CN105082149A - Health service robot capable of achieving oxyhemoglobin saturation detection - Google Patents
Health service robot capable of achieving oxyhemoglobin saturation detection Download PDFInfo
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Abstract
The invention discloses a health service robot capable of achieving oxyhemoglobin saturation detection. The health service robot comprises a robot body, a master control unit, a movement control unit, a binocular vision capturing unit, a human-machine interaction unit, an environment perception sensor unit, a medical detection unit and a power supply unit. The medical detection unit comprises an oxyhemoglobin saturation detection device. The oxyhemoglobin saturation detection device is arranged on the front face of the palm center of the robot body. The master control unit is connected with the movement control unit, the binocular vision capturing unit, the human-machine interaction unit, the environment perception sensor unit and the medical detection unit through a bus communication protocol and a serial communication protocol. The power supply unit is used for supplying power to the other units. According to the health service robot, the robot moving technology and the medical detecting technology are combined, and the health service robot has the beneficial effects of being good in human-machine interaction, convenient to move and use and long in service life.
Description
Technical field
The present invention relates to a kind of service robot, especially a kind of health service robot realizing blood oxygen saturation and detect, belongs to service robot and vital sign parameter detection technique field.
Background technology
Along with the raising of people's living standard, the health perception of people strengthens day by day, the demand of zero load detection physiological parameter occurs thereupon whenever and wherever possible, in recent years, develop service robot rapidly and meet the ideal carrier of this demand just, the blood oxygen saturation information of robot terminal collection user is utilized to be the future thrust of portable medical and tele-medicine, along with blood oxygen measuring ability is transplanted on service robot, on the one hand can Real-Time Monitoring heart and brain hypoxic condition, histogenous hypoxia disease, respiratory hypoxia disease and sleep apnea syndrome, be user-friendly for self-health Evaluation, to take measures early symptom management, at utmost avoid the too low health hazard that causes of blood oxygen saturation or life danger.On the other hand, health detection anywhere or anytime can be carried out for handicapped old man and child, and can be simplified the operation largely by the voice broadcast that is mutual, result of voice.
Oxygen in air enters blood after human lung exchanges, and is combined on hemoglobin and is supplied to whole body, maintains the eubolism of cell.Blood oxygen saturation (SpO2) is for reflecting that in this blood, oxygenated water is put down, and blood oxygen saturation refers to that the capacity of oxyhemoglobin in blood (HbO2) accounts for the percentage of whole hemoglobin (Hb) capacity.Under normal circumstances, the blood oxygen saturation of human body remains on 98%, generally be not less than 94%, if blood oxygen saturation is too low, then show to organize and can not get sufficient oxygen, maybe can not make full use of oxygen, cause the metabolism of tissue, function, even morphosis generation ANOMALOUS VARIATIONS, hypoxic-ischemic can cause neuronic death in 4 minutes, can threat to life time serious.Therefore, the detection of blood oxygen saturation is carried out to human body extremely important.
At present, blood oxygen saturation measuring ability is common in various patient monitor, for monitoring, health assessment provides a kind of objectively vital sign parameter, but, blood oxygen saturation checkout gear common on these markets adopts transmission-type method for detecting blood oxygen saturation mostly, operation inconvenience, comfort level is poor, tension during detection can be caused, psychological pressure and physiological stress is brought to tester, thus cause result distortion, and these checkout equipments concentrate on inside large hospital mostly, be unfavorable for the structure of Telemedicine System and the convenient index of portable medical, be difficult to promote in the family, also be difficult to realize user and doctor carries out remote interaction.
Summary of the invention
The object of the invention is the defect in order to solve above-mentioned prior art, provide a kind of health service robot realizing blood oxygen saturation and detect, this health service robot can realize blood oxygen saturation and detect, and has good man-machine interaction, is convenient to mobile, easy to use, that service time is long advantage.
Object of the present invention can reach by taking following technical scheme:
Realize the health service robot that blood oxygen saturation detects, comprise robot body, main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, medical detecting unit and Power supply unit;
Described main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detecting unit are arranged on robot body; Described medical detecting unit comprises blood oxygen saturation checkout gear, described blood oxygen saturation checkout gear is arranged on the front, the centre of the palm of robot body, time laminatings in the centre of the palm of robot body and the user centre of the palm, wake blood oxygen saturation checkout gear up to gather the blood oxygen saturation information of user;
Described main control unit is connected with medical detecting unit with motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit with serial communication protocol respectively by bus communication protocol;
Described Power supply unit is used for powering for main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detecting unit.
Preferably, described main control unit comprises central processing unit, universal peripheral interface module, memory module, communication interface modules, described central processing unit is received from motion control unit by universal peripheral interface module or communication interface modules, binocular vision capture unit, man-machine interaction unit, the data message of environment sensing sensor unit and medical detecting unit, integration process is carried out to data, then carry out judgement decision-making and store data in memory module, described central processing unit carries out the transmitting-receiving of instruction by communication interface modules, and then controlled motion control unit, binocular vision capture unit, man-machine interaction unit, the working method of environment sensing sensor unit and medical detecting unit.
Preferably, described motion control unit comprises motor drive module, light-coupled isolation module, group of motors and speed measuring coder; The pwm control signal that described motor drive module sends for receiving main control unit, drive motors group is rotated, and is isolated by light-coupled isolation module between described motor drive module and main control unit; Described speed measuring coder is connected with group of motors, for positional information and the rotary speed information of Real-time Feedback group of motors, realizes the closed-loop control of group of motors position and rotating speed; Described group of motors is used for the head rotation of control machine human body, waist rotates, mechanical arm action and bobbin movement.
Preferably, described binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, for realizing the navigation and localization function of robot, and the planning of optimal path.
Preferably, described man-machine interaction unit comprises touch control display module and voice interaction module, described touch control display module is used for the state display of video interactive and motion control unit, binocular vision capture unit, environment sensing sensor unit and medical detecting unit, is also connected with outside mobile terminal by wireless signal; Described voice interaction module comprises voice recognition unit, phonetic synthesis unit, voice alerting unit, and described voice recognition unit is for identifying the phonetic order from user; The speech data that described phonetic synthesis unit is used for identifying processes, and synthesis machine code, sends to main control unit to carry out decision-making; The control instruction that described voice alerting unit sends over for receiving main control unit, carries out voice message to user, realizes the interactive function between user and robot.
Preferably, described environment sensing sensor unit comprises optoelectronic switch, gyro sensor, touch sensor, infrared sensor and ultrasonic sensor; Described optoelectronic switch, touch sensor, infrared sensor, ultrasonic sensor collaborative work, carry out the identification of barrier and hide; Described gyro sensor carries out attitude deciphering to robot body; Described environment sensing sensor unit adopts multi-sensor information fusion technology to process the data that perception is returned, and carries out FEEDBACK CONTROL by main control unit.
Preferably, described Power supply unit comprises charging base, charge in batteries interface, battery, voltage transformation module; Described charge in batteries interface, battery and voltage transformation module integration are in robot body, and described charging base is fixed on indoor; At machine man-hour, the voltage transitions that battery provides by described voltage transformation module becomes main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit and the voltage required for environment sensing sensor unit, when accumulator electric-quantity is lower than the threshold value set, robot automatically returns to charging base place by environment sensing sensor unit and charges.
Preferably, described blood oxygen saturation checkout gear comprises blood oxygen transducer, integrated simulation front end, mixed signal microcontroller, bluetooth module, indicating lamp module and power module; Described blood oxygen transducer is connected with integrated simulation front end, and this blood oxygen transducer is made up of LED and Receiver; Described integrated simulation front end is connected with mixed signal microcontroller by SPI; Described bluetooth module is connected with mixed signal microcontroller by UART, and this bluetooth module is used for being connected with external equipment; Described power module is used for for blood oxygen transducer, integrated simulation front end, mixed signal microcontroller, bluetooth module, indicating lamp module are powered; Described indicating lamp module is connected with mixed signal microcontroller, is in the functional status of blood oxygen saturation detection for display device people;
Described bluetooth module comprises main control module, RF core module, universal peripheral interface module and sensor interface module; The signal that described main control module transmits for receiving, storing mixed signal microcontroller, and when signal demand outwards transmits, signal is imported into RF core module; Described RF core module is used for when signal demand outwards transmits, and receives the signal that main control module imports into, and is outwards transmitted by antenna by signal; Described universal peripheral interface module comprises the I that wire is connected
2c, UART and SPI; Described main control module is connected with sensor interface module with RF core module, universal peripheral interface module respectively by wire.
Preferably, described integrated simulation front end comprises multi-lead selection circuit, Wilson's calibration circuit, filter circuit, A/D converter circuit and SPI communication interface, carries out pretreatment for the oxygen saturation signal collected blood oxygen transducer; Described mixed signal microcontroller is used for carrying out medium filtering computing, moving average computing and LMS computing to the pretreated signal in integrated simulation front end, thus realize eliminating isolated noise spot to the data signal from integrated simulation front end, LPF and adaptive-filtering, obtain level and smooth data signal distribution, and adopt movement compensating algorithm to remove the motion artifact produced in motion process further.
Preferably, the operating system of described robot body adopts robot operating system of increasing income, under it is mounted in the ubuntu system of linux kernel, communicated with main control unit by serial ports, and then the working method of controlled motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detecting unit.
The present invention has following beneficial effect relative to prior art:
1, health service robot of the present invention can realize blood oxygen saturation detection, in conjunction with robot mobile technology and medical detection technique, largely can improve Mobile portable performance and the interactivity of blood oxygen saturation checkout gear, facilitate user and carry out uncharge medical treatment detection whenever and wherever possible, for user brings better medical services and easier operating experience.
2, binocular vision capture unit of the present invention adopts the Kinect somatosensory sensor of Microsoft, overcome the limitation of traditional environment modeling and analysis aspect, Kinect somatosensory sensor can effectively set up 3D steric environment by three cameras, thus improves the decision-making judgement of main control unit.
3, Power supply unit of the present invention adopts the mode of fixing charging base and charge in batteries interface, automatically route can be identified by environment sensing sensor unit when accumulator electric-quantity is too low time, get back to charging base place to charge, this automatic charging mode eliminates the time and efforts of user effort in robot charging link.
4, the operating system of health service robot of the present invention adopts the ubuntu operating system of carrying linux kernel, the robot operating system ROS that increases income runs in ubuntu system, the storehouse using ROS to carry and kit collection, computer vision algorithms make and navigator fix and path planning algorithm can be simplified, effectively can improve development efficiency, shorten the construction cycle of system.
5, blood oxygen saturation checkout gear of the present invention is arranged on the front, the centre of the palm of robot body, fit in the centre of the palm of the user centre of the palm and robot body, blood oxygen transducer can identify user's palm fast and be waken up, driving LED is luminous, thus gather the blood oxygen saturation parameter of user, realize blood oxygen saturation by this laminating between palm to detect, can for user bring zero load, have more the experience of interactive health.
6, blood oxygen saturation checkout gear is implanted health service robot by the present invention, overcomes the use limitation that traditional blood oxygen saturation detecting unit volume heaviness is brought, and can realize the zero load detection of blood oxygen saturation anywhere or anytime by mobile robot; Mobile convenient, result is accurate, and power consumption is extremely low, and the blood oxygen saturation of being convenient to carry out indoor furniture or ischemic disease detects whenever and wherever possible, farthest reduces anoxic to the infringement of body and life danger.
7, the bluetooth module in blood oxygen saturation checkout gear of the present invention, adopt super low-power consumption bluetooth module BLE, is furnished with autonomous super low-power consumption sensor controller, can the duty of the autonomous external blood oxygen transducer of perception, can automatic identification sensor duty, thus automatically enter sleep state and reduce power consumption, and wakeup time is short, stand-by time is long, can be good at meeting job requirement.
8, blood oxygen saturation checkout gear of the present invention adopts bluetooth module testing result can be shown the touch control display module be sent on robot body, and then reduce the computational burden of main control unit, calculate health parameters further, more can be provided powerful support for for remote medical monitor and distance medical diagnosis provide by outside mobile terminal, greatly can be reduced volume and the travelling performance of Medical Devices by Bluetooth technology and robot mobile technology, thus bring better to user, more accurately, more practical medical treatment experiences.
9, blood oxygen saturation checkout gear of the present invention adopts integrated simulation front end, and make signal transacting efficiency higher, stability obviously strengthens.Overcome in the past in checkout gear testing arrangement complicated, need to use a large amount of electronic component, be not easy to the shortcoming realizing portability, in addition, in prior art, light intensity signal is converted to the downward Primary Transmit of the mode of analog voltage signal after the signal of telecommunication, until A/D conversion place just realizes digitlization, in this process, pickup electrode is vulnerable to extraneous interference and introduces noise, by adopting integrated simulation front end, overcoming this defect, greatly improving the accuracy of measurement result.
Accompanying drawing explanation
Fig. 1 is the composition structured flowchart of health service robot of the present invention.
Fig. 2 is the schematic diagram of the function of motion control unit of the present invention.
Fig. 3 is the composition structured flowchart of blood oxygen saturation checkout gear of the present invention.
Fig. 4 is the composition diagram of blood oxygen transducer in blood oxygen saturation checkout gear of the present invention.
Fig. 5 is the installation site figure of blood oxygen saturation checkout gear of the present invention.
Fig. 6 is the composition structured flowchart of bluetooth module in blood oxygen saturation checkout gear of the present invention.
Fig. 7 is health service robot of the present invention blood oxygen saturation testing flow chart.
Fig. 8 is mixed signal microcontroller workflow diagram in blood oxygen saturation checkout gear of the present invention.
Detailed description of the invention
Embodiment 1:
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
As shown in Figure 1, the health service robot of the present embodiment comprises robot body, main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, medical detecting unit and Power supply unit; Described main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detecting unit are arranged on robot body; Described medical detecting unit comprises blood oxygen saturation checkout gear, and described blood oxygen saturation checkout gear is arranged on the front, the centre of the palm of robot body; Described main control unit is connected with medical detecting unit with motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit with serial communication protocol respectively by bus communication protocol; Wherein, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detecting unit are the functional unit of top layer.
The underlying operating system (software processing platform) of described robot body adopts the robot operating system (RobotOperatingSystem that increases income, ROS), it comprise that hardware abstraction describes, bsp driver management, the execution of common functions, Message Transmission between program, program distribution package management, distributed process framework and support code storehouse system combined; Under robot operating system of increasing income is mounted in ubuntu (Wu Bantu) system of linux kernel, communicated with main control unit by serial ports, and then the working method of controlled motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detecting unit.
Described main control unit comprises central processing unit (CPU), universal peripheral interface module, memory module, communication interface modules, described central processing unit is received from motion control unit by universal peripheral interface module or communication interface modules, binocular vision capture unit, man-machine interaction unit, the data message of environment sensing sensor unit and medical detecting unit, integration process is carried out to data, described Data Integration process comprises filtering algorithm, neural network algorithm, FUZZY ALGORITHMS FOR CONTROL, then carry out judgement decision-making and store data in memory module, described central processing unit carries out the transmitting-receiving of instruction by communication interface modules, and then controlled motion control unit, binocular vision capture unit, man-machine interaction unit, the working method of environment sensing sensor unit and medical detecting unit, described communication interface modules comprises I
2c (Inter-IntegratedCircuit), CAN (ControllerAreaNetwork, controller local area network) bus and UART (UniversalAsynchronousReceiver/Transmitter, universal asynchronous receiving-transmitting transmitter) and SPI (SerialPeripheralInterface, Serial Peripheral Interface (SPI)) serial communication modular, to meet the communication interface requirement between different function units, described central processing unit can communicate with operating system, completes the functional requirement of motion control, navigation and localization, man-machine interaction, data communication.
As shown in Figure 2, described motion control unit comprises motor drive module, light-coupled isolation module, group of motors and speed measuring coder; PWM (the PulseWidthModulation that described motor drive module sends for receiving main control unit, pulse width modulation) control signal, drive motors group is rotated, and isolated by light-coupled isolation module between described motor drive module and main control unit, protection main control unit is not by the impact of electric moter voltage fluctuation; Described speed measuring coder is connected with group of motors, for positional information and the rotary speed information of Real-time Feedback group of motors, realizes the closed-loop control of group of motors position and rotating speed; Described group of motors can be made up of servomotor, direct current generator, stepper motor, high-torque steering wheel, rotates, mechanical arm action and bobbin movement for the head rotation of control machine human body, waist.
Described binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, this Kinect somatosensory sensor is used for setting up 3D steric environment by three cameras, and pass through image identifying and processing, realize the navigation and localization function of robot, and the planning of optimal path, thus improve the decision-making judgement of main control unit.
Described man-machine interaction unit comprises touch control display module and voice interaction module, described touch control display module is panel computer, this panel computer is placed in the front of robot body, for video interactive and motion control unit, binocular vision capture unit, the state display of environment sensing sensor unit and medical detecting unit, the selection service that it is personalized for user provides, user is undertaken alternately by touch control display module and robot, and interaction results is fed back to touch control display module, touch control display module is also connected with outside mobile terminal by wireless signal (data channel can select cellular network/WLAN/bluetooth), described voice interaction module comprises voice recognition unit, phonetic synthesis unit, voice alerting unit, and described voice recognition unit is for identifying the phonetic order from user, the speech data that described phonetic synthesis unit is used for identifying processes, and synthesis machine code (can by each functional unit identification of top layer), sends to main control unit to carry out decision-making, described voice alerting unit can adopt voice prompting device, for receiving the control instruction that main control unit sends over, carrying out voice message to user, realizing the interactive function between user and robot, visible, user and can utilize outside mobile terminal transmission guidance command to complete the operation of control by phonetic order, panel computer operation interface.
Described touch control display module provides visualization interface, be convenient to user and carry out interactive interface control, be the interactive interface that user and medical worker set up tele-medicine by the camera function of touch control display module, there is provided simultaneously and take pictures, make a video recording, make video recording and audio-visual broadcasting entertainment service, and can keep with outside mobile terminal that high in the clouds is synchronous and personalized function is self-defined, and the transmission-receiving function of note, mail can be provided, be convenient to for user provides good interactive experience; The report of physiologic information can be taken medicine, be carried out to described voice alerting unit by reminding user, and carry out the voice broadcast of the prompting of the suggestion after data analysis, MP3 amusement function can be provided for user simultaneously, described voice recognition unit can identify user speech, controls correlation function provide service function by voice processing technology.
Described environment sensing sensor unit comprises optoelectronic switch, gyro sensor, touch sensor, infrared sensor and ultrasonic sensor; Described optoelectronic switch, touch sensor, infrared sensor, ultrasonic sensor collaborative work, carry out the identification of barrier and hide; Described gyro sensor carries out attitude deciphering to robot body; Described environment sensing sensor unit adopts multi-sensor information fusion technology to process the data that perception is returned, and carries out FEEDBACK CONTROL by main control unit.
Described Power supply unit is used for powering for main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detecting unit, and it comprises charging base, charge in batteries interface, battery, voltage transformation module; Described charge in batteries interface, battery and voltage transformation module integration are in robot body, and described charging base is fixed on indoor; At machine man-hour, the voltage transitions that battery provides by described voltage transformation module becomes main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and the voltage required for medical detecting unit, when accumulator electric-quantity is lower than the threshold value set, namely, when accumulator electric-quantity is too low, robot automatically returns to charging base place by environment sensing sensor unit and charges.
As shown in Figure 3, described blood oxygen saturation checkout gear comprises blood oxygen transducer, integrated simulation front end, mixed signal microcontroller, bluetooth module, indicating lamp module and power module; Described blood oxygen transducer is connected with integrated simulation front end, and by integrated simulation front-end control, after fitting in the centre of the palm of the user centre of the palm and robot body, the blood oxygen transducer be arranged in the blood oxygen saturation checkout gear in the front, the centre of the palm of robot body can identify user's palm fast and be waken up rapidly, drives the LED of integrated simulation front-end control blood oxygen transducer luminous; Described integrated simulation front end is connected with mixed signal microcontroller by SPI; Described bluetooth module is connected with mixed signal microcontroller by UART, and this bluetooth module is used for being connected with external equipment; Described mixed signal microprocessor is connected with each functional unit of serial communication equipment and top layer by generalized device interface, by the transmitting-receiving of control instruction and then the working method controlling each functional unit; Described power module is used for for blood oxygen transducer, integrated simulation front end, mixed signal microcontroller, bluetooth module, indicating lamp module are powered; Described indicating lamp module is connected with mixed signal microcontroller, is in the functional status of blood oxygen saturation detection for display device people.
As shown in Figure 4, the present embodiment adopts bounce technique to detect blood oxygen saturation, described blood oxygen transducer is made up of LED 1 and Receiver 2, according to the scattering theory of light, light wave by tissue (skin 3, hypodermis 4) time except by absorption except, also there will be another kind of phenomenon, i.e. scattering; Because tissue right and wrong are equally distributed, light tissue in can not be strict according to straightline propagation, such as when running into venule 5, arteriole 6, strong scattering phenomenon can occur, wherein a part of light gets back to incidence surface after Multiple Scattering, macroscopically shows as reverberation; The detection of blood oxygen saturation is carried out by the light intensity detecting this Shu Guang.
As described in Figure 5, the blood oxygen saturation checkout gear 7 of the present embodiment is arranged on the front, the centre of the palm 8 of robot body, with user's skin contact, fits the blood oxygen transducer got final product in fast wake-up blood oxygen saturation checkout gear 7 in the centre of the palm 8 and the user centre of the palm of robot body, carries out having the blood oxygen saturation information gathering under good interactive performance.
Described integrated simulation front end comprises multi-lead selection circuit, Wilson's calibration circuit, filter circuit, A/D converter circuit and SPI communication interface, the LED that can drive and control blood oxygen transducer is luminous, thus gather the oximetry data of human body, and then pretreatment is carried out to the data that blood oxygen transducer collection is returned, transfer data to mixed signal microcontroller by SPI.
MSP430FR5739 microcontroller selected by described mixed signal microcontroller, this microcontroller is super low-power consumption type, for doing further process to the pretreated signal in integrated simulation front end, namely medium filtering computing, moving average computing and LMS computing is carried out, thus realize eliminating isolated noise spot to the data signal from integrated simulation front end, LPF and adaptive-filtering, obtain level and smooth data signal distribution, and adopt movement compensating algorithm to remove the motion artifact produced in motion process further.
As shown in Figure 6, described bluetooth module adopts low-power consumption bluetooth standard V4.0 equipment, and can ensure high-speed transfer, can solve again the excessive problem of power consumption, it comprises main control module, RF core module, universal peripheral interface module and sensor interface module; The signal that described main control module transmits for receiving, storing mixed signal microcontroller, and when signal demand outwards transmits, signal is imported into RF core module; Described RF core module is used for when signal demand outwards transmits, and receives the signal that main control module imports into, and is outwards transmitted by antenna by signal; Described universal peripheral interface module comprises the I that wire is connected
2c, UART and SPI; Described main control module is connected with sensor interface module with RF core module, universal peripheral interface module respectively by wire.
As shown in Figure 7, the health service robot blood oxygen saturation testing flow process of the present embodiment is as follows:
User is fitted by the centre of the palm of the centre of the palm and robot body, can fast wake-up medical treatment detecting unit blood oxygen saturation checkout gear work, system initialization, blood oxygen saturation measuring ability is opened, blood oxygen saturation measuring ability is opened LED in rear drive integrated simulation front-end control blood oxygen transducer and is launched circulation light wave, if meet timing condition, filtering is carried out to the oxygen saturation signal gathered in integrated simulation front end, light path is separated, automatic gain, AD conversion, otherwise return and continue to perform LED transmitting circulation, signal after process enters mixed signal microcontroller and stores, computing, operation result is sent to bluetooth module and carries out data transmission, and by blood oxygen volume waveform, blood oxygen saturation numerical value, HR values and the suggestion of relevant health guidance are presented at the panel computer of robot body front, now control system ends task.
As shown in Figure 8, in the blood oxygen saturation checkout gear of the present embodiment, mixed signal microcontroller workflow is as follows:
After receiving the data signal from integrated simulation front end, successively medium filtering computing, moving average computing and LMS computing are carried out to the pretreated signal in integrated simulation front end, thus realize eliminating isolated noise spot to the data signal from integrated simulation front end, LPF and adaptive-filtering, obtain level and smooth data signal distribution, and adopt movement compensating algorithm to remove the motion artifact produced in motion process further; If received whole signal, then system finishing task, otherwise continue to receive the data signal by integrated simulation front end delivery.
Mobile terminal in above-described embodiment can be smart mobile phone, PDA handheld terminal etc.
In sum, health service robot of the present invention can realize blood oxygen saturation and detect, in conjunction with robot mobile technology and medical detection technique, largely can improve Mobile portable performance and the interactivity of blood oxygen saturation checkout gear, facilitate user and carry out uncharge medical treatment detection whenever and wherever possible, for user brings better medical services and easier operating experience.
The above; be only patent preferred embodiment of the present invention; but the protection domain of patent of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the scope disclosed in patent of the present invention; be equal to according to the technical scheme of patent of the present invention and inventive concept thereof and replace or change, all belonged to the protection domain of patent of the present invention.
Claims (10)
1. the health service robot that can realize blood oxygen saturation and detect, comprise robot body, it is characterized in that: also comprise main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, medical detecting unit and Power supply unit;
Described main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detecting unit are arranged on robot body; Described medical detecting unit comprises blood oxygen saturation checkout gear, described blood oxygen saturation checkout gear is arranged on the front, the centre of the palm of robot body, time laminatings in the centre of the palm of robot body and the user centre of the palm, wake blood oxygen saturation checkout gear up to gather the blood oxygen saturation information of user;
Described main control unit is connected with medical detecting unit with motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit with serial communication protocol respectively by bus communication protocol;
Described Power supply unit is used for powering for main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detecting unit.
2. a kind of health service robot realizing blood oxygen saturation and detect according to claim 1, is characterized in that: described main control unit comprises central processing unit, universal peripheral interface module, memory module, communication interface modules, described central processing unit is received from motion control unit by universal peripheral interface module or communication interface modules, binocular vision capture unit, man-machine interaction unit, the data message of environment sensing sensor unit and medical detecting unit, integration process is carried out to data, then carry out judgement decision-making and store data in memory module, described central processing unit carries out the transmitting-receiving of instruction by communication interface modules, and then controlled motion control unit, binocular vision capture unit, man-machine interaction unit, the working method of environment sensing sensor unit and medical detecting unit.
3. a kind of health service robot realizing blood oxygen saturation and detect according to claim 1, is characterized in that: described motion control unit comprises motor drive module, light-coupled isolation module, group of motors and speed measuring coder; The pwm control signal that described motor drive module sends for receiving main control unit, drive motors group is rotated, and is isolated by light-coupled isolation module between described motor drive module and main control unit; Described speed measuring coder is connected with group of motors, for positional information and the rotary speed information of Real-time Feedback group of motors, realizes the closed-loop control of group of motors position and rotating speed; Described group of motors is used for the head rotation of control machine human body, waist rotates, mechanical arm action and bobbin movement.
4. a kind of health service robot realizing blood oxygen saturation and detect according to claim 1, it is characterized in that: described binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, for realizing the navigation and localization function of robot, and the planning of optimal path.
5. a kind of health service robot realizing blood oxygen saturation and detect according to claim 1, it is characterized in that: described man-machine interaction unit comprises touch control display module and voice interaction module, described touch control display module is used for the state display of video interactive and motion control unit, binocular vision capture unit, environment sensing sensor unit and medical detecting unit, is also connected with outside mobile terminal by wireless signal; Described voice interaction module comprises voice recognition unit, phonetic synthesis unit, voice alerting unit, and described voice recognition unit is for identifying the phonetic order from user; The speech data that described phonetic synthesis unit is used for identifying processes, and synthesis machine code, sends to main control unit to carry out decision-making; The control instruction that described voice alerting unit sends over for receiving main control unit, carries out voice message to user, realizes the interactive function between user and robot.
6. a kind of health service robot realizing blood oxygen saturation and detect according to claim 1, is characterized in that: described environment sensing sensor unit comprises optoelectronic switch, gyro sensor, touch sensor, infrared sensor and ultrasonic sensor; Described optoelectronic switch, touch sensor, infrared sensor, ultrasonic sensor collaborative work, carry out the identification of barrier and hide; Described gyro sensor carries out attitude deciphering to robot body; Described environment sensing sensor unit adopts multi-sensor information fusion technology to process the data that perception is returned, and carries out FEEDBACK CONTROL by main control unit.
7. a kind of health service robot realizing blood oxygen saturation and detect according to claim 1, is characterized in that: described Power supply unit comprises charging base, charge in batteries interface, battery, voltage transformation module; Described charge in batteries interface, battery and voltage transformation module integration are in robot body, and described charging base is fixed on indoor; At machine man-hour, the voltage transitions that battery provides by described voltage transformation module becomes main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit and the voltage required for environment sensing sensor unit, when accumulator electric-quantity is lower than the threshold value set, robot automatically returns to charging base place by environment sensing sensor unit and charges.
8. a kind of health service robot realizing blood oxygen saturation and detect according to claim 1, is characterized in that: described blood oxygen saturation checkout gear comprises blood oxygen transducer, integrated simulation front end, mixed signal microcontroller, bluetooth module, indicating lamp module and power module; Described blood oxygen transducer is connected with integrated simulation front end, and this blood oxygen transducer is made up of LED and Receiver; Described integrated simulation front end is connected with mixed signal microcontroller by SPI; Described bluetooth module is connected with mixed signal microcontroller by UART, and this bluetooth module is used for being connected with external equipment; Described power module is used for for blood oxygen transducer, integrated simulation front end, mixed signal microcontroller, bluetooth module, indicating lamp module are powered; Described indicating lamp module is connected with mixed signal microcontroller, is in the functional status of blood oxygen saturation detection for display device people;
Described bluetooth module comprises main control module, RF core module, universal peripheral interface module and sensor interface module; The signal that described main control module transmits for receiving, storing mixed signal microcontroller, and when signal demand outwards transmits, signal is imported into RF core module; Described RF core module is used for when signal demand outwards transmits, and receives the signal that main control module imports into, and is outwards transmitted by antenna by signal; Described universal peripheral interface module comprises the I that wire is connected
2c, UART and SPI; Described main control module is connected with sensor interface module with RF core module, universal peripheral interface module respectively by wire.
9. a kind of health service robot realizing blood oxygen saturation and detect according to claim 8, it is characterized in that: described integrated simulation front end comprises multi-lead selection circuit, Wilson's calibration circuit, filter circuit, A/D converter circuit and SPI communication interface, carry out pretreatment for the oxygen saturation signal collected blood oxygen transducer; Described mixed signal microcontroller is used for carrying out medium filtering computing, moving average computing and LMS computing to the pretreated signal in integrated simulation front end, thus realize eliminating isolated noise spot to the data signal from integrated simulation front end, LPF and adaptive-filtering, obtain level and smooth data signal distribution, and adopt movement compensating algorithm to remove the motion artifact produced in motion process further.
10. a kind of health service robot realizing blood oxygen saturation and detect according to claim 1, it is characterized in that: the operating system of described robot body adopts robot operating system of increasing income, under it is mounted in the ubuntu system of linux kernel, communicated with main control unit by serial ports, and then the working method of controlled motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detecting unit.
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