent of an aging society, the demand for medical care will increase dramatically, resulting in a shortage of medical resources. Therefore, in order to reduce the burden on medical personnel, the need to use medical care robots to support the care gap in the future is bound to increase. With an estimated 4.8 million elderly people in Taiwan in 2025, an average of 3.3 young people will support an elderly person. The future life situation will also focus on single life and various types of robot applications. How to develop smart robots, The care industry applied to an aging society will be the future technological development.
However, in Taiwan, it is estimated that about 2.7 million elders in Taiwan may have the problem of "depression and loneliness", and the "lonely old man" has become a new trend of Taiwan's aging population. At present, there are about 8.3 million people in Taiwan over 50 years old. Once a hard-working backbone of Taiwan's economy, they are now leaving the workplace. When they say goodbye to the golden years, they face difficulties in adapting to new technologies, low achievement and social dislocation, and become the "sin" of retirement. Many elderly people who lack their own children to seek medical treatment, in addition to chronic diseases, often accompanied by fatigue, poor appetite and repeated medical treatment and other physical and mental symptoms. Old people who are widowed, living alone or whose children do not visit often have the habit of not always interacting with people. Lonely will have a major impact on their psychology and quality of life. They need a lot of manpower to take care of these old people, thus inventing robots. Most of these robots are only made for specific occasions and specific fixed points, or some are used to sense objects with sound sensors. It is not possible to detect the position of a person in the space and to take care of related actions, etc. If the position of the person cannot be detected, many applications are not completely humanized.
This paper uses the infrared light embedded in the robot to sense the distance of the old man, and judges the position of the old man by the angle of the head rotation, then controls the wheel to make the robot close to the old man, and takes a photo of the camera, then uploads the photo to the servo end, and the servo The OpenCV technology is used to identify the person in the photo, and the identification result string is transmitted back to the robot for subsequent related actions, or the elderly are found to be unresponsive and timely care and help.
論文目次 第一章、簡介 1
第二章、相關研究 5
第三章、背景知識 8
3-1. Android作業系統 8
3-2. Zenbo機器人簡介 10
3-3. Xampp簡介 12
3-4. PHP技術與簡介 12
3-5. OpenCV技術與簡介 13
第四章、系統架構 15
4-1. 頭部偵測人模組 16
4-2. 身體移動模組 17
4-3. 上傳照片模組 18
4-4. 系統伺服端 20
4-5. 照片訓練圖庫 21
4-6. 照片分析模組 22
第五章、系統展示 24
第六章、結論 32
參考文獻 33
附錄-英文論文 35
1. INTRODUCTION 35
2. RELATED WORKS 37
3. BACKGROUND KNOWLEDGE 38
4. SYSTEM STRUCTURE 39
5. SYSTEM DISPLAY 42
6. CONCLUSION 44
REFERENCE 45

圖目錄
圖1.老年人口突破14% 1
圖2.高扶養比因素 2
圖3. Android系統架構 9
圖4. Zenbo 10
圖5. Zenbo開發套件 11
圖6.「具年長者定位能力之居家照護機器人」之系統架構圖 15
圖7.有偵測到人時 16
圖8.沒偵測到人時 16
圖9.頭部迴轉巡視 17
圖10.Zenbo移動分析 18
圖11.上傳照片概念圖 20
圖12. Xampp元件與流程 20
圖13.訓練圖庫概念圖 22
圖14.照片分析回傳概念圖 23
圖15. Zenbo偵測 24
圖16. Zenbo移動 25
圖17. Zenbo自動對焦與偵測人臉拍照 26
圖18.照片上傳成功畫面 27
圖19.照片分析結果 28
圖20.實驗圖一 29
圖21.實驗圖二 30
圖22.實驗圖三 31
圖23.實驗圖四 31
表目錄
表1. 相關研究功能比較表 7
參考文獻 [1] S. Warren, R.L. Craft, “Designing smart health care technology into the home of the future,” 1999 IEEE Engineering in Medicine and Biology 21st Annual Conference and the 1999 Annual Fall Meeting of the Biomedical Engineering Society, Atlanta, GA, USA, Oct 1999.

[2] M. Hans, B. Graf, R.D. Schraft, “Robotic home assistant Care-O-bot: past-present-future,” 11th IEEE International Workshop on Robot and Human Interactive Communication, Berlin, Germany, December 2002.

[3] K. Wada, T. Shibata, T. Saito, K. Tanie, “Psychological and social effects of robot assisted activity to elderly people who stay at a health service facility for the aged,” 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Sept 2003.

[4] M. Sato, A. Sugiyama, S. Ohnaka, “Auditory system in a personal robot, PaPeRo,” 2006 Digest of Technical Papers International Conference on Consumer Electronics, Las Vegas, NV, USA, Jan 2006.

[5] C. Jayawardena, I. H. Kuo, U. Unger, A. Igic, R. Wong, C. I. Watson, R. Q. Stafford, E. Broadbent, P. Tiwari, J. Warren, J. Sohn, B. A. MacDonald, “Deployment of a service robot to help older people,” 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, Oct 2010.

[6] Bo-Hao Su, Shih-Pang Tseng, Jhing-Fa Wang, Yu-Hsiang Lin, “Friendly human-machine interaction on home care robot,” 2017 International Conference on Orange Technologies (ICOT), Singapore, Singapore, Dec 2017.

[7] Wikipedia, “Android”,https://en.wikipedia.org/wiki/Android

[8] Wikipedia, “Zenbo”,https://wikidevi.com/wiki/ASUS_Zenbo

[9] Wikipedia, “XAMPP”, https://zh.wikipedia.org/wiki/XAMPP

[10] Wikipedia, “PHP”, https://zh.wikipedia.org/wiki/PHP

[11] Wikipedia, “OpenCV”, https://zh.wikipedia.org/wiki/OpenCV
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