基于ROS的家用老年服务机器人设计  

Design of a home-based elderly service robot using ROS

作　　者：赵泽北 冯沛林 谢晓睿 张静 Zhao Zebei;Feng Peilin;Xie Xiaorui;Zhang Jing(School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China)

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《电子技术应用》2025年第4期54-59,共6页Application of Electronic Technique

基　　金：北京航空航天大学教改项目(4003314)。

摘　　要：针对当前老年服务机器人存在的问题,如智能语音功能单一、感知能力不足和集成化水平不高等,设计了一款具有人脸识别、语音交互和摔倒检测功能的机器人。该机器人基于机器人操作系统(ROS)开发,配备Jeston Nano主控板和ZED2i双目立体相机等多种传感器。通过基于Haar特征和LBPH算法的人脸识别、利用百度语音API和Alpaca-2模型实现的语音交互,以及基于ZED2i双目相机的摔倒检测,为老年人提供更加综合、智能的护理服务。实验结果显示,该机器人在人脸识别、语音交互和摔倒检测方面均表现出色。Addressing the current issues with elderly service robots,such as limited intelligent voice functions,insufficient perception capabilities,and low integration levels,this paper designed a robot with features including facial recognition,voice interaction,and fall detection.The robot is developed on the Robot Operating System(ROS)platform,equipped with a Jeston Nano main control board,a ZED2i stereo camera,and various other sensors.By employing facial recognition based on Haar features and LBPH algorithm,voice interaction using Alpaca-2 model,and fall detection based on ZED2i stereo camera,it provides more comprehensive and intelligent care services for the elderly.Experimental results demonstrate excellent performance of the robot in facial recognition,voice interaction,and fall detection.

关 键 词：老年服务机器人 机器人操作系统(ROS) 人脸识别 语音交互 智能感知 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]