CN105082149B - A kind of health service robot of achievable blood oxygen saturation detection - Google Patents
A kind of health service robot of achievable blood oxygen saturation detection Download PDFInfo
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Abstract
The invention discloses a kind of health service robot of achievable blood oxygen saturation detection, including robot body, main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, medical detection unit and power supply power supply unit；The medical detection unit includes blood oxygen saturation detection means, and the blood oxygen saturation detection means is arranged on the centre of the palm front of robot body；The main control unit is connected with motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detection unit respectively by bus communication protocol and serial communication protocol；The power supply power supply unit is used to power for other each units.The health service robot combination robot mobile technology of the present invention and medical detection technique, have the advantages that good man-machine interaction, are easy to mobile, easy to use, use time long.
Description
Technical field
The present invention relates to a kind of service robot, especially a kind of health service machine of achievable blood oxygen saturation detection
People, belongs to service robot and vital sign parameter detection technique field.
Background technology
As the improvement of people's living standards, the health perception of people increasingly strengthens, zero load detection physiology whenever and wherever possible
The demand of parameter occurs therewith, in recent years, and the service robot quickly grown exactly meets the ideal carrier of this demand, utilizes
The blood oxygen saturation information of robot terminal collection user is the future thrust of portable medical and tele-medicine, with by blood
Oxygen detection function is transplanted on service robot, and heart and brain hypoxic condition, histogenous hypoxia disease on the one hand can be monitored in real time, is exhaled
Absorption hypoxic condition and sleep apnea syndrome, are user-friendly for self health Evaluation, take measures early
Symptom management, at utmost avoids the too low health hazard caused of blood oxygen saturation or life danger.On the other hand, Ke Yiwei
Handicapped old man and child carry out health detection, and can by the voice broadcast of the interaction of voice, result anywhere or anytime
Largely to simplify operation.
Oxygen in air enters blood after human lung swaps, with reference to being supplied to whole body on hemoglobin,
Maintain the eubolism of cell.Blood oxygen saturation (SpO2) is used to reflect oxygen-containing level, blood oxygen saturation in this blood
Refer to that the capacity of oxyhemoglobin in blood (HbO2) accounts for the percentage of whole hemoglobins (Hb) capacity.In normal condition
Under, the blood oxygen saturation of human body is maintained at 98%, is typically not less than 94%, if blood oxygen saturation is too low, shows that tissue is obtained
Less than sufficient oxygen, or oxygen can not be made full use of, cause metabolism, even function, the morphosis generation anomalous variation of tissue, lack
Anoxemia can cause the death of neuron in 4 minutes, can threat to life when serious.Therefore, blood oxygen saturation is carried out to human body
Detection is extremely important.
At present, blood oxygen saturation detection function is common in various patient monitors, and a kind of visitor is provided for monitoring, health assessment
The vital sign parameter of sight, however, the common blood oxygen saturation detection means of these in the markets is satisfied using transmission-type blood oxygen mostly
With degree detection method, operation is inconvenient, comfort level is poor, can cause tension during detection, psychological pressure and life are brought to tester
Load is managed, so that cause result distortion, and these detection devices are had focused largely on inside large hospital, are unfavorable for tele-medicine system
The structure of system and the convenient index of portable medical, it is difficult to promote in the family, it is also difficult to realize that user is carried out with doctor long-range mutual
It is dynamic.
The content of the invention
Examined the invention aims to the defect for solving above-mentioned prior art there is provided a kind of achievable blood oxygen saturation
The health service robot of survey, the health service robot can realize blood oxygen saturation detect, with good man-machine interaction,
It is easy to the advantage of mobile, easy to use use time length.
The purpose of the present invention can be reached by adopting the following technical scheme that：
A kind of health service robot of achievable blood oxygen saturation detection, including robot body, main control unit, fortune
Dynamic control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, medical detection unit and
Power supply power supply unit；
The main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing are passed
Sensor cell and medical detection unit are arranged on robot body；The medical detection unit includes blood oxygen saturation and detects dress
Put, the blood oxygen saturation detection means is arranged on the centre of the palm front of robot body, the centre of the palm and the user of robot body slap
When the heart is fitted, wake up blood oxygen saturation detection means to gather the blood oxygen saturation information of user；
The main control unit by bus communication protocol and serial communication protocol respectively with motion control unit, binocular vision
Feel that capture unit, man-machine interaction unit, environment sensing sensor unit are connected with medical detection unit；
The power supply power supply unit is used to be main control unit, motion control unit, binocular vision capture unit, man-machine friendship
Mutual unit, environment sensing sensor unit and medical detection unit are powered.
It is preferred that, the main control unit include central processing unit, universal peripheral interface module, memory module,
Communication interface modules；The central processing unit is received come autokinesis by universal peripheral interface module or communication interface modules
Control unit, binocular vision capture unit, man-machine interaction unit, the data of environment sensing sensor unit and medical detection unit
Data are carried out integration processing by information, then carry out judging decision-making and storing data in memory module, the centre
The transmitting-receiving that is instructed by communication interface modules of reason device, so it is control motion control unit, binocular vision capture unit, man-machine
The working method of interactive unit, environment sensing sensor unit and medical detection unit.
It is preferred that, the motion control unit includes motor drive module, light-coupled isolation module, group of motors and the coding that tests the speed
Device；The motor drive module is used for the pwm control signal for receiving main control unit transmission, and motor group is rotated, and described
Isolated between motor drive module and main control unit by light-coupled isolation module；The speed measuring coder is connected with group of motors,
For the positional information and rotary speed information of Real-time Feedback group of motors, the closed-loop control of group of motors position and rotating speed is realized；The electricity
Unit is used for the head rotation of control machine human body, waist rotation, mechanical arm action and bobbin movement.
It is preferred that, the binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, for realizing machine
The navigation of device people and positioning function, and optimal path planning.
It is preferred that, the man-machine interaction unit includes touch control display module and voice interaction module, and the touch-control shows mould
Block is used for video interactive and motion control unit, binocular vision capture unit, environment sensing sensor unit and medical treatment detection
The status display of unit, is also connected by wireless signal with outside mobile terminal；The voice interaction module includes speech recognition
Unit, phonetic synthesis unit, voice alerting unit, the voice recognition unit are used to recognize the phonetic order from user；Institute
Predicate sound synthesis unit is used to handle the speech data of identification, and synthesis machine code is sent to main control unit and determined
Plan；The voice alerting unit is used to receive the control instruction that main control unit is sended over, and voice message is carried out to user, real
Existing interactive function between user and robot.
It is preferred that, the environment sensing sensor unit includes optoelectronic switch, gyro sensor, touch sensor, red
Outer sensor and ultrasonic sensor；The optoelectronic switch, touch sensor, infrared sensor, ultrasonic sensor collaboration work
Make, carry out the identification of barrier with hiding；The gyro sensor carries out posture deciphering to robot body；The environment sense
Know that sensor unit is handled perceiving the data returned using multi-sensor information fusion technology, entered by main control unit
Row feedback control.
It is preferred that, the power supply power supply unit includes charging base, battery charging inlet, battery, voltage transformation mould
Block；The battery charging inlet, battery and voltage transformation module are integrated into robot body, and the charging base is fixed
Indoors；In machine man-hour, the voltage conversion that the voltage transformation module provides battery is into main control unit, motion
Voltage required for control unit, binocular vision capture unit, man-machine interaction unit and environment sensing sensor unit, works as electric power storage
When pond electricity is less than the threshold value set, robot is automatically returned to by environment sensing sensor unit to be filled at charging base
Electricity.
It is preferred that, the blood oxygen saturation detection means includes blood oxygen transducer, integrated simulation front end, mixed signal micro-control
Device processed, bluetooth module, indicating lamp module and power module；The blood oxygen transducer is connected with integrated simulation front end, and the blood oxygen is passed
Sensor is made up of LED and reception head；The integrated simulation front end is connected by SPI with mixed signal microcontroller；The indigo plant
Tooth module is connected by UART with mixed signal microcontroller, and the bluetooth module is used to be connected with external equipment；The power supply mould
Block is used to power for blood oxygen transducer, integrated simulation front end, mixed signal microcontroller, bluetooth module, indicating lamp module；It is described
Indicating lamp module is connected with mixed signal microcontroller, for showing that robot is in the functional status that blood oxygen saturation is detected；
The bluetooth module includes main control module, RF core module, universal peripheral interface module and sensor
Interface module；The main control module is used to receive, stores the signal that mixed signal microcontroller is transmitted, and signal need to
During outer transmission, by the incoming RF core module of signal；The RF core module is used to, when signal needs outside transmission, receive
The incoming signal of main control module, and signal is outwards transmitted by antenna；The universal peripheral interface module includes wire
Connected I2C, UART and SPI；The main control module passes through wire and RF core module, universal peripheral interface respectively
Module is connected with sensor interface module.
It is preferred that, the integrated simulation front end includes multi-lead selection circuit, Wilson's calibration circuit, filter circuit, AD
Change-over circuit and SPI communication interfaces, for being pre-processed to the oxygen saturation signal that blood oxygen transducer is collected；It is described mixed
Close signal microcontroller be used to carrying out the pretreated signal in integrated simulation front end medium filtering computing, moving average computing and
LMS computings, isolated noise spot is eliminated to the data signal from integrated simulation front end so as to realize, LPF and adaptive
Filtering, obtains smooth data signal distribution, and the motion produced in motion process is further removed using movement compensating algorithm
Artifact.
It is preferred that, the operating system of the robot body is using robot operating system of increasing income, and it is mounted in Linux
Under the ubuntu systems of core, communicated by serial ports with main control unit, and then control motion control unit, binocular vision to catch
Catch the working method of unit, man-machine interaction unit, environment sensing sensor unit and medical detection unit.
The present invention has following beneficial effect relative to prior art：
1st, health service robot of the invention can realize that blood oxygen saturation is detected, with reference to robot mobile technology and doctor
Detection technique is treated, the Mobile portable performance and interactivity of blood oxygen saturation detection means can be largely improved, facilitate use
Family carries out uncharging medical detection whenever and wherever possible, is that user brings more preferable medical services and easier operating experience.
2nd, binocular vision capture unit of the invention uses the Kinect somatosensory sensor of Microsoft, overcomes traditional ring
Limitation in terms of border modeling and analysis, Kinect somatosensory sensor can effectively set up the three-dimensional rings of 3D by three cameras
Border, so as to improve the decision-making judgement of main control unit.
3rd, power supply power supply unit of the invention works as battery by the way of fixed charging base and battery charging inlet
It can be returned to when low battery at charging base and charged by environment sensing sensor unit automatic identification route,
This automatic charging mode eliminates the time and efforts that user effort is charged in link in robot.
4th, the operating system of health service robot of the invention uses the ubuntu operating systems for carrying linux kernel,
The robot operating system ROS that increases income is run in ubuntu systems, with the ROS storehouses carried and kit collection, can simplify meter
Calculation machine vision algorithm and navigator fix and path planning algorithm, can effectively improve development efficiency, shorten the exploitation week of system
Phase.
5th, blood oxygen saturation detection means of the invention is arranged on the centre of the palm front of robot body, the user centre of the palm and machine
The centre of the palm laminating of human body, blood oxygen transducer can quickly recognize user's palm and be waken up that driving LED lights, so as to gather
The blood oxygen saturation parameter of user, realizes that blood oxygen saturation is detected by this laminating between palm, can bring nothing for user
Load, more interactive health experience.
6th, blood oxygen saturation detection means is implanted into health service robot by the present invention, overcomes traditional blood oxygen saturation inspection
The use limitation that unit volume heaviness is brought is surveyed, and blood oxygen saturation anywhere or anytime can be realized by mobile robot
Zero load detection；Movement is convenient, and as a result accurately, power consumption is extremely low, and the blood oxygen for being convenient for indoor furniture or ischemic disease is satisfied
Detected whenever and wherever possible with degree, farthest reduce infringement and life danger of the anoxic to body.
7th, the bluetooth module in blood oxygen saturation detection means of the invention, using super low-power consumption bluetooth module BLE, is furnished with
Autonomous super low-power consumption sensor controller, can independently perceive the working condition of external blood oxygen transducer, being capable of automatic identification
Working sensor state, so that reduce power consumption automatically into sleep state, and also wakeup time is short, and stand-by time is long, can be very
Good meets job requirement.
8th, testing result can be sent to robot sheet by blood oxygen saturation detection means of the invention using bluetooth module
Touch control display module on body is shown, and then reduces the computational burden of main control unit, is further calculated and is obtained healthy ginseng
Number, can be more that remote medical monitor and distance medical diagnosis are provided and provided powerful support for by outside mobile terminal, pass through bluetooth skill
Art and robot mobile technology can greatly reduce the volume and travelling performance of Medical Devices, so as to be brought more preferably to user
, more accurately, more practical medical treatment experience.
9th, blood oxygen saturation detection means of the invention uses integrated simulation front end so that signal transacting is more efficient, surely
It is qualitative to be remarkably reinforced.Overcome test device in conventional detection means complicated, it is necessary to using a large amount of electronic components, be not easy to realize
The shortcoming of portability, in addition, light intensity signal is converted to after electric signal in the way of analog voltage signal to next in the prior art
Level transmission, just realizes digitlization at A/D conversions, and signal is highly prone to the interference in the external world and introduces noise during this,
By using integrated simulation front end, this defect is overcome, the accuracy of measurement result is greatly improved.
Brief description of the drawings
Fig. 1 is the composition structured flowchart of the health service robot of the present invention.
Fig. 2 is the schematic diagram of the function of the motion control unit of the present invention.
Fig. 3 is the composition structured flowchart of the blood oxygen saturation detection means of the present invention.
Fig. 4 is the composition figure of blood oxygen transducer in blood oxygen saturation detection means of the invention.
Fig. 5 is the installation site figure of the blood oxygen saturation detection means of the present invention.
Fig. 6 is the composition structured flowchart of bluetooth module in blood oxygen saturation detection means of the invention.
Fig. 7 detects workflow diagram for the health service robot blood oxygen saturation of the present invention.
Fig. 8 is mixed signal microcontroller workflow diagram in the blood oxygen saturation detection means of the present invention.
Embodiment
Embodiment 1：
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
As shown in figure 1, the health service robot of the present embodiment includes robot body, main control unit, motion control
Unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, medical detection unit and power supply are supplied
Electric unit；The main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensing
Device unit and medical detection unit are arranged on robot body；The medical detection unit includes blood oxygen saturation and detects dress
Put, the blood oxygen saturation detection means is arranged on the centre of the palm front of robot body；The main control unit is logical by bus
Believe agreement and serial communication protocol respectively with motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing
Sensor unit is connected with medical detection unit；Wherein, motion control unit, binocular vision capture unit, man-machine interaction unit,
Environment sensing sensor unit and the functional unit that medical detection unit is top layer.
The underlying operating system (software processing platform) of the robot body is using robot operating system of increasing income
(Robot Operating System, ROS), it includes hardware abstraction description, bsp driver management, common functions and held
Row, the message transmission between program, program distribution package management, distributed process framework and support code storehouse it is system combined；
Robot operating system of increasing income is mounted under the ubuntu of linux kernel (Wu Bantu) system, passes through serial ports and main control unit
Communicated, and then control motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor list
The working method of member and medical detection unit.
The main control unit includes central processing unit (CPU), universal peripheral interface module, memory module, logical
Believe interface module；The central processing unit is received come autokinesis control by universal peripheral interface module or communication interface modules
Unit processed, binocular vision capture unit, man-machine interaction unit, the data letter of environment sensing sensor unit and medical detection unit
Data are carried out integration processing by breath, and the Data Integration processing includes filtering algorithm, neural network algorithm, FUZZY ALGORITHMS FOR CONTROL,
Then carry out judging decision-making and storing data in memory module, the central processing unit is carried out by communication interface modules
The transmitting-receiving of instruction, and then control motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor
The working method of unit and medical detection unit；The communication interface modules includes I2C(Inter-Integrated
Circuit), CAN (Controller Area Network, controller local area network) buses and UART (Universal
Asynchronous Receiver/Transmitter, universal asynchronous receiving-transmitting transmitter) and SPI (Serial Peripheral
Interface, Serial Peripheral Interface (SPI)) serial communication modular, to meet the requirement of the communication interface between different function units；It is described
Central processing unit can be communicated with operating system, complete motion control, navigation and positioning, man-machine interaction, data communication
Functional requirement.
As shown in Fig. 2 the motion control unit includes motor drive module, light-coupled isolation module, group of motors and tested the speed
Encoder；The motor drive module is used for PWM (the Pulse Width Modulation, arteries and veins for receiving main control unit transmission
Rush width modulated) control signal, motor group is rotated, and passes through optocoupler between the motor drive module and main control unit
Isolation module is isolated, and protecting main control unit not fluctuated by electric moter voltage is influenceed；The speed measuring coder is connected with group of motors,
For the positional information and rotary speed information of Real-time Feedback group of motors, the closed-loop control of group of motors position and rotating speed is realized；The electricity
Unit can be made up of servomotor, direct current generator, stepper motor, high-torque steering wheel, the head for control machine human body
Rotate, waist is rotated, mechanical arm is acted and bobbin movement.
The binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, the Kinect somatosensory sensor
For setting up 3D steric environments by three cameras, and by image identifying and processing, realize navigation and the positioning work(of robot
Can, and optimal path planning, so as to improve the decision-making judgement of main control unit.
The man-machine interaction unit includes touch control display module and voice interaction module, and the touch control display module is flat board
Computer, the tablet personal computer is placed in the front of robot body, is caught for video interactive and motion control unit, binocular vision
The status display of unit, environment sensing sensor unit and medical detection unit, it has provided the user the selection clothes of personalization
Business, user is interacted by touch control display module with robot, and interaction results are fed back into touch control display module, and touch-control shows
Show module also by wireless signal (data channel can select cellular network/WLAN/bluetooth) and outside mobile terminal
It is connected；The voice interaction module includes voice recognition unit, phonetic synthesis unit, voice alerting unit, the speech recognition
Unit is used to recognize the phonetic order from user；The phonetic synthesis unit is used to handle the speech data of identification,
Synthesis machine code (can be recognized) by each functional unit of top layer, be sent to main control unit and carried out decision-making；The voice alerting unit
Voice prompting device can be used, for receiving the control instruction that main control unit is sended over, voice message is carried out to user, it is real
Existing interactive function between user and robot；It can be seen that, user can pass through phonetic order, tablet personal computer operation interface and profit
Send guidance command to complete the operation of control machine people with outside mobile terminal.
The touch control display module provides visualization interface, is easy to user to interact Interface Control, aobvious by touch-control
Show that the camera function of module sets up the interactive interface of tele-medicine for user with medical worker, at the same provide take pictures, image,
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 short message, the transmission-receiving function of mail can be provided, it is easy to provide the user good interactive experience；The voice alerting unit can be with
Remind user to take medicine, carries out the report of physiologic information, and carry out the voice broadcast that the suggestion after data analysis is pointed out, while energy
MP3 amusement functions are enough provided the user, the voice recognition unit can recognize user speech, pass through voice processing technology control
Correlation function provides service function.
The environment sensing sensor unit includes optoelectronic switch, gyro sensor, touch sensor, infrared sensor
And ultrasonic sensor；The optoelectronic switch, touch sensor, infrared sensor, ultrasonic sensor cooperate, and are hindered
Hinder the identification of thing with hiding；The gyro sensor carries out posture deciphering to robot body；The environment sensing sensor
Unit is handled perceiving the data returned using multi-sensor information fusion technology, and feedback control is carried out by main control unit
System.
The power supply power supply unit is used to be main control unit, motion control unit, binocular vision capture unit, man-machine friendship
Mutual unit, environment sensing sensor unit and medical detection unit are powered, and it includes charging base, battery charging inlet, stored
Battery, voltage transformation module；The battery charging inlet, battery and voltage transformation module are integrated into robot body,
The charging base is fixed indoors；The voltage conversion that battery is provided in machine man-hour, the voltage transformation module
Into main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and
Voltage required for medical detection unit, when threshold value of the accumulator electric-quantity less than setting, i.e., when accumulator electric-quantity is too low, machine
People is automatically returned to by environment sensing sensor unit to be charged at charging base.
As shown in figure 3, the blood oxygen saturation detection means includes blood oxygen transducer, integrated simulation front end, mixed signal
Microcontroller, bluetooth module, indicating lamp module and power module；The blood oxygen transducer is connected with integrated simulation front end, and by
Integrated simulation front-end control, after the user centre of the palm is fitted with the centre of the palm of robot body, installed in the centre of the palm of robot body just
Blood oxygen transducer in the blood oxygen saturation detection means in face can quickly recognize user's palm and be waken up rapidly, drive integrated
The LED of AFE(analog front end) control blood oxygen transducer lights；The integrated simulation front end passes through SPI and mixed signal microcontroller phase
Even；The bluetooth module is connected by UART with mixed signal microcontroller, and the bluetooth module is used to be connected with external equipment；Institute
State mixed signal microprocessor by generalized device interface and serial communication equipment with each functional unit of top layer to be connected, pass through control
The transmitting-receiving of instruction and then the working method for controlling each functional unit；The power module is used to be blood oxygen transducer, integrated mould
Plan front end, mixed signal microcontroller, bluetooth module, indicating lamp module are powered；The indicating lamp module and mixed signal micro-control
Device processed is connected, for showing that robot is in the functional status that blood oxygen saturation is detected.
As shown in figure 4, the present embodiment detects blood oxygen saturation using bounce technique, the blood oxygen transducer is by LED 1 and connects
Receive it is first 2 composition, according to the scattering theory of light, light wave when by tissue (skin 3, hypodermis 4) except absorbed with
Outside, another phenomenon is there is also, that is, is scattered；Because tissue is non-equally distributed, light can not be strict in tissue
According to straightline propagation, can for example occur strong scattering phenomenon when running into venule 5, arteriole 6, a portion light warp
Cross after Multiple Scattering and return to incidence surface, macroscopically show as reflected light；Blood oxygen is carried out by detecting this Shu Guang light intensity
The detection of saturation degree.
As described in Figure 5, the blood oxygen saturation detection means 7 of the present embodiment is arranged on the front of the centre of the palm 8 of robot body, with
User's skin is contacted, and the centre of the palm 8 of robot body is fitted with the user centre of the palm can be in fast wake-up blood oxygen saturation detection means 7
Blood oxygen transducer, carry out with the blood oxygen saturation information gathering under good interactive performance.
The integrated simulation front end includes multi-lead selection circuit, Wilson's calibration circuit, filter circuit, A/D converter circuit
With SPI communication interfaces, it can drive and control the LED of blood oxygen transducer to light, so that the oximetry data of human body is gathered, and then
The data returned are gathered to blood oxygen transducer to pre-process, and mixed signal microcontroller is transferred data to by SPI.
The mixed signal microcontroller selects MSP430FR5739 microcontrollers, and the microcontroller is super low-power consumption type,
For being handled the pretreated signal in integrated simulation front end is further, that is, carry out medium filtering computing, moving average fortune
Calculate and LMS computings, isolated noise spot eliminated to the data signal from integrated simulation front end so as to realize, LPF and from
Adaptive filtering, obtains smooth data signal distribution, and further remove what is produced in motion process using movement compensating algorithm
Motion artifact.
As shown in fig. 6, the bluetooth module uses low-power consumption bluetooth standard V4.0 equipment, high-speed transfer is both can guarantee that, again
The problem of power consumption is excessive can be solved, it includes main control module, RF core module, universal peripheral interface module and sensing
Device interface module；The main control module is used to receiving, storing the signal that mixed signal microcontroller is transmitted, and is needed in signal
Outwards during transmission, by the incoming RF core module of signal；The RF core module is used to, when signal needs outside transmission, connect
The incoming signal of main control module is received, and signal is outwards transmitted by antenna；The universal peripheral interface module includes leading
The connected I of line2C, UART and SPI；The main control module is connect by wire with RF core module, common peripheral devices respectively
Mouth mold block is connected with sensor interface module.
As shown in fig. 7, the health service robot blood oxygen saturation detection workflow of the present embodiment is as follows：
User is fitted by the centre of the palm with the centre of the palm of robot body, can the medical detection unit of fast wake-up blood oxygen saturation
Detection means is worked, system initialization, and blood oxygen saturation detection function is opened, and blood oxygen saturation detection function drives collection after opening
The LED transmitting circulation light wave into AFE(analog front end) control blood oxygen transducer, integrated simulation front end is to adopting if timing condition is met
The oxygen saturation signal of collection is filtered, light path separation, automatic gain, AD conversion, otherwise return continue executing with LED transmitting follow
Ring, the signal after processing is stored into mixed signal microcontroller, computing, and operation result is sent to bluetooth module progress
Data are sent, and the health guidance suggestion of blood oxygen volume ripple waveform, blood oxygen saturation numerical value, HR values and correlation is included
The tablet personal computer of robot body front, now control system end task.
As shown in figure 8, mixed signal microcontroller workflow is as follows in the blood oxygen saturation detection means of the present embodiment：
After the data signal from integrated simulation front end is received, successively to the pretreated signal in integrated simulation front end
Medium filtering computing, moving average computing and LMS computings are carried out, the data signal from integrated simulation front end is disappeared so as to realize
Except isolated noise spot, LPF and adaptive-filtering obtain smooth data signal distribution, and further mended using motion
Repay algorithm and remove the motion artifact produced in motion process；If having received whole signals, otherwise system finishing task continues to connect
Receive the data signal by integrated simulation front end delivery.
Mobile terminal in above-described embodiment can be smart mobile phone, PDA handheld terminals etc..
In summary, health service robot of the invention can realize that blood oxygen saturation is detected, with reference to robot movement
Technology and medical detection technique, can largely improve the Mobile portable performance and interactivity of blood oxygen saturation detection means,
Facilitate user to carry out uncharging medical detection whenever and wherever possible, be that user brings more preferable medical services and easier operation
Experience.
It is described above, it is only patent preferred embodiment of the present invention, but the protection domain of patent of the present invention is not limited to
This, any one skilled in the art is in the scope disclosed in patent of the present invention, according to the skill of patent of the present invention
Art scheme and its inventive concept are subject to equivalent substitution or change, belong to the protection domain of patent of the present invention.
Claims (7)
1. a kind of health service robot of achievable blood oxygen saturation detection, including robot body, it is characterised in that：Also wrap
Include main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, doctor
Treat detection unit and power supply power supply unit；
The underlying operating system of the robot body is using robot operating system of increasing income, and it includes hardware abstraction description, bottom
Message transmission, program distribution package management, distributed process block between layer driver management, the execution of common functions, program
Frame and support code storehouse it is system combined；Robot operating system of increasing income is mounted under the ubuntu systems of linux kernel, is led to
Cross serial ports to be communicated with main control unit, and then control motion control unit, binocular vision capture unit, man-machine interaction list
The working method of member, environment sensing sensor unit and medical detection unit；
The main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor
Unit and medical detection unit are arranged on robot body；The medical detection unit includes blood oxygen saturation detection means,
The blood oxygen saturation detection means is arranged on the centre of the palm front of robot body, and the centre of the palm and the user centre of the palm of robot body are pasted
During conjunction, wake up blood oxygen saturation detection means to gather the blood oxygen saturation information of user；
The main control unit is caught with motion control unit, binocular vision respectively by bus communication protocol and serial communication protocol
Unit, man-machine interaction unit, environment sensing sensor unit is caught with medical detection unit to be connected；
The power supply power supply unit is used to be main control unit, motion control unit, binocular vision capture unit, man-machine interaction list
Member, environment sensing sensor unit and medical detection unit are powered；
The binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, and the Kinect somatosensory sensor is used for
3D steric environments are set up by three cameras, and by image identifying and processing, realize navigation and the positioning function of robot, with
And the planning of optimal path；
The man-machine interaction unit includes touch control display module and voice interaction module, and the touch control display module is handed over for video
Mutually and motion control unit, binocular vision capture unit, the state of environment sensing sensor unit and medical detection unit show
Show, be also connected by wireless signal with outside mobile terminal；The voice interaction module includes voice recognition unit, phonetic synthesis
Unit and voice alerting unit, the voice recognition unit are used to recognize the phonetic order from user；The phonetic synthesis list
Member is used to handle the speech data of identification, and synthesis machine code is sent to main control unit and carries out decision-making；The voice is carried
Show that unit is used to receive the control instruction that main control unit is sended over, voice message is carried out to user, user and machine is realized
Interactive function between people；
The touch control display module provides visualization interface, is user and medical treatment by the camera function of touch control display module
Worker sets up the interactive interface of tele-medicine, at the same provide take pictures, image, making video recording and audio-visual broadcasting entertainment service, and with it is outer
Portion's mobile terminal can keep high in the clouds synchronization and personalized function self-defined, and can provide short message, the transmission-receiving function of mail；
The voice alerting unit may remind the user that the report for physiologic information of taking medicine, carry out, and carry out after data analysis
It is recommended that the voice broadcast of prompting, while MP3 amusement functions can be provided the user, the voice recognition unit can recognize user
Voice, controls correlation function to provide service function by voice processing technology.
2. a kind of health service robot of achievable blood oxygen saturation detection according to claim 1, it is characterised in that：
The main control unit includes central processing unit, universal peripheral interface module, memory module, communication interface modules；Institute
Central processing unit is stated to receive from motion control unit, binocular vision by universal peripheral interface module or communication interface modules
Feel the data message of capture unit, man-machine interaction unit, environment sensing sensor unit and medical detection unit, data are carried out
Integration is handled, and then carries out judging decision-making and storing data in memory module, the central processing unit is connect by communication
The transmitting-receiving that mouth mold block is instructed, and then control motion control unit, binocular vision capture unit, man-machine interaction unit, environment
The working method of detecting sensor unit and medical detection unit.
3. a kind of health service robot of achievable blood oxygen saturation detection according to claim 1, it is characterised in that：
The motion control unit includes motor drive module, light-coupled isolation module, group of motors and speed measuring coder；The motor driving
Module is used for the pwm control signal for receiving main control unit transmission, and motor group is rotated, and the motor drive module and master
Isolated between control unit by light-coupled isolation module；The speed measuring coder is connected with group of motors, for Real-time Feedback motor
The positional information and rotary speed information of group, realize the closed-loop control of group of motors position and rotating speed；The group of motors is used for control machine
The head rotation of human body, waist are rotated, mechanical arm is acted and bobbin movement.
4. a kind of health service robot of achievable blood oxygen saturation detection according to claim 1, it is characterised in that：
The environment sensing sensor unit includes optoelectronic switch, gyro sensor, touch sensor, infrared sensor and ultrasonic wave
Sensor；The optoelectronic switch, touch sensor, infrared sensor, ultrasonic sensor cooperate, and carry out the knowledge of barrier
Not with hiding；The gyro sensor carries out posture deciphering to robot body；The environment sensing sensor unit is used
Multi-sensor information fusion technology is handled perceiving the data returned, and feedback control is carried out by main control unit.
5. a kind of health service robot of achievable blood oxygen saturation detection according to claim 1, it is characterised in that：
The power supply power supply unit includes charging base, battery charging inlet, battery, voltage transformation module；The battery fills
Electrical interface, battery and voltage transformation module are integrated into robot body, and the charging base is fixed indoors；In robot
During work, the voltage conversion that the voltage transformation module provides battery is into main control unit, motion control unit, binocular vision
The voltage required for capture unit, man-machine interaction unit and environment sensing sensor unit is felt, when accumulator electric-quantity is less than setting
Threshold value when, robot is automatically returned to by environment sensing sensor unit to be charged at charging base.
6. a kind of health service robot of achievable blood oxygen saturation detection according to claim 1, it is characterised in that：
The blood oxygen saturation detection means include blood oxygen transducer, integrated simulation front end, mixed signal microcontroller, bluetooth module,
Indicating lamp module and power module；The blood oxygen transducer is connected with integrated simulation front end, and the blood oxygen transducer is by LED and connects
Receive head composition；The integrated simulation front end is connected by SPI with mixed signal microcontroller；The bluetooth module by UART with
Mixed signal microcontroller is connected, and the bluetooth module is used to be connected with external equipment；The power module is used for for blood oxygen sensing
Device, integrated simulation front end, mixed signal microcontroller, bluetooth module, indicating lamp module are powered；The indicating lamp module is with mixing
Signal microcontroller is connected, for showing that robot is in the functional status that blood oxygen saturation is detected；
The bluetooth module includes main control module, RF core module, universal peripheral interface module and sensor interface
Module；The main control module is used to receive, store the signal that mixed signal microcontroller is transmitted, and is needed in signal to unofficial biography
When defeated, by the incoming RF core module of signal；The RF core module is used to, when signal needs outside transmission, receive master control
The incoming signal of molding block, and signal is outwards transmitted by antenna；The universal peripheral interface module is connected including wire
I2C, UART and SPI；The main control module passes through wire and RF core module, universal peripheral interface module respectively
It is connected with sensor interface module.
7. a kind of health service robot of achievable blood oxygen saturation detection according to claim 6, it is characterised in that：
It is logical that the integrated simulation front end includes multi-lead selection circuit, Wilson's calibration circuit, filter circuit, A/D converter circuit and SPI
Communication interface, for being pre-processed to the oxygen saturation signal that blood oxygen transducer is collected；The mixed signal microcontroller
For carrying out medium filtering computing, moving average computing and LMS computings to the pretreated signal in integrated simulation front end, so that real
Isolated noise spot, LPF and adaptive-filtering are now eliminated to the data signal from integrated simulation front end, obtains smooth
Data signal distribution, and the motion artifact that produces in motion process is further removed using movement compensating algorithm.
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| CN109831005A (en) * | 2019-02-23 | 2019-05-31 | 杭州向上机器人科技有限公司 | A kind of automatic charging system of intelligent robot |
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