CN107544482A - Towards the automatic dispensing machine people system of medical environment - Google Patents

Towards the automatic dispensing machine people system of medical environment Download PDF

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CN107544482A
CN107544482A CN201710668970.2A CN201710668970A CN107544482A CN 107544482 A CN107544482 A CN 107544482A CN 201710668970 A CN201710668970 A CN 201710668970A CN 107544482 A CN107544482 A CN 107544482A
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module
control module
main control
user
barrier
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CN107544482B (en
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禹鑫燚
朱熠琛
欧林林
卢靓
朱峰
郭永奎
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Zhejiang University of Technology ZJUT
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Zhejiang University of Technology ZJUT
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Abstract

A kind of automatic dispensing machine people system towards medical environment, including user's operation module, keyboard control module, sensing module, main control module and motion module.User needs the dispatching task completed by the operation interface selection in user's operation module, main control module can generate the operating path of robot according to the mission requirements of user and be sent to motion module, motion module will carry out track following along the operating path of robot, and dynamic barrier is avoided using the wheel type encoder from sensing module and the data of laser radar during track following, complete dispatching task.When in face of emergency case, user can open keyboard control module, the motion of manual control machine device people.

Description

Towards the automatic dispensing machine people system of medical environment
Technical field
It is especially a kind of to match somebody with somebody towards the automatic of medical environment the present invention relates to a kind of robot system for dispensing automatically Send robot system.
Background technology
With the continuous improvement of medical level, Medical-Care System is becoming better and approaching perfection day by day, and increasing patient can select large-scale doctor Institute is gone to a doctor, and this causes the workload of large hospital medical personnel growing day by day.Nurse not only carries on a shoulder pole as basic unit medical personnel Bear and be injected intravenously, the work such as routine health index test, it is also necessary to complete drug delivery, food delivery, tour or even the medical treatment in more wards The low technicals such as garbage-cleaning and repetitive work.The disease SARS of such as 2003, the nursing of patient are infected to some height Very big infection risk again for nurse be present in work.If by these low technicals, repetitive work transfers to robot complete again Into can substantially reduce the working strength of nurse and the risk of cross-infection, improve the operating efficiency of nurse, promote hospital's intelligence It is intelligent medical perfect.
In order to solve the above problems, increasing hospital introduces miscellaneous medical service robot.But one The traditional medical robot of aspect is directed to the implementation status of single task, the path of robot ambulation, simply simply from A points To B points.Therefore, when having the mission requirements of temporal constraint in face of multiple spot, traditional medical service robot system can only be same When using multiple robots complete task, consequently, it is possible to which robot on robot lazy weight or passageway certainly will be caused to gather around Squeeze and block.Zhang Wei, Wang Xiufang, Chen Tao etc. propose it is a kind of based on can search for continuous neighborhood A* algorithms paths planning method (Zhang Wei, Wang Xiufang, Chen Tao, Teng Yanbin, Li Juan, the tight flat in Zhejiang are a kind of based on paths planning method [P] that can search for continuous neighborhood A* algorithms Heilungkiang：CN106441303A, 2017-02-22), path planning is carried out to robot based on A* algorithms, in face of complexity The path of global optimum can not be generated during task；On the other hand, traditional medical robot carries out avoidance, journey using camera Flood, Wang Fukui, Zheng Yali etc. propose based on depth camera the interim barrier-avoiding method of robot (Cheng Hong, Wang Fukui, Zheng Yali, Robot interim barrier-avoiding method [P] the Sichuan of Chen Shinan, white horse with a black mane pendant pendant based on depth camera：CN106054900A,2016- 10-26.) when in face of dynamic barrier, system response is slower, easily sends and collides with dynamic barrier.
The content of the invention
The present invention will overcome the above mentioned problem of prior art, propose that a kind of automatic dispensing machine people towards medical environment is System.
The system has the operation interface of hommization first, allows operator easily to assign the dispatching task of complexity.Secondly The system possesses keyboard control module, allows operator in case of emergency manual control machine device people；The master control mould of the system again Block is based on linear time temporal logic algorithm, can generate the path of global optimum,；Finally the system enters Mobile state based on laser radar Avoidance, avoidance effect are reliable and stable.
The present invention is that technical scheme is used by solving prior art problem：
A kind of automatic dispensing machine people system towards medical environment, it is characterised in that：PC ends software installation is user's On Linux computers, laser radar sensor passes through the wired companies of USB by USB wired connections, robot base with PC ends with PC ends Connect.
Described PC ends software includes user's operation module, main control module, keyboard control module successively, and laser radar includes Sensing module, robot base include motion module.Main control module is by user's operation module, keyboard control module, sensing Module sends open command, makes it into working condition.Main control module passes through the expectation to motion-control module distribution of machine people Path, motion module is set to carry out track following along desired path；User's operation module is to main control module user's operational requirements； The data that sensing module obtains to main control module transmission sensor；Keyboard control module moves to main control module distribution of machine people to be referred to Order.
The specific composition of each module is：
User's operation module, it is that a user with good man-machine interaction operates software；User's operation module receives After open command from main control module, into working condition；User is manually entered task operating instruction in software operation interface, In the form of linear time temporal logic formula task operating instruction is sent to main control module；User's operation module has three kinds of mission modes It can select：
1) task is traveled through：Food delivery/drug delivery task is realized for multiple wards；
2) serial task：Food delivery/drug delivery task is realized in order according to ward demand；
3) combined task：Food delivery/drug delivery first is realized for multiple wards, then performs and the rubbish in part ward is put in order, finally Rubbish is taken back to the task of refuse depot.
Keyboard control module, it is a control module for allowing robot to be moved towards any direction；Keyboard control module connects After receiving the open command from main control module, into working condition；Keyboard control module receives the operational order from user, most The operational requirements of backward main control module transmission user；After button of the user by pressing corresponding robot Different Exercise Mode, key The operational requirements of user will be sent to main control module by disk control module in the form of character；Keyboard control module has nine kinds of motions Mode：Left front is advanced, straight ahead, and right front is advanced, rotate counterclockwise, is stopped, being turned clockwise, and left back retreats, directly Line retreats and right back retreats.
Sensing module, it is a module for being responsible for collection sensing data；Sensing module receives opening from main control module After opening instruction, into working condition；Sensing module receives the mileage of wheel type encoder in robot base and counted simultaneously After the scan data of the angle and distance from laser radar, main control module is real-time transmitted to；The gained of sensing module To data, main control module is sent in the form of byte stream.
Main control module, while receive and come from user's operation module, keyboard control module, the data of sensing module, through processing Reverse module sends linear velocity and instructed with angular speed；After receiving the data from keyboard control module, main control module is direct Linear velocity is sent to instruct to motion module with angular speed；After receiving the data from user's operation module, main control module, which waits, to be come From the data of sensor assembly, the position of robot is first determined by sensing data based on adaptive Monte carlo algorithm, then Path planning is carried out based on linear time temporal logic algorithm, finally the result of path planning is sent to motion module：It will match somebody with somebody first Send the weighting switching system that environment construction is finite state；Recycle linear temporal task formula to describe mission requirements, and pass through LTL2BA kits are converted to diagrammatic form；Then switching system and B ü chi automatic machines are made into cartesian product structure task can Row network topology；With reference to A* algorithms optimal path is searched out in task feasible network topology；Then task feasible network is opened up Flutter map paths obtained by optimizing and return switching system, obtain corresponding optimal path in environment；Finally by the result of path planning It is sent to motion module.
Motion module, it is that a control machine people moves along the track of route programming result, and avoids dynamic in real time and hinder Hinder the module of thing；Motion module receives the route programming result from main control module, the miniature calculating carried through robot base After machine processing, path planning requirement of the control machine people along main control module is moved, and is avoided dynamic during movement and hindered Hinder thing：First obstacle information is obtained in real time using laser radar：Define the safe distance L of mobile robots, the number of laser radar According to DL, DL={ Ln| n ∈ [0,360) }, wherein LnRepresent the obstacle distance on the direction that angle is n.First, safety away from Barrier has been detected whether from interior；If occurring barrier in safe distance, L is utilizedsThe point in all safe distances is screened, is remembered For DS, DS={ Ln|Ln＜ Ls,Ln∈DL}；The orientation of barrier is calculated again：The obstacle information obtained using algorithm steps 1, Direction and the distance of barrier are calculated, barrier is abstracted as a particle；Define the radius R of mobile robots；First, meter The weight W of each laser radar data point is calculated,Wherein kwFor constant coefficient；Second, meter Calculate DSMiddle LnWeighted average；Define LeFor the weighted average of obstacle distance：
Define θeFor the weighted average of obstacle distance：
Finally use θe, LeThe orientation of barrier is described；Then, avoidance obstacle device is designed：It is current to define mobile robot Towards θR, the angle between mobile robot and barrier It is differential that the kinematics model of the present invention is based on two wheels Mobile robot, using linear acceleration ν, angular acceleration ω, control moveable robot movement, then the design of avoidance obstacle device is such as Under：
Wherein, kv, kω, kvr, kωrIt is constant coefficient；Design motion controller：If laser radar does not detect obstacle Thing, then mobile robot is controlled to be moved to target point；The motion controller that the present invention designs：
ν=VmaxS (d) cos φ,
Wherein d is the distance between robot and target point, φ be mobile robot towards with itself and target point line it Between angle, VmaxFor the maximal rate of mobile robot operation, K is constant coefficient, and c is the deceleration distance for reaching target point；Avoidance The switching of controller and motion controller：If barrier is detected, andThen avoid hindering using avoidance obstacle device Hinder thing；Otherwise, moved using motion controller, control mobile robot to target point；Meanwhile limit the maximum of mobile robot Linear acceleration av, maximum angular acceleration aω。
The advantages and positive effects of the present invention are：
The present invention devises task dispatching interface, more succinct compared to traditional task dispatching interface operation and possess three The different mode of operation of kind；Extra increased keyboard control module, allows operator in case of emergency manual control machine device people, with Tackle emergency case；Main control module is based on linear time temporal logic algorithm, and path planning is carried out using A* algorithms relative to tradition Robot system, complex task can be tackled and generate the path of global optimum；The system is based on laser radar and carries out dynamic obstacle avoidance, Carry out the robot system of dynamic obstacle avoidance using camera relative to tradition, robot to the response speed of dynamic barrier more It hurry up, avoidance effect is more stable.
Brief description of the drawings
Fig. 1 is the platform composition schematic diagram of the present invention.
Fig. 2 is the control principle block diagram of the present invention.
Fig. 3 a are user's operation module interface of the present invention.
Fig. 3 b are the keyboard control module interface of the present invention.
Fig. 4 a are the linear time temporal logic algorithm flow chart of the present invention.
Fig. 4 b are the switching system in the linear time temporal logic algorithm of the present invention.
Fig. 4 c are the B ü chi automatic machines in the linear time temporal logic algorithm of the present invention.
Fig. 4 d are the Product automatic machines in the linear time temporal logic algorithm of the present invention.
Fig. 5 is the motion module algorithm flow chart of the present invention.
Embodiment
Present example is further described below in conjunction with accompanying drawing：
A kind of automatic dispensing machine people system towards medical environment, as shown in figure 1, platform composition mainly includes association Thinkpad computers 1, Irobot-creat2 mobile robots base 2, think haze RPLIDAR-A2 laser radars 3.Association Thinkpad computers 1 are placed in the top of Irobot-creat2 mobile robots base 2, and both are connected by USB；Think haze RPLIDAR-A2 laser radars 3 are placed in the top of association's Thinkpad computers 1, and both are connected by USB.
With reference to Fig. 2, Fig. 3 and Fig. 4, the embodiment of patent of the present invention is as follows：
Haze RPLIDAR-A2 laser radars, Irobot-creat2 mobile robots base will be thought respectively by USB and connection After thinking that Thinkpad computers are connected, association's Thinkpad computers are opened, user can run robot system.
After user's operation module receives the open command from main control module, into working condition；User operates in software Interface is manually entered task operating instruction, is sent out by ROS communication mechanisms in the form of linear time temporal logic formula to main control module Task operating is sent to instruct.User's operation module has three kinds of mission modes to select：
1) task is traveled through：Food delivery/drug delivery task is realized for multiple wards；
2) serial task：Food delivery/drug delivery task is realized in order according to ward demand；
3) combined task：Food delivery/drug delivery first is realized for multiple wards, then performs and the rubbish in part ward is put in order, finally Rubbish is taken back to the task of refuse depot.
In user's operation module, if desired robot first completes the food delivery drug delivery task to ward 03, ward 09, Zhi Houzai Completion ward 05, the rubbish in ward 08 put task in order, eventually pass back to ward 01, concrete operation step is as follows：
1) numeral 1 for representing the first priority is first clicked on, selectes ward 03, ward 09 is clicked on and determined；
2) numeral 2 for representing the second priority is clicked on again, selectes ward 05, ward 08 is clicked on and determined；
3) numeral 3 for representing third priority is then clicked on, selectes ward 01, clicks on and determines；
4) then click on start button；
5) operation of user can be converted into linear time temporal logic formula by end user's operation module：
Linear time temporal logic formula is sent to main control module.Wherein symbol ∧ (with) and(non-) is that standard Boolean connects Symbol is connect, F (final), G (always), X (next step) and U (until) are that sequential operation accords with, such as Fq0Represent q0End-state be it is true,Represent that the overall situation always avoids q4, Xq3Expression state q3For it is next in system be true state, formula q5Uq6Expression only has State q6State q could be caused when being true5Can be true.
After keyboard control module receives the open command from main control module, into working condition；Keyboard control module connects Receive the operational order from user, the operational requirements of most backward main control module transmission user.User is by pressing corresponding robot After the button of Different Exercise Mode, keyboard control module by the operational requirements of user by ROS communication mechanisms with the shape of character Formula sends main control module to.Keyboard control module has nine kinds of motion modes：Left front is advanced, straight ahead, and right front is advanced, inverse Hour hands rotate, and stop, turning clockwise, and left back retreats, and straight line retreats and right back retreats.Wherein on keyboard " U ", " I ", " O ", " J ", " K ", " L ", " M ", ", ", " ", control machine people is represented successively and is advanced to left front, straight ahead, before right front Enter, rotate counterclockwise, stop, turning clockwise, left back retreats, and straight line retreats, and right back retreats.
After sensing module receives the open command from main control module, into working condition；Sensing module receives simultaneously From robot base, the data of wheel type encoder are with after the scan data from laser radar, being real-time transmitted to master control mould Block.The resulting data of sensing module, main control module is sent in the form of byte stream by ROS communication mechanisms.Laser radar The information format of sensor transmissions is radar towards angle and the radar towards the corresponding obstacle distance in angle, such as：(22° 0.22m) (23° 0.24m)(24° 0.25m).The information format of wheel type encoder transmission is Irobot-creat2 mobile robot bases Left and right wheels advance distance, such as： (0.12 0.15m).
After main control module receives the character data from keyboard control module, main control module directly transmits linear velocity and angle speed Degree instruction is to motion module；After receiving the linear time temporal logic formula data from user's operation module, main control module, which waits, to be come From the mileage of the wheel type encoder of sensor assembly count with the angle of laser radar, range data, first covered based on adaptive Special Carlow algorithm determines the position of robot by sensing data, then carries out path planning based on linear time temporal logic algorithm, Finally the result of path planning is sent to motion module.Algorithm flow such as Fig. 4 a, are comprised the following steps that：
1) the weighting switching system that environment construction is finite state, such as Fig. 4 b, P0, P1, P2 and P3 in figure will be dispensed first It is the state set of switching system, arrow represents handoff relation, digitized representation switching weight, one tuple of switching systemRepresent.Wherein：QTIt is the finite aggregate of state, represents the set of node in switching system；It is QTOriginal state, represent initial position in actual environment；Switching function, represent each node it Between handoff relation, i.e. QTConnection situation between middle state；ΠTIt is the finite aggregate of atomic proposition；Represent QTIn the atomic proposition that is met of each state, i.e., medical robot ride needs what is completed to corresponding task node in environment Task；It is that a numerical value is positive weighting function, its value represents QTThe cost switched between middle state；
2) recycle linear temporal task formula to describe mission requirements, and chart shape is converted to by LTL2BA kits Formula, " it is required that medical robot can travel through p1, p2, p3 tasks point will be eventually passed back to ", it is theoretical using linear time temporal logic, by it Mission requirements are converted into linear time temporal logic formula：
φ=Fp1 ∨ Fp2 ∨ GFp3
B ü chi automatic machines after conversion are as illustrated in fig. 4 c；
3) and then by switching system and B ü chi automatic machines cartesian product structure task feasible network topology is made, such as Fig. 4 d Shown, the state that wherein the first row includes S0 is original state, and the state that last column includes S4 is final reception state；
4) optimal path is searched out in task feasible network topology with reference to A* algorithms, as shown in figure 4d, solid line arrow in figure Path shown in head is to use A* algorithms path, i.e. (p obtained by optimizing in task feasible network topology0,s0)→(p2,s0)→ (p1,s1)→(p3,s3), the self-loopa of the switching GFp3 parts between wherein state S3 and state S4, therefore can ignore not Meter.As can be seen from the figure total weighted value in the path is minimum, therefore plans that gained path is optimality；
5) map paths obtained by the upper optimizing of task feasible network topology are then returned into switching system, obtained corresponding in environment Optimal path.Finally, after the optimal path on task feasible network topology is obtained, also need to be mapped back in switching system, Obtain the optimal path of actual medical environment；
6) result of path planning is finally sent to motion module：By the optimal path (p of step 40,s0)→(p2, s0)→(p1,s1)→(p3,s3) it is sent to motion module.
Motion module, it is that a control machine people moves along the track of route programming result, and avoids dynamic in real time and hinder Hinder the module of thing.Motion module receives the route programming result from main control module, the miniature calculating carried through robot base After machine processing, path planning requirement of the control machine people along main control module is moved, and is avoided dynamic during movement and hindered Hinder thing, algorithm flow chart such as Fig. 5, comprise the following steps that：
1) the range data D of barrier in all angles in a scan period is recorded using laser radarL, DLInclude 360 Individual data, from 0 ° to 359 °, the obstacle distance in all directions is recorded successively.If obstacle distance is more than the survey of laser radar Orientation is measured, then obstacle distance in this direction is infinite.Remember the safe distance L of mobile robots=0.5m.If judge current Laser radar data in contain numerical value less than safe distance, then build barrier point set DS：
DS=(180 °, 0.49), (181 °, 0.47), (182 °, 0.45), (183 °, 0.43),
(184°,0.41),(185°,0.43),(186°,0.45),(187°,0.47),(188°,0.49)}
Motion controller is performed if barrier is not detected.
2) the size radius R of mobile robot is remembereds=0.2m.First, the weight W of each laser radar data point is calculated,Make kw=1.If detecting barrier, D in step 1 is utilizedS, calculate respectively each Weight W：
W=(180 °, 3.45), (181 °, 3.70), (182 °, 4.00), (183 °, 4.35),
(184°,4.76),(185°,4.35),(186°,4.00),(187°,3.70),(188°,3.45)}
Then, D is calculatedSMiddle LnWeighted average.LeFor the weighted average of obstacle distance,θeFor the weighted average of obstacle distance,Finally use θe, LeRetouch State the orientation of barrier.
3) because mobile robot and laser radar are connected, the current direction of mobile robot is θ all the timeR=180 °, note Angle between mobile robot and barrier The kinematics model of the present invention is differential based on two wheels Mobile robot, using linear acceleration ν, angular acceleration ω, moveable robot movement is controlled, then the design of avoidance obstacle device is such as Under：
Wherein kv=0.1, kω=0.2, kvr=0.1, kωr=0.01.
If 4) laser radar does not detect barrier, control mobile robot is moved to target point.Make Vmax= 0.2, K=0.05, c=0.5, remember current d=2,
ν=VmaxS (d) cos φ=0.141,
S (d)=1
5), it is necessary to rationally utilize two controllers on the basis of to avoidance obstacle device and motion Controller Design.If inspection Barrier is measured, andThen use avoidance obstacle device avoiding obstacles；Otherwise, using motion controller, control Mobile robot is moved to target point.Meanwhile limit the maximum linear acceleration a of mobile robotv=0.2, maximum angular acceleration aω=0.2.Current barrier direction is -4 °, then performs avoidance obstacle.It is final by continuous iteration control, mobile robot Being capable of avoiding obstacles arrival target point.
It is emphasized that embodiment of the present invention is illustrative, rather than it is limited, therefore the present invention includes The embodiment described in embodiment is not limited to, it is every to be obtained by those skilled in the art's technique according to the invention scheme The similar other embodiment gone out, also belongs to protection scope of the present invention.

Claims (3)

  1. A kind of 1. automatic dispensing machine people system towards medical environment, it is characterised in that：PC ends software installation is user's On Linux computers, laser radar sensor passes through the wired companies of USB by USB wired connections, robot base with PC ends with PC ends Connect；
    Described PC ends software includes user's operation module, main control module, keyboard control module successively, and laser radar includes sensing Module, robot base include motion module；Main control module is by user's operation module, keyboard control module, sensing module Open command is sent, makes it into working condition；Main control module by the expected path of motion-control module distribution of machine people, Motion module is set to carry out track following along desired path；User's operation module is to main control module user's operational requirements；Sensing The data that module obtains to main control module transmission sensor；Keyboard control module is to main control module distribution of machine people's movement instruction；
    The specific composition of each module is：
    User's operation module, it is that a user with good man-machine interaction operates software；User's operation module is received and come from After the open command of main control module, into working condition；User is manually entered task operating instruction in software operation interface, with line Property temporal logic formula form to main control module send task operating instruction；User's operation module has three kinds of mission modes can be with Selection：
    1) task is traveled through：Food delivery/drug delivery task is realized for multiple wards；
    2) serial task：Food delivery/drug delivery task is realized in order according to ward demand；
    3) combined task：Food delivery/drug delivery first is realized for multiple wards, then performs and the rubbish in part ward is put in order, most rubbish at last Rubbish takes back the task of refuse depot；
    Keyboard control module, it is a control module for allowing robot to be moved towards any direction；Keyboard control module, which receives, to be come From after the open command of main control module, into working condition；Keyboard control module receives the operational order from user, most backward Main control module transmits the operational requirements of user；After button of the user by pressing corresponding robot Different Exercise Mode, keyboard control The operational requirements of user will be sent to main control module by molding block in the form of character；Keyboard control module has nine kinds of motion sides Formula：Left front is advanced, straight ahead, and right front is advanced, rotate counterclockwise, is stopped, being turned clockwise, and left back retreats, straight line Retreat and right back retreats；
    Sensing module, it is a module for being responsible for collection sensing data；Sensing module receives the unlatching from main control module and referred to After order, into working condition；Sensing module receives the mileage of wheel type encoder in robot base and counted with coming simultaneously From after the scan data of the angle and distance of laser radar, main control module is real-time transmitted to；The resulting number of sensing module According to sending main control module in the form of byte stream；
    Main control module, while receive and come from user's operation module, keyboard control module, the data of sensing module are backward through handling Motion module sends linear velocity and instructed with angular speed；After receiving the data from keyboard control module, main control module directly transmits Linear velocity is instructed to motion module with angular speed；After receiving the data from user's operation module, main control module, which waits, carrys out autobiography The data of sensor module, first determine the position of robot based on adaptive Monte carlo algorithm by sensing data, then are based on Linear time temporal logic algorithm carries out path planning, and finally the result of path planning is sent to motion module：Ring will be dispensed first Border is configured to the weighting switching system of finite state；Recycle linear temporal task formula to describe mission requirements, and pass through LTL2BA kits are converted to diagrammatic form；Then switching system and B ü chi automatic machines are made into cartesian product structure task can Row network topology；With reference to A* algorithms optimal path is searched out in task feasible network topology；Then task feasible network is opened up Flutter map paths obtained by optimizing and return switching system, obtain corresponding optimal path in environment；Finally by the result of path planning It is sent to motion module；
    Motion module, it is that a control machine people moves along the track of route programming result, and real-time avoiding dynamic barrier Module；Motion module receives the route programming result from main control module, at the microcomputer carried through robot base After reason, path planning requirement of the control machine people along main control module is moved, and the avoiding dynamic barrier during movement： First obstacle information is obtained in real time using laser radar：Define the safe distance L of mobile robots, the data D of laser radarL, DL={ Ln| n ∈ [0,360) }, wherein LnRepresent the obstacle distance on the direction that angle is n；First, in safe distance Barrier is detected whether；If occurring barrier in safe distance, L is utilizedsThe point in all safe distances is screened, is designated as DS, DS={ Ln|Ln＜ Ls,Ln∈DL}；The orientation of barrier is calculated again：The obstacle information obtained using algorithm steps 1, calculate barrier Hinder direction and the distance of thing, barrier is abstracted as a particle；Define the radius R of mobile robots；First, calculate each The weight W of laser radar data point,Wherein kwFor constant coefficient；Second, calculate DSIn LnWeighted average；Define LeFor the weighted average of obstacle distance：
    Define θeFor the weighted average of obstacle distance：
    Finally use θe, LeThe orientation of barrier is described；Then, avoidance obstacle device is designed：Define the current direction of mobile robot θR, the angle between mobile robot and barrier The kinematics model of the present invention is based on the differential shifting of two wheels Mobile robot, using linear acceleration v, angular acceleration ω, moveable robot movement is controlled, then the design of avoidance obstacle device is as follows：
    Wherein, kv, kω, kvr, kωrIt is constant coefficient；Design motion controller：If laser radar does not detect barrier, control Mobile robot processed is moved to target point；The motion controller that the present invention designs：
    V=VmaxS (d) cos φ,
    Wherein d is the distance between robot and target point, φ be mobile robot towards with it between target point line Angle, VmaxFor the maximal rate of mobile robot operation, K is constant coefficient, and c is the deceleration distance for reaching target point；Avoidance obstacle The switching of device and motion controller：If barrier is detected, andThen obstacle is avoided using avoidance obstacle device Thing；Otherwise, moved using motion controller, control mobile robot to target point；Meanwhile limit the max line of mobile robot Acceleration av, maximum angular acceleration aω。
  2. 2. the automatic dispensing machine people system according to claim 1 towards medical environment, it is characterised in that：Described fortune Dynamic model block calculates the weight of each data point using the data message of laser radarEnter And calculate the weighted average in barrier orientation Use θe, LeThe orientation of barrier is described.
  3. 3. the automatic dispensing machine people system according to claim 1 towards medical environment, it is characterised in that：Described fortune Dynamic model block is on the basis of Artificial Potential Field Method, not only using the distance between mobile robot and barrier information, and utilizes Angle information between mobile robot and barrier, define mobile robot it is current be oriented θR, mobile robot is with hindering The angle between thing is hindered to be The design of avoidance obstacle device is as follows：
    Wherein, kv, kω, kvr, kωrIt is constant coefficient.
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Cited By (8)

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CN110120268A (en) * 2019-05-24 2019-08-13 宿州学院 A kind of robot system helping rehabilitation
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CN108983777A (en) * 2018-07-23 2018-12-11 浙江工业大学 A kind of autonomous exploration and barrier-avoiding method based on the selection of adaptive forward position goal seeking point
CN110120268A (en) * 2019-05-24 2019-08-13 宿州学院 A kind of robot system helping rehabilitation
CN110653830A (en) * 2019-09-03 2020-01-07 南京美桥信息科技有限公司 Automatic distribution robot system oriented to medical environment
CN113031593A (en) * 2021-02-25 2021-06-25 上海交通大学 Active sensing task path planning method and system, robot and controller
CN113059576A (en) * 2021-03-31 2021-07-02 上海应用技术大学 Medical transportation robot based on fish school effect and self-adaptive cruise following method
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CN114800553A (en) * 2022-04-24 2022-07-29 华南理工大学 Control system of medical care robot
CN115328173A (en) * 2022-10-14 2022-11-11 深圳市功夫机器人有限公司 Mobile robot control method based on laser radar and mobile robot

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