CN104889995A - Household and medical service robot and working method thereof - Google Patents
Household and medical service robot and working method thereof Download PDFInfo
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- CN104889995A CN104889995A CN201510383869.3A CN201510383869A CN104889995A CN 104889995 A CN104889995 A CN 104889995A CN 201510383869 A CN201510383869 A CN 201510383869A CN 104889995 A CN104889995 A CN 104889995A
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- robot
- family expenses
- article
- grabbing device
- service robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
Abstract
The invention relates to a household and medical service robot and a working method thereof. The robot is provided with a traveling mechanism and a positioning mechanism, wherein the robot is controlled to move to a served person to provide the service, the robot is also provided with a containing cavity for storing articles and a grabbing device, and the grabbing device grabs the article for the served person from the containing cavity. The household and medical service robot can well substitute the manual work and overcome the problem of the insufficiency of the manual work and also can take care and help the old people, so that the problems caused by the social aging can be reduced.
Description
Technical field
The present invention relates to automatic machinery people, particularly relate to a kind of family expenses and Hospital Service Robot and method of work thereof.
Background technology
Along with improving constantly of modern society's material requisite and survival pressure, increasing energy is used for earning money by young people, accordingly, time input by family's work is then fewer and feweri, particularly there is the elderly to need the family looked after in family, how to carry out accepting or rejecting into a problem being difficult to determine.And simultaneously, in modern society, along with the continuous decline of birth rate and the development of medical system, the problem of an aging population is more and more serious.Ended for the end of the year 2013, China 60 one full year of life and above population account for 14.9%, 65 one full year of life of total population and above population accounts for 9.7% of total population.The existing aged of China more than 200,000,000, and increases with nearly speed of 1,000 ten thousand every year, and relevant expert predicts, to the year two thousand fifty, the Chinese aged will reach 1/3rd of total population.But the service that existing all kinds of old welfare institution of China can provide, the even not enough aged's 1.5%, can not satisfy the demand far away.Thus, utilize robot to make up to be short of hands and just become a new solution route.Family expenses and Hospital Service Robot are a kind of specialized robots for mankind's service, and artificial or nursing staff (or nurse) can be replaced to complete home services work.
Summary of the invention
The present invention aims to provide and a kind ofly can provide the family expenses of service and Medical Robot and method of work thereof to the elderly, with alternative manual service, meet simultaneously eldercare daily needed for.
Family expenses of the present invention and Hospital Service Robot, comprise the body of robot, and the walking mechanism driving its movement is equipped with in the bottom of body, and body is provided with the container cavity of placing articles, and can by the grabbing device of article taking-up in container cavity; Also have the detent mechanism of measuring robots position, comprise the position indicator being arranged in room or being worn on human body, and be arranged on the detector in robot, the relative position of detector measuring robots and position indicator and confirm current location.
The method of work of family expenses of the present invention and Hospital Service Robot, comprise following process: the position of the detector detection and location instrument in robot, thus the relative position relation calculated between the two, then walking mechanism drives body to move to desired position, as the position at old man place, after this, walking mechanism stops, article in container cavity also take out by grabbing device work, and the grabbing device of these article from robot can take off by old man.
Family expenses of the present invention and Hospital Service Robot and method of work thereof, robot confirms the relative position of itself and serviced people by detent mechanism, by the drive of walking mechanism, namely be movable to serviced people's part, article then can be delivered to serviced people on hand by grabbing device easily; Various article can be placed in container cavity, such as, various medicines, presbyopic glasses, water tumbler etc. needed for old man, can meet old man daily needed for, be good at especially looking after handicapped or old man that memory is poor.This kind of home-services robot can substitute manually well, compensate for artificial not enough problem, also can carry out daily treatment and help to old man, slow down the problem that social the elderly brings.
Accompanying drawing explanation
Fig. 1 is the structural representation of family expenses and Hospital Service Robot.
Fig. 2 is the state diagram that family expenses shown in Fig. 1 and Hospital Service Robot accommodating cavity are opened.
Fig. 3-5 is structural representations of the walking mechanism of family expenses shown in Fig. 1 and Hospital Service Robot.
Fig. 6 is the structural representation of the internal body of family expenses shown in Fig. 1 and Hospital Service Robot.
Fig. 7 is the structural representation of the rotating disk of family expenses shown in Fig. 1 and Hospital Service Robot.
Fig. 8 is the state diagram that the hood of family expenses shown in Fig. 1 and Hospital Service Robot is opened.
Fig. 9 is the structural representation of the window board of family expenses shown in Fig. 1 and Hospital Service Robot.
Figure 10 is the structural representation of the grabbing device of family expenses shown in Fig. 1 and Hospital Service Robot.
Figure 11 is the different rotary view of the video camera of family expenses shown in Fig. 1 and Hospital Service Robot.
Figure 12 is the structural representation of the wifi antenna of family expenses shown in Fig. 1 and Hospital Service Robot.
Figure 13,14 is a kind of wireless structural representations.
Figure 15 is a kind of wireless structural representation.
Figure 16,17 is structural representations of the charging device of family expenses shown in Fig. 1 and Hospital Service Robot.
Figure 18 is the traveling method schematic diagram of family expenses and Medical Robot.
Figure 19 is the coordinate setting principle schematic of family expenses shown in Fig. 1 and Hospital Service Robot.
Detailed description of the invention
As shown in Figure 1, a kind of family expenses and Hospital Service Robot, comprise the body 1 of robot, and the walking mechanism 2 driving its movement is equipped with in the bottom of body, and body is provided with the container cavity 3 of placing articles, and can by the grabbing device 4 of article taking-up in container cavity; Also have the detent mechanism of measuring robots position, comprise the position indicator being arranged in room or being worn on human body, and be arranged on the detector in robot, the relative position of detector measuring robots and position indicator and confirm current location.
As shown in Figure 2-5, walking mechanism 2 comprises the chassis 21 be arranged on bottom body 1, with the walking unit 23 that roller 22 is housed, the sniffer 24 of detecting obstacles thing and judgement position chassis 21 is also equipped with, if chassis is quadrilateral structure, then multiple sniffer is arranged on the surrounding outer wall on chassis respectively; If chassis is circular configuration, then multiple sniffer can be arranged on the outer wall on chassis equably.Wherein, sniffer 24 comprises one or more Infrared Detectors 25.As the robot moves, walking unit drives roller moves to drive the body movement on the machine of chassis, in this process, sniffer on chassis scans surrounding enviroment, avoiding obstacles is to run to serviced people place smoothly, its work safety, stable, is very convenient to the use of the elderly; Application then more ripe, the safety of Infrared Detectors, and with low cost.Walking structure can also arrange damping spring, stride across threshold to facilitate robot.
As shown in Figure 2,6, body 1 comprises shell 11, and support 12 is equipped with in the inside of shell, and support is provided with pallet 13, and pallet comprises the top tray on top and the lower tray of bottom; Also have the computer 51 of handling machine people program and control, computer is fixedly mounted on support 12.Pallet may be used for placing articles, only need be taken out by grabbing device when it is desired to be used, and in order to place more article, can arrange and hierarchically arrange two pallets, or even multiple pallet.Computer then for receiving and process the data of distribution of machine people, controls the cooperation between each parts and work, is arranged at internal body, can effectively protect it.
Rotatable rotating disk 14(is equipped with as shown in Fig. 2,7, the pallet 13 of body 1 or pallet 13 is rotating disk 14), be provided with the holder 15 of multiple placing articles in rotating disk; Holder 15 can be the different marker space be arranged in rotating disk, also can be multiple base for placing medicine bottle.Arranging of rotating disk can while putting into multiple article, select required article easily, in addition, robot a pallet can arrange rotating disk wherein, another pallet, then for placing other article, also can arrange rotating disk simultaneously on two pallets.
As shown in Figure 8,9, the shell 11 of body 1 has and is communicated with inner window, and the position at window place is just to the rotating disk 14 of enclosure; The window board 16 that can hide or open window is equipped with at the window place of body 1, and window board is arranged on shell 11 or support 12 by guideway 17, window board is installed with tooth bar 18, also has the gear 19 driving tooth bar motion.The setting of window can be convenient to grabbing device and be taken out by the article in rotating disk, window board then can under non-gripping state the article of available protecting inside and equipment; Window board can be set to transparent, so that the article on the inner case of observer robot and rotating disk; And the result of use of guideway is safer and quiet, the routing motion of wheel and rack then can make window board carry out folding quickly and safely, and the motor driving force used due to this kind of equipment is very little, in addition because wheel and rack is non-self-locking mechanism, can tong be avoided, also can increase sensor and avoid tong.
As shown in Figure 10, grabbing device 4 comprises the mount pad 41 be fixedly mounted on body 1, mount pad is equipped with the handgrip 42 capturing article opening or closing, and drives the push rod 43 of handgrip folding; Handgrip 42 comprises left and right two tongs, and one end of tong is provided with gear, and this end is installed in rotation on mount pad 41, and the body of rod of push rod 43 is arranged between two tongs, and which is provided with the tooth bar matched with the end gear of tong.During work, required article are turned to grabbing device place by rotating disk, and push rod drives handgrip to be taken out from rotating disk by article again, and its structure is simple, and work safety, quick.
As shown in Fig. 2,8,11,19, described family expenses and Hospital Service Robot, having can the video camera 61 of filmed image, and the support 62 that can horizontally rotate, support is equipped with the rotating shaft 63 that can rotate around horizontal axis, video camera is installed on the rotary shaft and is rotated with it; Video camera 61 is arranged on the top of robot, it is coated with hood 64, and the hood translucent cover that to be semicircle spherical.Video camera, by the effect of support and rotating shaft, can utilize room coordinates positioning principle to carry out scan camera shooting location to environment, coordinates detent mechanism and sniffer further can improve positioning function, as shown in figure 19 by it; In addition, video camera can also filmed image, can provide video signal function after combining with computer and display screen, facilitates serviced man and Man or carries out telecommunication with other people and video contacts.
As shown in Fig. 2,12, display screen 52 robot is equipped with, display screen can be connected with computer 51, control display screen by computer and show service prompts information, such as " please drink water ", the information such as " please take medicine ", and long-distance video call (such as installing ipad class display touch-screen) can be realized, also can as panel computer for serviced people, can also be connected with video camera and computer, video signal function is provided.The wifi antenna 53 of peripheral hardware robot is also equipped with for ease of the networking of robot.And improve service quality in order to a step, robot can also be arranged the drinking cup stand 54 of holding water cup, and the sphygmomanometer 55 of Measure blood pressure.Display screen can input characters or signal to point out different duties, but this not too may be applicable to the elderly and uses, so can arrange the status indicator lamp 56 of display different operating state on body 1 or window board 16, obtains more intuitive visual effect; In addition, status indicator lamp 56 also can be arranged at window board 16, the duty after opening for reminding window oralia.
As shown in Fig. 2,8, be provided with radio, wireless external antenna 71 is arranged on body 1.Compare the electrical equipment of the amusement such as TV, computer, the elderly hankers after wireless use more, the eyesight being then the elderly is on the other hand poor, easy fatigue, radio is then convenient to the elderly and is used, and substantially increases the joy of life of the elderly, simultaneously, radio is arranged in robot, the inconvenience that the elderly carries and finds can be exempted.
As shown in Fig. 2,8,13,14, radio is cylindrical shape, and loudspeaker 72 are arranged at cylindrical both sides and are exposed to the outside of robot housing, and wherein enclosing cover 73 is equipped with in side, controls wireless operation board 74 and is arranged on enclosing cover 73.This structure can make the structure of robot more balance, compact, obtain good audio simultaneously.
As shown in figure 15, radio can also be set to spherical, and one end of external antenna 71 is arranged on spherical body, and the other end extend out to the outside of robot housing, and loudspeaker 72 are arranged at spherical upper and be exposed to the outside of robot housing.This structure can make wireless volume more small and exquisite, is convenient to the layout of robot interior element.
As shown in Figure 16,17, described family expenses and Medical Robot are provided with charging device, comprise the cradle 81 of fixed placement, charging electrode 82 robot is equipped with, charging electrode connects computer 51, and when robot electric energy is not enough, charge in computer-controlled robot's auto-returned cradle place.Because of the elderly handicapped and be difficult to use high-tech product, robot automatic charging design then can auto-returned charging, drastically increase convenience.
The method of work of a kind of family expenses and Medical Robot, comprise following process: the position of the detector detection and location instrument in robot, thus the relative position relation calculated between the two, then walking mechanism drives body to move to desired position, as the position at old man place, after this, walking mechanism stops, article in container cavity also take out by grabbing device work, and the grabbing device of these article from robot can take off by old man.
Described method of work, in the process of robot localization, video camera first carries out Scan orientation to room, thus calculate the location point of self, and preset charged seat is set to home position, the position of detector (as being integrated into the position sensor of family expenses GPS) the detection and location instrument in robot, thus calculate relative position relation between the two.
Described method of work, robot is in the process of walking, and the information of detection barrier, delivering to computer by information by controlling amplifying circuit, controlling walking mechanism cut-through thing after computer disposal again.As shown in figure 18.
Described method of work, in the process of grabbing device pulling items, determines required article by computer program, and these article are delivered to grabbing device place by being elevated and rotating by the rotating disk being then mounted with these article, and grabbing device takes out these article again.
Described method of work, sets the time of respective services in a computer, and after putting the time of advent, robot moves to serviced people place, and display screen then shows service prompts information.
Described method of work, when the electricity of robot reach setting lower in limited time, then charge in auto-returned cradle place.
Claims (10)
1. plant family expenses and Hospital Service Robot, comprise the body (1) of robot, the walking mechanism (2) driving its movement is equipped with in the bottom of body, it is characterized in that: body is provided with the container cavity (3) of placing articles, and can by the grabbing device (4) of article taking-up in container cavity; Also have the detent mechanism of measuring robots position, comprise the position indicator being arranged in room or being worn on human body, and be arranged on the detector in robot, the relative position of detector measuring robots and position indicator and confirm current location.
2. family expenses according to claim 1 and Hospital Service Robot, it is characterized in that: walking mechanism (2) comprises the chassis (21) being arranged on body (1) bottom, the sniffer (24) of detecting obstacles thing and judgement position chassis is also equipped with the walking unit (23) that roller (22) is housed.
3. family expenses according to claim 1 and Hospital Service Robot, it is characterized in that: body (1) comprises shell (11), support (12) is equipped with in the inside of shell, and support is provided with pallet (13), and pallet comprises the top tray on top and the lower tray of bottom; Also have the computer (51) of handling machine people program and control, computer is fixedly mounted on support (12).
4. family expenses according to claim 3 and Hospital Service Robot, is characterized in that: the pallet (13) of body (1) is equipped with rotatable rotating disk (14), is provided with the holder (15) of multiple placing articles in rotating disk.
5. family expenses according to claim 1 and Hospital Service Robot, it is characterized in that: having can the video camera (61) of filmed image, with the support that can horizontally rotate (62), support is equipped with the rotating shaft (63) that can rotate around horizontal axis, video camera is installed on the rotary shaft and is rotated with it; Video camera (61) is arranged on the top of robot, it is coated with hood (64), and the hood translucent cover that to be semicircle spherical.
6. family expenses according to claim 1 and Hospital Service Robot, it is characterized in that: be provided with charging device, comprise the cradle (81) of fixed placement, charging electrode (82) robot is equipped with, charging electrode connects computer (51), when robot electric energy is not enough, charge in computer-controlled robot's auto-returned cradle place.
7. the method for work of a home-care service and Medical Robot, it is characterized in that comprising following process: the position of the detector detection and location instrument in robot, thus the relative position relation calculated between the two, then walking mechanism drives body to move to desired position, as the position at old man place, after this, walking mechanism stops, article in container cavity also take out by grabbing device work, and the grabbing device of these article from robot can take off by old man.
8. the method for work of family expenses according to claim 7 and Hospital Service Robot, it is characterized in that: in the process of robot localization, video camera first carries out Scan orientation to room, thus calculate the location point of self, and preset charged seat is set to home position, the position of the detector detection and location instrument in robot, thus calculate relative position relation between the two.
9. the method for work of family expenses according to claim 7 and Hospital Service Robot, it is characterized in that: in the process of grabbing device pulling items, required article are determined by computer program, these article are delivered to grabbing device place by being elevated and rotating by the rotating disk being then mounted with these article, and grabbing device takes out these article again.
10. the method for work of family expenses according to claim 7 and Hospital Service Robot, it is characterized in that: the time setting respective services in a computer, after putting the time of advent, robot moves to serviced people place, and display screen then shows service prompts information.
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| CN201510383869.3A CN104889995B (en) | 2015-07-03 | 2015-07-03 | A kind of family expenses and Hospital Service Robot and its method of work |
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| CN104889995A true CN104889995A (en) | 2015-09-09 |
| CN104889995B CN104889995B (en) | 2017-07-07 |
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| CN105291113A (en) * | 2015-11-27 | 2016-02-03 | 深圳市神州云海智能科技有限公司 | Robot system for home care |
| CN105741626A (en) * | 2016-05-16 | 2016-07-06 | 苏州金建达智能科技有限公司 | Education robot arm containing touch screen |
| CN106054829A (en) * | 2016-05-27 | 2016-10-26 | 山东建筑大学 | Domestic water carriage service robot system and motion method thereof |
| CN106078755A (en) * | 2016-06-21 | 2016-11-09 | 昆明理工大学 | A kind of multifunctional medical service robot |
| CN106108863A (en) * | 2016-08-12 | 2016-11-16 | 李乾 | A kind of monitoring robot system |
| CN106363638A (en) * | 2016-10-19 | 2017-02-01 | 苏州大成电子科技有限公司 | Gesture command robot |
| WO2017041594A1 (en) * | 2015-09-10 | 2017-03-16 | 北京进化者机器人科技有限公司 | Robot operating state switching method and system |
| CN106773746A (en) * | 2015-11-23 | 2017-05-31 | 芋头科技（杭州）有限公司 | The intelligence system and its method of work of a kind of home-care service |
| WO2017193483A1 (en) * | 2016-05-07 | 2017-11-16 | 深圳市华科安测信息技术有限公司 | Mobile medical service robot |
| CN107351098A (en) * | 2017-09-12 | 2017-11-17 | 皖西学院 | A kind of multifunctional medical service robot |
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| CN108214508A (en) * | 2017-12-31 | 2018-06-29 | 天津木牛流马科技发展股份有限公司 | Robot of community service station |
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| CN110340908A (en) * | 2019-08-15 | 2019-10-18 | 广州华见智能科技有限公司 | A kind of endowment Chinese medicine robot |
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| CN106078755B (en) * | 2016-06-21 | 2019-02-05 | 昆明理工大学 | A kind of multifunctional medical service robot |
| CN106108863A (en) * | 2016-08-12 | 2016-11-16 | 李乾 | A kind of monitoring robot system |
| CN106363638A (en) * | 2016-10-19 | 2017-02-01 | 苏州大成电子科技有限公司 | Gesture command robot |
| CN107351098A (en) * | 2017-09-12 | 2017-11-17 | 皖西学院 | A kind of multifunctional medical service robot |
| CN107877520A (en) * | 2017-10-23 | 2018-04-06 | 惠州Tcl家电集团有限公司 | A kind of article-storage device, autonomous system and control method |
| CN108214508A (en) * | 2017-12-31 | 2018-06-29 | 天津木牛流马科技发展股份有限公司 | Robot of community service station |
| CN108582109A (en) * | 2018-05-15 | 2018-09-28 | 熊光宇 | One kind is from treads infrared detection robot |
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| CN109732624A (en) * | 2019-03-11 | 2019-05-10 | 李永梅 | A kind of meal delivery device based on intelligent robot |
| CN109732624B (en) * | 2019-03-11 | 2020-11-06 | 山东宾合信息科技有限公司 | Food delivery device based on intelligent robot |
| CN110340908A (en) * | 2019-08-15 | 2019-10-18 | 广州华见智能科技有限公司 | A kind of endowment Chinese medicine robot |
| CN113524210A (en) * | 2021-06-23 | 2021-10-22 | 青岛大学附属医院 | Intelligent full-automatic diagnosis and treatment and clinical research auxiliary robot |
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Address after: No. 24, 26 Xinghua Road, Yixin community, Pingdi street, Longgang District, Shenzhen City, Guangdong Province Co-patentee after: Shenzhen nExit Industry Co.,Ltd. Patentee after: Lu Chunsheng Address before: 9-22C Longgang street Longgang Zhenye crest Valley Garden District of Shenzhen City, Guangdong province 518116 Co-patentee before: SHENZHEN NICETY F.R.P. DUTY Co.,Ltd. Patentee before: Lu Chunsheng |
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