CN103110485A - Multifunctional intelligent medical guardian wheelchair and wheelchair control method - Google Patents
Multifunctional intelligent medical guardian wheelchair and wheelchair control method Download PDFInfo
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Abstract
The invention relates to a multifunctional intelligent medical guardian wheelchair which comprises a wheelchair body, an industrial control computer, a camera, a laser positioning sensor, a bottom core control module, an environment sensor, an electric energy control module, a tablet computer, a manipulator arm, a manipulator arm operation module, a first motor, a second motor, a synchronous driving control module, a remote information inquiring terminal, a autonomous navigation system and a video voice communication module. The first motor and the second motor drive a left power wheel and a right power wheel respectively, the synchronous motor driving control module controls the motors, and the remote information inquiring terminal, the autonomous navigation system and the video voice communication module are connected with the tablet computer. The tablet computer is connected with the industrial control computer which is connected with the bottom core control module, the manipulator arm operation module is connected with the industrial control computer, and the synchronous motor driving control module is connected with the bottom core control module. The multifunctional intelligent medical guardian wheelchair integrates multiple functions of moving, serving, interacting and guardian and the like, and is capable of alleviating burden of taking care of solitude elder people and patients with quarantined diseases in the society.
Description
Technical field
The present invention relates to the service robot technical field, refer to particularly a kind of multifunctional medical monitoring intelligent wheel chair and wheelchair control method.
Technical background
In recent years, because old people's ratio increases, its quality of life and health status need to obtain the caring attention of society, and the life of the isolation sufferer of hospital and rehabilitation link need to expend a large amount of manpower and materials.
Large quantity research has been done to the service class robot by the country such as America and Europe and Japan and Korea S, and has produced many finished products, and some finished product is the marketization even.And at present in China, due to start late for service class robot field's research and development, target is disperseed, inorganizable, insufficient investment, causes product in this regard less.
The service robot typical products has the Robot Helps Me To Avoid Danger nurse Care-O-Bot3 of Germany, is mainly used in to replace some dangerous, poisonous, harmful work positions, and the high 1.5m of this robot, whole body spreads all over sensor, can move freely; The touch screen of front has acoustic control or gesture control ability, can also understand voice command and understand gesture command.The remote monitoring machine people ConnectR of U.S. iRobot company exploitation.The user can pass through this supervisory control of robot domestic environment, can with friend's video interactive, can monitor house pet.ConnectR is by high-quality video, and voice messaging provides virtual visit.The user can control by the PC that can surf the Net this robot, and by password is set, robot can only allow by people's control and the virtual visit of authentication.The novel wheel chair robot of Japan is named as " RT-Mover ", and middle island professor shows how it easily climbs up and highly reaches the step of 25 centimetres, and its wheel can also rotating 360 degrees.
According to current market survey, most of robot has following shortcoming: 1, function ratio is more single, can only complete the action of mechanization repeatedly, Care-O-Bot3 above-mentioned for example, outer likeness in form vacuum cleaner, people can only control it by the touch screen of its front, sometimes gesture misinterpretation, can carry out wrong operation, can only complete some simple work, and can not help handicapped personage to move.And the ConnectR robot with a high-definition camera and wifi network, can carry out video, speech exchange due to it, but only rests in interchange, can't extract articles for daily use for the user.And above two class robots do not possess wheelchair class device, thus can not be manned, can't satisfy some handicapped personages and old user's the requirement such as trip, shopping.Wheel chair robot and for example although climbing capacity is strong, can only provide manned trip this function.2, above robot does not have interface and the mode of operation of some hommizations, generally only have some buttons and simple touch screen, this just must the specialty operation, could allow the relatively accurate requirement of completing appointment of robot, can only be operated by the professional person, thereby caused the whole day service of " one to one " formula, wasted a large amount of manpower and materials, also brought huge economic pressures to consumer.
The shortcomings such as in sum, there is function singleness in above robot, and operability is poor.
Summary of the invention
Purpose of the present invention will provide exactly that a kind of to integrate mobile, mutual, service, monitoring etc. multi-functional, reasonable price, multifunctional medical monitoring intelligent wheel chair and wheelchair control method simple to operate are to alleviate old solitary people and treatment and the cost issues of isolating the patient on society.
for realizing this purpose, the multifunctional medical monitoring intelligent wheel chair that the present invention is designed, comprise the wheelchair body with a pair of power wheel and deflecting roller, be arranged on the industrial control computer on the wheelchair body, photographic head, laser positioning sensor, the bottom kernel control module, environmental sensor and controlling electric energy module, wherein, described photographic head is connected with industrial control computer with laser positioning sensor and is connected, environmental sensor is connected with the bottom kernel control module with the controlling electric energy module and is connected, it is characterized in that: it also comprises panel computer, be arranged on the mechanical arm on the wheelchair body, control the mechanical arm operational module of mechanical arm action, drive the first motor of left side power wheel, drive the second motor of the right power wheel, control the motor driven in synchronism control module of the first motor and the second motor, the remote information inquiry terminal that is connected with panel computer, autonomous navigation system and video speech exchange module, wherein, described panel computer connects industrial control computer by wireless signal, industrial control computer connects the bottom kernel control module by data/address bus, the communication ends of mechanical arm operational module connects the communication ends of industrial control computer, the communication ends of motor driven in synchronism control module connects the communication ends of bottom kernel control module.
In technique scheme, it also comprises user health information management system and the luminance sensor that is connected with the communication ends of industrial control computer.
In technique scheme, it also comprises the floor light module that is connected with the communication ends of bottom kernel control module.
Described environmental sensor is temperature sensor and humidity sensor.
Described mechanical arm is the four-degree-of-freedom mechanical arm, and described wheelchair body is provided with support, and the bottom of described four-degree-of-freedom mechanical arm is fixed on support, and the top of described four-degree-of-freedom mechanical arm is the mechanical arm pawl.
Described laser positioning sensor is arranged on support, and described industrial control computer is by WIFI(wireless fidelity) communications platform is connected with panel computer, and industrial control computer is connected with the bottom kernel control module by on-the-spot RS485 bus.
A kind of method for controlling intelligent wheelchair of above-mentioned multifunctional medical monitoring intelligent wheel chair is characterized in that it comprises the steps:
Step 1: scan the structure of user environment by laser positioning sensor, and complete map structuring in industrial control computer, industrial control computer is mapped to the environmental map that builds on panel computer;
Step 2: the user determines whether to need to use the independent navigation function, need to enter step 3, otherwise, finish;
Step 3: the user opens environmental map on panel computer, selects to want the position that reaches on environmental map;
Step 4: the autonomous navigation system that is connected with panel computer sends the Navigation Control signal according to the destination locations that the user selects, and described Navigation Control signal is transferred to the bottom kernel control module by panel computer and industrial control computer successively;
Step 5: described bottom kernel control module passes through Navigation Control signal control motor driven in synchronism control module, thereby drives the first motor and the second motor, and then drives the power wheel rotation, makes wheelchair arrive the position of user's appointment;
Step 6: the image information of all articles for use that in advance user needed is stored in the data base of industrial control computer;
Step 7: user's operate tablet computer expert crosses the image that industrial control computer is controlled photographic head picked-up wheelchair surrounding articles for use, and the image of wheelchair surrounding articles for use is sent on panel computer shows;
Step 8: the user clicks according to the demand of oneself image of wanting to pick up articles for use on panel computer, panel computer with this image transmitting to industrial control computer, and compare one by one with the articles for use image of industrial control computer databases storage, the image of selecting as the user and the image ratio in the industrial control computer data base are when all inconsistent, panel computer reports an error, image ratio in image that the user selects and industrial control computer data base enters step 9 to after identical image is arranged;
Step 9: the user controls wheelchair according to the method for step 3 ~ 5 and arrives near the articles for use that need to pick up, and industrial control computer is controlled mechanical arm by the mechanical arm operational module and picked up articles for use.
In described step 4: the destination locations that the autonomous navigation system that is connected with panel computer is selected according to the user, and the various barriers on environmental map, calculate the minimal path that arrives this destination locations, send the Navigation Control signal according to this generic line, described Navigation Control signal is transferred to the bottom kernel control module by panel computer and industrial control computer successively.
Described environmental sensor gathers the ambient parameter of wheelchair periphery, and is transferred to panel computer by bottom kernel control module, industrial control computer successively.
Described panel computer is realized information interaction by remote information inquiry terminal and remote computer.
The present invention is applicable to handicapped old man, individuals with disabilities and hospital's isolation sufferer dailyly rides instead of walk, article carrying, video interactive, long-rangely look after, the work such as sufferer information gathering transmission.In the situation that old solitary people unsupervised, disabled are handicapped, the isolation sufferer is difficult for visiting, this robot can be by remote control or automatically controls, and realize operator's instruction, satisfies the healthcare givers and by caregiver's dual requirements.
The present invention adopts dual drive wheel and two directive wheel walking mechanism, can adapt to different terrain under the control of navigation system, can realize freely advancing and retreat and turning.In addition, mechanical arm can crawl in proper range, transmission and placing articles, for example helps the user to grasp F﹠B, helps the doctor to send and place medicine.
Panel computer of the present invention by the wifi communications platform, can be realized speech exchange, video monitoring and Long-distance Control.Industrial control computer, the collection of completing user health and fitness information and transmission work and deliver to panel computer and show in real time under the wifi network condition; And can control the kinestate of intelligent wheel chair by fieldbus RS-485, realize different mechanically actuateds.The laser positioning sensor that it carries and binocular camera shooting head, the information such as energy Obtaining Accurate health state of user, position, action.In time find and report to the police when abnormality being occurred by the caregiver.
Set of the present invention has complete efficient control system, wherein comprises controlling electric energy and administration module, can monitor battery power status, and battery charging and overcurrent-overvoltage are protected; Motor driven in synchronism control module realizes DC servo motor synchronizing speed and turning function.
Description of drawings
Fig. 1 is perspective view of the present invention;
Fig. 2 is theory diagram of the present invention;
Wherein, 1-power wheel, 2-deflecting roller, 3-wheelchair body, 4-photographic head, 5-laser positioning sensor, 6-panel computer, 7-mechanical arm, the 8-the first motor, the 9-the second motor, 10-wheelchair armrest, 11-support, 12-mechanical arm pawl, 13-floor light module.
The specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments:
as illustrated in fig. 1 and 2 towards CPS(Cyber Physical System, information physical system) multifunctional medical monitoring intelligent wheel chair, comprise the wheelchair body 3 with a pair of power wheel 1 and deflecting roller 2, be arranged on the industrial control computer on wheelchair body 3, photographic head 4, laser positioning sensor 5, the bottom kernel control module, environmental sensor and controlling electric energy module, wherein, photographic head 4 is connected with laser positioning sensor and is connected with industrial control computer respectively, environmental sensor is connected with the bottom kernel control module with the controlling electric energy module and is connected, it also comprises panel computer 6, be arranged on the mechanical arm 7 on wheelchair body 3, control the mechanical arm operational module of mechanical arm 7 actions, drive the first motor 8 of left side power wheel 1, drive the second motor 9 of the right power wheel 1, control the motor driven in synchronism control module of the first motor 8 and the second motor 9, the remote information inquiry terminal that is connected with panel computer 6, autonomous navigation system and video speech exchange module, wherein, panel computer 6 connects industrial control computer by wireless signal, industrial control computer connects the bottom kernel control module by data/address bus, the communication ends of mechanical arm operational module connects the communication ends of industrial control computer, the communication ends of motor driven in synchronism control module connects the communication ends of bottom kernel control module.The dismountable panel computer of above-mentioned panel computer 6 zone of preference android operating systems.Above-mentioned autonomous navigation system is based on the iterative search location algorithm design of method of least square.Above-mentioned controlling electric energy module is used for controlling the power distribution of intelligent wheel chair.Above-mentioned video speech exchange module realizes being used for guarding with far-end personnel's video speech exchange, and video image obtains by photographic head 4, and voice signal obtains by the mike that panel computer 6 carries.
In technique scheme, it comprises that also the user health information management system that is connected with the communication ends of industrial control computer is connected the floor light module 13 that is connected with the communication ends of bottom kernel control module with luminance sensor.The strong and weak information of light around luminance sensor is used for gathering, industrial control computer information output light controling signal strong and weak according to the light of environment is to the bottom kernel control module, and the bottom kernel control module is controlled floor light module 13 and is is automatically opened or closed.
In technique scheme, environmental sensor is temperature sensor and humidity sensor.
In technique scheme, mechanical arm 7 is the four-degree-of-freedom mechanical arm, and wheelchair body 3 is provided with support 11, and the bottom of four-degree-of-freedom mechanical arm is fixed on support 11, and the top of four-degree-of-freedom mechanical arm is mechanical arm pawl 12.The four-degree-of-freedom mechanical arm can help the user to extract, transmit and place the article such as articles for daily use, beverage, medicine, strengthens handicapped user's self care ability, realizes its family helper's function.
In technique scheme, laser positioning sensor 5 is arranged on support 11, and industrial control computer is connected with panel computer 6 by the WIFI communications platform, and industrial control computer is connected with the bottom kernel control module by on-the-spot RS485 bus.
The present invention also is equipped with blood pressure/body temperature of being connected with industrial control computer/pulse transducer, and the sensor can gather user's related physiological information parameter and transfer to industrial control computer.Industrial control computer is sent to the remote server end by network with patient's health status and sign information and preserves, and makes the health condition that the doctor can the Real-Time Monitoring user, realizes the medical assistance function.
In technique scheme, industrial control computer adopts SQL Server 2008 data bases that the user health information networking of bottom kernel control module transmission is transferred to the remote server terminal storage, is convenient to the user by the inquiry of distinct device real time access.
In technique scheme, laser positioning sensor 5, by the different layout of houses structure of user is scanned, determine user's building structure, and together realizing autonomous location navigation function with autonomous navigation system and motor driven in synchronism control module, the user can control by panel computer and industrial control computer.
In technique scheme, panel computer 6 is set on wheelchair armrest 10.
In technique scheme, the preferred binocular camera shooting head of described photographic head 4.
A kind of method for controlling intelligent wheelchair according to above-mentioned multifunctional medical monitoring intelligent wheel chair, it comprises the steps:
Step 1: by the structure of laser positioning sensor 5 scanning user environments, and complete map structuring in industrial control computer, industrial control computer is mapped to the environmental map that builds on panel computer 6;
Step 2: the user determines whether to need to use the independent navigation function, need to enter step 3, otherwise, finish;
Step 3: the user opens environmental map on panel computer 6, selects to want the position that reaches on environmental map;
Step 4: the autonomous navigation system that is connected with panel computer 6 sends the Navigation Control signal according to the destination locations that the user selects, and the Navigation Control signal is transferred to the bottom kernel control module by panel computer 6 and industrial control computer successively;
Step 5: the bottom kernel control module passes through Navigation Control signal control motor driven in synchronism control module, thereby drives the first motor 8 and the second motor 9, and then drives power wheel 1 rotation, makes wheelchair arrive the position of user's appointment;
Step 6: the image information of all articles for use that in advance user needed is stored in the data base of industrial control computer;
Step 7: user's operate tablet computer 6 is controlled the image of photographic head 4 picked-up wheelchair surrounding articles for use by industrial control computer, and the image of wheelchair surrounding articles for use is sent to demonstration on panel computer 6;
Step 8: the user clicks according to the demand of oneself image of wanting to pick up articles for use on panel computer 6, panel computer 6 with this image transmitting to industrial control computer, and compare one by one with the articles for use image of industrial control computer databases storage, the image of selecting as the user and the image ratio in the industrial control computer data base are when all inconsistent, panel computer 6 reports an error, image ratio in image that the user selects and industrial control computer data base enters step 9 to after identical image is arranged; The comparison end user artificial neural networks PRS of above-mentioned image carries out one to one matching ratio, if similarity degree during higher than given marginal value, is considered to and can identifies, further whether reminding user grasps these article, if similarity degree during lower than given marginal value, is thought None-identified;
Step 9: the user controls wheelchair according to the method for step 3 ~ 5 and arrives near the articles for use that need to pick up, and industrial control computer is controlled mechanical arm 7 by the mechanical arm operational module and picked up articles for use.
In the step 4 of technique scheme: the destination locations that the autonomous navigation system that is connected with panel computer 6 is selected according to the user, and the various barriers on environmental map, calculate the minimal path that arrives this destination locations, send the Navigation Control signal according to this generic line, the Navigation Control signal is transferred to the bottom kernel control module by panel computer 6 and industrial control computer successively.When all routes that can arrive destination locations all were blocked, whether panel computer 6 just can reminding user reaches the reason that door has been closed or other are possible in this room.
In technique scheme, environmental sensor gathers the ambient parameters such as temperature and humidity of wheelchair periphery, and is transferred to panel computer 6 for user's grasp by bottom kernel control module, industrial control computer successively.
In technique scheme, panel computer 6 is realized information interaction by remote information inquiry terminal and remote computer.
The content that this description is not described in detail belongs to the known prior art of this area professional and technical personnel.
Claims (10)
1. a multifunctional medical is guarded intelligent wheel chair, comprise the wheelchair body (3) with a pair of power wheel (1) and deflecting roller (2), be arranged on the industrial control computer on wheelchair body (3), photographic head (4), laser positioning sensor (5), the bottom kernel control module, environmental sensor and controlling electric energy module, wherein, described photographic head (4) is connected 5 with laser positioning sensor) be connected with industrial control computer respectively, environmental sensor is connected with the bottom kernel control module with the controlling electric energy module and is connected, it is characterized in that: it also comprises panel computer (6), be arranged on the mechanical arm (7) on wheelchair body (3), control the mechanical arm operational module of mechanical arm (7) action, drive first motor (8) of left side power wheel (1), drive second motor (9) of the right power wheel (1), control the motor driven in synchronism control module of the first motor (8) and the second motor (9), the remote information inquiry terminal that is connected with panel computer (6), autonomous navigation system and video speech exchange module, wherein, described panel computer (6) connects industrial control computer by wireless signal, industrial control computer connects the bottom kernel control module by data/address bus, the communication ends of mechanical arm operational module connects the communication ends of industrial control computer, the communication ends of motor driven in synchronism control module connects the communication ends of bottom kernel control module.
2. multifunctional medical according to claim 1 is guarded intelligent wheel chair, and it is characterized in that: it also comprises user health information management system and the luminance sensor that is connected with the communication ends of industrial control computer.
3. multifunctional medical according to claim 2 is guarded intelligent wheel chair, and it is characterized in that: it also comprises the floor light module (13) that is connected with the communication ends of bottom kernel control module.
4. multifunctional medical according to claim 1 is guarded intelligent wheel chair, and it is characterized in that: described environmental sensor is temperature sensor and humidity sensor.
5. multifunctional medical according to claim 1 is guarded intelligent wheel chair, it is characterized in that: described mechanical arm (7) is the four-degree-of-freedom mechanical arm, described wheelchair body (3) is provided with support (11), the bottom of described four-degree-of-freedom mechanical arm is fixed on support (11), and the top of described four-degree-of-freedom mechanical arm is mechanical arm pawl (12).
6. multifunctional medical according to claim 5 is guarded intelligent wheel chair, it is characterized in that: described laser positioning sensor (5) is arranged on support (11), described industrial control computer is connected with panel computer (6) by the WIFI communications platform, and industrial control computer is connected with the bottom kernel control module by on-the-spot RS485 bus.
7. according to claim 1 ~ 6 described multifunctional medicals of any one are guarded intelligent wheel chairs, and the control method of its intelligent wheel chair comprises the steps:
Step 1: by the structure of laser positioning sensor (5) scanning user environment, and complete map structuring in industrial control computer, industrial control computer is mapped to the environmental map that builds on panel computer (6);
Step 2: the user determines whether to need to use the independent navigation function, need to enter step 3, otherwise, finish;
Step 3: the user opens environmental map on panel computer (6), selects to want the position that reaches on environmental map;
Step 4: the autonomous navigation system that is connected with panel computer (6) sends the Navigation Control signal according to the destination locations that the user selects, and described Navigation Control signal is transferred to the bottom kernel control module by panel computer (6) and industrial control computer successively;
Step 5: described bottom kernel control module passes through Navigation Control signal control motor driven in synchronism control module, thereby drives the first motor (8) and the second motor (9), and then drives power wheel (1) rotation, makes wheelchair arrive the position of user's appointment;
Step 6: the image information of all articles for use that in advance user needed is stored in the data base of industrial control computer;
Step 7: user's operate tablet computer (6) is controlled the image of photographic head (4) picked-up wheelchair surrounding articles for use by industrial control computer, and the image of wheelchair surrounding articles for use is sent to the upper demonstration of panel computer (6);
Step 8: the user clicks according to the demand of oneself image of wanting to pick up articles for use on panel computer (6), panel computer (6) with this image transmitting to industrial control computer, and compare one by one with the articles for use image of industrial control computer databases storage, the image of selecting as the user and the image ratio in the industrial control computer data base are when all inconsistent, panel computer (6) reports an error, image ratio in image that the user selects and industrial control computer data base enters step 9 to after identical image is arranged;
Step 9: the user controls wheelchair according to the method for step 3 ~ 5 and arrives near the articles for use that need to pick up, and industrial control computer picks up articles for use by mechanical arm operational module control mechanical arm (7).
8. method for controlling intelligent wheelchair according to claim 7, it is characterized in that: in described step 4: the destination locations that the autonomous navigation system that is connected with panel computer (6) is selected according to the user, and the various barriers on environmental map, calculate the minimal path that arrives this destination locations, send the Navigation Control signal according to this generic line, described Navigation Control signal is transferred to the bottom kernel control module by panel computer (6) and industrial control computer successively.
9. method for controlling intelligent wheelchair according to claim 7 is characterized in that: described environmental sensor gathers the ambient parameter of wheelchair periphery, and is transferred to panel computer (6) by bottom kernel control module, industrial control computer successively.
10. method for controlling intelligent wheelchair according to claim 7, it is characterized in that: described panel computer (6) is realized information interaction by remote information inquiry terminal and remote computer.
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Effective date of registration: 20190701 Address after: 201107 CV110 twenty-second, 1-30 Lane 88, min Bei Road, Minhang District, Shanghai. Patentee after: Shanghai Zhi Jiang Technology Co. Ltd. Address before: 430070 Hubei Province, Wuhan city Hongshan District Luoshi Road No. 122 Patentee before: Wuhan University of Technology |