2007 International Student Experimental Hands-on Project
Competition via Internet on Intelligent Mechatronics and Automation
LuoMaid : Intelligent Home Care Robot
Sung-Sheng Huang, Yi-Huei Jhu, Yu-Da Hong,
Wen-Ho Cheng, Prof. Ren C. Luo
Intelligent Automation Laboratory
Department of Electrical Engineering
National Chung Cheng University, Taiwan, ROC
EE123, 160 San-Hsing, Min-Hsiung, Chia-Yi 621, Taiwan, R.O.C.
Phone: (05)2720411-23270 E-mail: email@example.com
Key Words: system. There are four major components
in this system, which are motion planning,
Multi-robot, home care, sensor localization, sensor and remote control.
network, localization, motion planning, And all those components are connected
remote monitor, remote control, human by intranet.
trace, fall down detection, fire detection.
Due to the development of medical
techniques and the lower birth rate of
population, the aging problem becomes an
important issue over the world. Another Figure1：System Architecture of LuoMaid
important issue is that how to make a safe
indoor environment for the child. We can In this project, our experimental
image that the people who need long term environment is show as Figure 2. There
care are much more than now. If we don't are three rooms in this space. Each room
have good policy against this issue, the has a fire sensor. Additionally, we mark a
aging and children safety problem will dangerous area to avoid child get damage,
have great impact on our country. such as gate, veranda and kitchen.
This project is based on sensor
network theory aim to implement
multi-robot. Differed from huge-sized
robots, each robot has the feature of small,
simplicity, low-cost, and efficient. Our
project is focus on home care included
child and elder.
II. SYSTEM ARCHITECTURE
Figure1 is our system architecture. Figure2：Experimental Environment
This system is design as a decentralized
The main design factories under our detection module is based on accelerator.
consideration are small, simplicity and Its basic principle is based different
low-cost. The main component on the top acceleration. Normally fall down will
layer is micro processor and the wireless produce bigger acceleration.
communication chip. Micro processor is
response to the motion planning and the IV. SCENARIOS
compass is used to calibrate the turning
angle. Human trace: we assume that a mote
is attached to a child. Thus we can know
the child position. When the child is
moving our robot will follow and monitor
him continuously. And our robot will send
out warning message when the child goes
to dangerous room (for example kitchen,
Home care: When an elder fall down
Figure3：LuoMaid the device which attached to elder will
trigger. Our robot will immediately move
III. SYSTEM FUNCTION to him and sent the message to hospital
staff or his family.
In this LuoMaid home care robot
there are three major functions, which is Home security: Home security is
localization, fire detection, fall down another purpose of our multi-robot. When
detection. the environment occurred dangerous
situation (for example: fire alarm), the
Localization: The indoor localization robot will be sent to check what is going
system uses the RSSI (received signal on firstly. If the robot detected dangerous
strength indicator) to estimate the location situation it will call a big robot to handle
of mobile user via IEEE 802.15.4 wireless further work.
devices. RSSI could be used to make the
range estimation. With range estimation V. CONCLUSION
and triangular algorithm, localization can
We develop a multi-robot based on
sensor network theory. LuoMaid
Fire detection: We implemented a multi-robot is focus on home care
fire detection module which is contained included child and elder. Differed from
flame sensor and microprocessor. Flame huge-sized robots, each robot has the
sensor is triggered by ultraviolet and sent feature of small, simplicity, low-cost, and
the data to microprocessor. Then efficient. Sensor network technology is
microprocessor gathers data to PC for used to localize and gather data form
analysis. environmental sensor. With LuoMaid
multi-robot and sensor network
Fall down detection: Usually fall technology, home care can be guaranteed.
down would cause damage for elder. Our
system has ability to detect him precisely
when people fall down. The fall down