CN109806113A - A kind of ward ICU horizontal lower limb rehabilitation intelligent interaction robot group system based on ad hoc network navigation - Google Patents
A kind of ward ICU horizontal lower limb rehabilitation intelligent interaction robot group system based on ad hoc network navigation Download PDFInfo
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Abstract
The invention discloses a kind of ward ICU horizontal lower limb rehabilitation intelligent interaction robot group systems based on ad hoc network navigation；The system comprises human body physical sign data acquisition module, base module, lower limb exoskeleton, control and rehabilitation evaluation and test module, location navigation and build module, group communication module, intelligent interaction module, cloud platform；Based on modular design, for different characteristic patient, it can be achieved that movement evaluation and test and rehabilitation training for each joint of human body lower limbs list bilateral；Group, robot is controlled using the tissue characteristics of MAS, and single bilateral lower limb rehabilitation training of different patients is realized by close collaboration；Based on the wireless self-networking communication technology, each robot summarizes the position of measurement, barrier data to base station by ad hoc network, and constructs map, realizes the independent navigation of group, robot, greatly improves the paleocinetic ability of group machines people；Based on region chain technology, the safety of its data transmission and storage is improved.
Description
Technical field
The invention belongs to medical rehabilitation clothing arts, and in particular under a kind of ward ICU based on ad hoc network navigation is horizontal
Limb rehabilitation intelligent interaction robot group system meets single bilateral lower limb rehabilitation evaluation and test of Intensive Care Unit difference patient
And rehabilitation training requirement.
Background technique
It is " useless to will lead to muscle studies have shown that brain paralysis or lower limb body injured patient do not carry out leg training for a long time for medical science of recovery therapy
With property " atrophy and can not be restored, therefore, should be as early as possible after Intensive Care Unit (ICU) patient body sign is steady after surgery
Limb rehabilitation training is carried out, facilitates it and restores limbs normal function；However, since the lower limb of brain paralysis or lower extremity injury patient are transported
Dynamic obstacle, is unable to complete independently limb rehabilitation training, generally requires the medical staff with certain nursing knowledge and help patient anti-
Training is completed again, this brings great labor burden to the ward ICU medical staff, and training time and intensity cannot accurate handles
Control causes ICU patient's training to be difficult to obtain optimum therapeuticing effect, and prior limitation is that patient is divided into pamplegia and two kinds of semi-paralysis
The therapeutic process emphasis of type, different type patient is different, cannot flexibly exchange training for unilateral or bilateral patient
Scheme cannot carry out rehabilitation training simultaneously for the bilateral lower limb of pamplegia patient, cannot be directed to the multiple joint portions of lower limb of patient
Position collaboration carries out rehabilitation training；Secondly, being unable to real-time monitoring Rehabilitation situation, lead to the feedback of repetition training and therapeutic effect
Not in time, it is unfavorable for medical staff and effectively adjusts rehabilitation training plans according to ICU patient's recovery effects.
The generally existing following problem of the control system of existing recovery set for lower limbs: 1) rehabilitation training mode is single, and patient is each
The rehabilitation demands in a rehabilitation stage cannot effectively meet；Rehabilitation position type is single, and robot once may only be for patient
Partial joint carry out rehabilitation training, patients ' recovery efficiency is lower；2) robot interactive mode is single and cumbersome, and doctor must hand
Dynamic, multiple control robot completes rehabilitation, some patients with cerebral palsy limbs cannot take action, can not be with robot interactive, machine
People is only used for the rehabilitation on limbs and cannot be used for the rehabilitation on patients ' psychological；It 3) cannot between each robot
It cooperates, the treatment task that patient's unilateral or bilateral etc. needs the cooperation of the different machines human world to complete of completing, ICU disease cannot be cooperateed with
Room efficiency is too low；Different types of healing robot or rehabilitation system make different rehabilitation sides by the test to patient ICU
Formula not can be carried out data communication between different types of healing robot or rehabilitation system, can only be determined suitable by artificially judging
The rehabilitation training mode for closing patient ICU, has aggravated the labor burden of medical staff in hospital to a certain extent；4) robot moves
Flowing mode is more original, and the avoiding obstacles that single machine people cannot be autonomous are simultaneously moved to finger according to the navigation routine that doctor is arranged
Positioning is set；More robots are unable to mutual perception positioning, navigation routine, cooperate between ward without any confusion.
For these reasons, there is an urgent need to develop a kind of horizontal lower limb rehabilitation intelligence in ward ICU based on ad hoc network navigation
Interaction robot group system passes through the multi-joint position Collaborative Control training of the unilateral or bilateral lower limb to patient, Yi Jiyu
Patient's intelligent interaction, completes the rehabilitation of the postoperative ward ICU patient, and multimachine autonomous positioning, navigation, communication mitigate medical care people
Member labour increases ICU patient's lower limb rehabilitation efficiency.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, to devise a kind of ICU disease based on ad hoc network navigation
Room group, horizontal lower limb rehabilitation intelligent interaction robot, including single lower limb healing robot, bilateral lower limb rehabilitation robot, base
In the wireless self-networking communication technology, realize location data, navigation data, avoidance data sharing multi-machine collaborative control function, health
Multiple multiple robots group can independently and mutually cooperate with the multi-joint position for the unilateral or bilateral lower limb of a patient be directed to
The collaboration rehabilitation training of property；Analysis and place of the ICU human body data information of healing robot group acquisition by cloud computing
Reason determines the rehabilitation training mode of suitable patient ICU；In order to improve the ability of group machines people cooperation completion task, using MAS
Tissue characteristics control group machines people system；For the purpose of completion task, the multi-Agent system knot based on dynamic character is established
Structure flexibly realizes the cooperative job between the independence and multirobot of machine individual human；More robots will be respective fixed
Position data summarization to base station and constructs global map, completes itself navigation feature according to the map, actively avoids hindering in moving process
Hinder object, and avoidance data are summarized immediately to base station, is used for real-time update map；For improve safety, speed, accuracy and
The efficiency of healing robot, data storage are all made of block chain technology with transmission.
The present invention solve above-mentioned technical problem the technical solution adopted is as follows:
The group of the ward the ICU horizontal lower limb rehabilitation intelligent interaction robot based on ad hoc network navigation, including single lower limb
Healing robot, bilateral lower limb rehabilitation robot；The structure of unilateral or bilateral lower limb rehabilitation robot all includes human body physical sign number
According to acquisition module, base module, lower limb exoskeleton, control and rehabilitation evaluation and test module, intelligent interaction module, location navigation and build figure
Module；Lower limb rehabilitation robot intercommunication constitutes group, including ad hoc network group communication module, cloud platform module.
The human body physical sign data acquisition module includes that photoelectric sphyg sensor, gas flow sensor and motor photoelectricity are compiled
Code device, it can be achieved that the sign data of the ward ICU patient (such as pulse, heart rate, blood pressure, blood oxygen saturation, lung capacity, lower limb respectively close
Save movement velocity and acceleration) acquisition and monitoring can once collected data exceed human body physical sign data range of normal value
So that control module is stopped ICU unit patients rehabilitation training, avoids sending out going out for damage in ICU movement of patient excess and motion process again
It is existing.
The base module is designed using moveable platform, realizes its all-around mobile, robot based on Mecanum wheel
The multi-motions modes such as achievable forward, traversing, diagonal, rotation and combinations thereof；Robot does not need to carry out in the process of walking
It turns, turn around etc. and occupying the movement of hospital corridors larger space, to effectively increase the utilization rate in hospital corridors space.
The lower limb exoskeleton includes leg training mechanism and training institution, foot；Leg training mechanism is by thigh ectoskeleton
Rod piece, knee joint ectoskeleton training institution and shank ectoskeleton rod piece composition；Training institution, foot is then by being used for fixing human foot
The foot pedal in portion and the ankle-joint training institution composition of driving foot pedal rotation.
The control refers to rehabilitation evaluation and test module based on control instruction, realizes that lower limb rehabilitation training machine auxiliary patient completes
The lower limb coordinated movement of various economic factors rehabilitation training of multi-mode；It is the reasonable rehabilitation training scheme of patient's formulation that doctor can also be helped simultaneously, and
Using active training, passive exercise and impedance training Three models, meet the rehabilitation training demand of patient's different phase；Actively
Training mode refers to the resistance torque for overcoming lower limb rehabilitation training machine to provide by patient, realizes the master of patient's lower limb coordinated movement of various economic factors
Dynamic rehabilitation training；Passive exercise mode refers to that, by control lower limb rehabilitation training machine movement, traction patient realizes that lower limb coordinate fortune
Dynamic passive rehabilitation training；Main passive adaptive training mode is according to patient's lower limb coordinated movement of various economic factors changing features, based on described
The adaptive motion control strategy of control and rehabilitation evaluation and test module realizes that the master of patient's lower limb passively coordinates rehabilitation training.
The location navigation and module is built by robot carrying ROS operating system, each robot reads itself
The data such as Inertial Measurement Unit, odometer, laser radar, multiple robots are in communication with each other data summarization to together, and realization is
Shi Dingwei and map structuring (SLAM) after map structuring is completed, control robot by navigation algorithm and reach designated position；Machine
Device people is rotated by 360 ° omni-directional in the process of walking to be detected, and by high-precision laser radar distance measurement technique, is being worked as
Once detecting pedestrian or other barriers on preceding traffic direction, emergent stopping measure can be taken, prevents robot from walking
Pedestrian or other barriers are bumped against in the process；After stopping, the avoidance data that will test summarize in time to base station, for building
Module updates map, and it is identical and apart from nearest clear road that navigation system according to new map cooks up a destination
Diameter, robot walk on along variation route；In addition, laser radar avoidance measurement effect under dark surrounds is more preferable.
The ad hoc network group communication module is the communication infrastructure of the system；The mutual sharing position in the machine human world, avoidance
Etc. a variety of data, accurate information is provided for the mapping of location navigation, provides data communication for machine human world Collaborative Control；It adopts
The data transmission in group, robot between healing robot is realized with ZigBee technology.
The intelligent interaction module has dialogue control, machine learning, demand reason compared to traditional man-machine interactive system
Multiple functions are solved, it can be achieved that full-automatic, full voice of the robot with patient, between doctor interact；Base scene is patient
Service scenarios, feature includes: autonomous learning patient habit and patient intelligently chats, patient passes through voice control robot；Machine
People is directed to the patient of different habits, constantly learns and creates the interaction scenarios for being suitble to the patient, use the time longer patient's
Interaction scenarios are more perfect, and fabulous interactive experience is brought to rehabilitation patient；Family members outside Intensive Care Therapy room can pass through the module
Real-time voice or video calling are carried out with the patient in Intensive Care Therapy room, the anxiety and patient for alleviating family members' concern patient are missed
The feelings of the miss of family members.
The Collaborative Control module is the ability in order to improve group machines people cooperation completion task, using MAS
The tissue characteristics of (Mutiple Agent System) control group machines people system, by MAS theory and ICU patients ' recovery target
It combines, for the purpose of completion task, establishes the multi-Agent Architecture based on dynamic character, flexibly realize robot
Work compound between the independence and multirobot of body；MAS is used in the group, robot with self-organized network communication function
System, each robot have independence and independence, are capable of that autonomous, asynchronously to solve the problems, such as complicated rehabilitation given
Subproblem, automatically reasoning and planning simultaneously select strategy appropriate, multiple to communicate with each other from robot, coordinated with each other, concurrently
Single bilateral lower limb rehabilitation training is carried out to patient；Each Agent perhaps fulfils the responsibility of oneself or communicates with other Agent
Acquisition information, which cooperates with each other, completes the solution of entire problem, and medical staff can choose single healing robot and carry out single lower limb
Rehabilitation training also can choose multiple healing robots and coordinate to carry out more side lower limb rehabilitation trainings.
The cloud platform module, cloud platform are located at remote server, for storing, analyzing and excavating the disease of terminal upload
Personal data, judges brain paralysis patients ' recovery motion conditions and muscular fatigue situation, and result is fed back to rehabilitation assessment module and is shown,
Correct rehabilitation training parameter；Patient history information can be also imported from hospital's record management system, generated using clustering a
Property hurt of rehabilitation scheme.
The invention has the advantages that: the horizontal lower limb rehabilitation intelligent interaction machine in the ward ICU based on ad hoc network navigation
People's group system can multi-joint position rehabilitation of the complete independently to patients with cerebral palsy single lower limb, by between more robots
It cooperates, while rehabilitation is carried out to the multi-joint position of patients with cerebral palsy bilateral lower limb, meet the rehabilitation instruction of different patients
Practice demand, while reducing the labor burden of medical staff in hospital, improves the therapeutic efficiency in the ward ICU；Based on ad hoc network mould
Block can carry out group communication between robot, realize multimachine real-time data sharing；Based on avoidance, positioning, navigates, builds module,
Under the control of base station, avoiding obstacles that can be autonomous reach specified place for more robots；Based on intelligent interactive system, machine
Device people can learn the personality of patient, carry out voice-enabled chat with patient, family members can guarantee patient in rehabilitation with patient's video calling
Phychology is steady in journey；In addition, in order to improve the safety of healing robot, speed, accuracy and efficiency, between multiple modules
Data storage is all made of block chain technology with transmission；Block chain technology following three may be implemented in terms of function: first, guarantee
Data can not be distorted, can not be forged on chain, improve the public credibility and credibility of data；Second, it realizes the retrospect of transaction, accomplishes to trace back
Source supervision and responsibility tracing；Third, intelligent contract can be executed automatically based on contract, to improve working efficiency, reduce operation
Cost.
Detailed description of the invention
Fig. 1 is the structure of the horizontal single lower limb rehabilitation intelligent interaction robot in the ward ICU based on ad hoc network navigation
Figure.
Fig. 2 is the structure of the horizontal bilateral lower limb rehabilitation intelligent interaction robot in the ward ICU based on ad hoc network navigation
Figure.
Fig. 3 is the ward the ICU horizontal lower limb rehabilitation intelligent interaction robot group system based on ad hoc network navigation
Working principle diagram.
Specific embodiment
Single lower limb healing robot mechanical structure as shown in Figure 1 includes thigh limited block 1, display 2, thigh root
3, control cabinet 4, clamping nut 5, thermovent 6, aluminium type material base support 7, Mecanum wheel 8, camera 9, laser radar dress
Set 10, thigh carbon fiber pipe 11, thigh fixing frame 12, motor 13, angular transducer 14, foot pedal 15, shank carbon fiber pipe 16,
Leg fixing frame 17, angular transducer 18, shank root 19, motor 20, link block 21, angular transducer 22, robot communication
23。
Motor shown in Fig. 1 constitutes leg by assembling with thigh limited block, thigh carbon fiber pipe and thigh fixing frame
Training institution；Between leg training mechanism and support frame, between two connecting rods of leg training mechanism, leg training mechanism with
It is that transmission chain is constituted by motor, shaft and transmission mechanism between the two between connection frame, between connection frame and foot pedal,
By the control program under selection different mode, thigh and calf driving motor draws each joint of patient legs and completes corresponding rehabilitation instruction
Practice.
Motor shown in Fig. 1 is assembled with foot pedal and link block, constitutes training institution, foot, different by setting
Control program under mode, helps or traction patient completes foot's rehabilitation training.
Thigh ectoskeleton part described in Fig. 1 includes thigh ectoskeleton limited block, thigh carbon fiber pipe, thigh driving motor and big
Leg fixed frame；By adjusting the length of thigh carbon fiber pipe, meet the use demand of different patients；Shank ectoskeleton member structure
It is made of shank ectoskeleton limited block, shank carbon fiber pipe, shank driving motor and thigh fixing frame.
Equipped with the pressurizing device that can be protruded into below hospital bed on the mobile platform of pedestal described in Fig. 1, by screwing pressurization dress
The knob set docks it reliably with hospital bed；It is using the specific embodiment that Mecanum wheel designs realization all-around mobile,
Based on one, there are many centre wheel principles for being located at wheel periphery wheel shaft, in the case where not changing fuselage direction, realize machine
The multi-motions mode such as the forward, traversing of people, diagonal, rotation and combinations thereof.
The mechanism of bilateral lower limb rehabilitation robot shown in Fig. 2 includes the infrared module 24 that tracks, aluminium type bracket 25, fixed adjustment
Structure 26, fixed support structure 27, aluminium fixed frame 28, thigh housing 29, linkage 30, gear train 31, stepping electricity
The fixed device 34 of machine 32, motor push rod 33, knee, shank set 35, ankle housing 36, foot pedal 37, Mecanum wheel 38, camera shooting
First 39, avoiding obstacles by supersonic wave module 40, self-locking steering wheel 41, display screen 42.
Ad hoc network group communication module as described in Figure 3 uses ZigBee Wireless Ad Hoc Networks, realizes group, robot
Data transmission between middle healing robot coordinates rehabilitation training mode, by coordinator, router, terminal machine people, netted
Network opens up benefit structure and builds the network architecture；Coordinator is the central hub of whole network, plays the function of network establishment and maintenance；
Router plays the function of information forwarding and aided coordination device maintenance network；Terminal machine people is most end in ZigBee network
The sub-node equipment at end, the communication of two terminal rooms need to carry out multi-hop or single-hop communication by father node.
Collaborative Control module as described in Figure 3 controls group machines people system using the tissue characteristics of multi-Agent, is used for
Improve the ability of group machines human world cooperation completion task；MAS theory is combined with ICU patients ' recovery target, to complete to appoint
For the purpose of business, the multi-Agent Architecture based on dynamic character is established, the independence and multimachine of machine individual human are flexibly realized
Cooperation between device people；Each Agent perhaps fulfils the responsibility of oneself or communicates acquisition information with other Agent and assists mutually
Make the solution of the entire problem of completion, medical staff can choose single healing robot and carry out rehabilitation training, also can choose more
A healing robot is coordinated to carry out rehabilitation training.
Block chain technology as described in Figure 3 refers to that group, robot comes as network node using block chain, and by they
In transaction write-in block, distribute information by using block chain, entire group, robot can more effectively solve the problems, such as and complete
At task；Block chain technology is that algorithm of knowing together with storing data, using distributed node is verified using block linked data structure
Guarantee the safety of data transmission and access with more new data, in the way of cryptography, using by automatized script generation to generate
The intelligent contract of code composition programs the completely new distributed basis framework and calculation paradigm of one kind with operation data；In robot
In group, each robot can follow basic rule, it is ensured that all participants in distributed network share identical
Target, form interaction between each participation robot, mutually restrict, the situation mutually promoted improves multiple robots
Speed and accuracy of the group during ICU patients ' recovery.
Human body physical sign data acquisition module as described in Figure 3 includes photoelectric sphyg sensor, gas flow sensor and motor
Photoelectric encoder can obtain patient heart rate, pulse, blood pressure, pneusomete blood oxygen saturation, each articulation angle of lower limb in real time
Degree, angular speed and angular acceleration, and these collected data are transferred to control by mode by wireless communication and rehabilitation is evaluated and tested
Module；The available patient heart rate of photoelectric sphyg sensor, pulse, blood pressure and blood oxygen saturation；Gas flow sensor obtains
Lung capacity in Rehabilitation training process；Motor photoelectric encoder obtains the fortune in each joint during patient's lower limb rehabilitation training
Dynamic data (such as angle, angular speed and angular acceleration)；Once it exceeds human body physical sign data range of normal value, system can stop automatically
Only patients ' recovery training, avoids the appearance for sending out damage in ICU movement of patient excess and motion process again.
Location navigation as described in Figure 3 uses cartographer algorithm to IMU, odometer and laser thunder with module is built
It is merged up to data, and carries out map structuring and the resolving of robot pose based on these data, realization is robot autonomous never
Know that the unknown place of environment is set out, self-position and posture positioned by the environmental characteristic that repeated measures arrive during the motion,
Further according to the increment type map of self-position building ambient enviroment, achievees the purpose that while positioning and map structuring；Inertia measurement
Unit (IMU) is the device for measuring object triaxial attitude angle (or angular speed) and acceleration；One IMU contains three single shafts
Accelerometer and three uniaxial gyros, accelerometer detection object carrier coordinate system unification and independence stand three axis acceleration letter
Number, and angular velocity signal of the gyro detection carrier relative to navigational coordinate system, measurement object angular speed in three dimensions and
Acceleration, and calculate with this posture of object.
Cloud platform as described in Figure 3 stores the personal data of patient and information in the database, by connecing with what it was established
Mouthful, medical staff can realize inquiry, calling, addition, modification and delete operation to subject data, understand the rehabilitation instruction of patient
Practice as a result, providing reference for next rehabilitation scheme formulation；It is right by network communication, parallel and concurrent processing, database design
The overall process of rehabilitation training and evaluation and test is managed, and ensures the highly effective and safe operation of the horizontal lower limb rehabilitation robot group of ICU；It adopts
Server end website is built with springboot+mybatis frame, multi-user is solved with redis cache database and visits simultaneously
The high concurrent failure problems for causing website to collapse when asking website；Meanwhile the trouble that can will be got from control with rehabilitation evaluation and test module
Person's data carry out cloud computing analysis, improve the therapeutic scheme of patient, and feed back to rehabilitation evaluation and test module, in time, just convenient for doctor
True adjusting training scheme；Cloud platform not only can analyze the data of single patient, obtain therapeutic regimen, can also pass through
The adjustment of a large amount of patients with cerebral palsy multiple training program in rehabilitation training is analyzed compared with rehabilitation result, summarizes adaptation
The rehabilitation training scheme of different type patient (semi-paralysis or pamplegia).
Control as described in Figure 3 and rehabilitation evaluation and test module include control function, serial communication function, data display function,
Function is evaluated and tested in rehabilitation；Serial communication function is based on serial port communicating protocol, realizes and transmits with the data of control module；User can be certainly
The parameter (such as port numbers, baud rate etc.) of definition setting serial communication, is based on serial communication, host computer can transmit control instruction
It is executed to slave computer, feedback data and information can be transferred to host computer by slave computer；Data display function can obtain robot
Patient's correlation rehabilitation data and information, high visually real-time display is in data display interface；Rehabilitation evaluates and tests function to trouble
The current rehabilitation training effect of person is assessed, and is corrected in time aiming at the problem that encountering in training process.
The function of intelligent interaction module as described in Figure 3 includes recognition of face, image recognition, speech recognition, In vivo detection, language
Sound synthesis, robot navigation and vision；By face, voice, image recognition and In vivo detection, limbs of patient movement and table are obtained
The data such as feelings complete the interaction with patient；The voice and video telephone of patient and family members are to carry Android8.0 system by host computer
System, using the library building of libstreaming third party's open source, what the real time flow medium design based on Android camera was completed；
Libstreaming is net cast library, is based on Rtsp agreement, and live streaming end acquisition video simultaneously opens service plug-flow, client terminal playing
Stream video.
Embodiment
Before rehabilitation training, the navigation routine of Zhong Getai robot, healing robot group is arranged by APP by medical staff, respectively
Platform healing robot realizes closely precisely navigation by navigation algorithm, and in moving process, lower limb rehabilitation robot, which uses, to swash
Optical radar carries out avoidance detection；After healing robot reaches designated position, medical staff carries out disinfection to it outside the ward ICU
Series of steps, and be rigidly connected with hospital bed, then doctor consolidates the lower limb exoskeleton of patient's lower limb and healing robot
It is fixed to arrive together, it adjusts its structure and meets patient comfort requirement；Power on, is carried out in rehabilitation training in patient, rehabilitation machines
Device crowd group carries out all data detection to patient ICU, and carries out aggregation of data and processing, rehabilitation by robot communication module
Evaluating system provides the rehabilitation training mode of most suitable patient ICU, medical staff is by airborne computer to rehabilitation machines by analysis
Device people is configured, and selection carries out double lower limb rehabilitation simultaneously or unilateral rehabilitation to patient ICU, and healing robot is according to setting pair
Patient carries out a series of rehabilitation assessments and training, and patients ' recovery data are saved in cloud platform, is convenient for rehabilitation evaluation and test；Doctor
After the raw unlatching intelligent interaction mode by APP, robot can chat with patient, be suffered from by identification limbs of patient movement judgement
Person is intended to, and acquires patient facial region's information by recognition of face, thus it is speculated that patient's current mood, personality, and independently take some modes
Reduction of patient mood, such as tell funny stories, do developmental game；Doctor opens monitoring mode by APP, and robot can moment monitoring trouble
The state of an illness of person opens alert notification doctor once accident occurs immediately；Doctor opens voice and video telephone function, patient by APP
Voice and video call can be carried out with family members outside ward；Training terminate or chat after, medical staff is by patient's lower limb and lower limb
Ectoskeleton safe escape, robot and hospital bed are disconnected, and by APP be arranged navigation routine, control healing robot from
It opens the ward ICU and returns to home position.
Basic principle of the invention, implementation process and advantages of the present invention, the technology of the industry has been shown and described above
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, without departing from the spirit and scope of the present invention, this hair
Bright to will also have various changes and improvements, these changes and improvements belong in scope of the claimed invention, the present invention claims
Protection scope is defined by the appending claims and its equivalent thereof.
Claims (4)
1. the invention discloses a kind of horizontal lower limb rehabilitation intelligent interaction multiple robots systems in the ward ICU based on ad hoc network navigation
System, including single lower limb healing robot, bilateral lower limb rehabilitation robot, structure all include human body physical sign data acquisition module
Block, base module, lower limb exoskeleton, control and rehabilitation evaluation and test module, intelligent interaction module, location navigation and build module；Base
In ad hoc network group communication module and cloud platform, group, robot is cooperated, and realizes the movement evaluation and test of patient's list bilateral lower limb
With rehabilitation training；Human body physical sign data acquisition module includes that photoelectric sphyg sensor, gas flow sensor and motor photoelectricity are compiled
Code device, for obtaining and monitoring the sign data of patient ICU in rehabilitation training, i.e. pulse, heart rate, blood pressure, blood oxygen saturation, lung
The sign data of every patient such as living amount, each joint motions speed of lower limb and acceleration, by serial communication pass to control with
Rehabilitation assessment module, realizes the evaluation and test of brain paralysis patient lower extremity movement and security control；It may be based on wirelessly communicating, human body physical sign data
It is transferred to the cloud platform positioned at remote server, evaluation result and hurt of rehabilitation scheme are generated by cloud computing, evaluated and tested simultaneously
As a result it is also sent to medical staff；In addition, medical staff can also be referred to by setting rehabilitation training mode with parameter to generate control
It enables, is sent to control and rehabilitation evaluation and test module, realize that lower limb rehabilitation training machine auxiliary patient completes multi-mode based on control instruction
Double lower limb coordinated movement of various economic factors rehabilitation training；Cloud platform storage, analysis and the patient data for excavating terminal upload, judge brain paralysis patient
Rehabilitation exercise situation and muscular fatigue situation, and result is fed back into control and is shown with rehabilitation assessment module, and corrects rehabilitation instruction
Practice parameter, patient history information can be also imported from hospital's record management system, personalized rehabilitation is generated using clustering and is controlled
Treatment scheme；Ad hoc network group communication module uses ZigBee technology, it can be achieved that high-speed communication between robot group；Based on region chain
Technology improves system and transmits and the safety in storage in data；In order to improve the energy of group machines people cooperation completion task
Power controls group, robot using the tissue characteristics of MAS, provides personalized treatment for single bilateral lower limb patient of different characteristic.
2. location navigation according to claim 1 and building module, based on the operating system that robot carries, pass through reading
Inertial Measurement Unit, odometer, laser radar data carry out positioning immediately and map structuring (SLAM)；Map structuring uses
Cartographer algorithm, the algorithm mainly pass through Kalman filter algorithm and melt to IMU, odometer and laser radar data
It closes, and carries out map structuring and the estimation of robot pose based on these data；After map structuring is completed, pass through navigation algorithm control
Robot processed reaches designated position；In navigation procedure, robot on current traffic direction, by 360 ° detection and it is high-precision
Laser radar distance measurement technique, once detect pedestrian or other barriers in robot working range danger zone,
Emergent stopping measure is taken immediately, avoids colliding with people；Meanwhile it being based on group communication function, avoidance data summarization is given
Base station, base station update map immediately, and each terminal machine people receives new map, can independently plan travelling route again, get around
The barrier substantially increases the autokinetic movement ability of group, robot.
3. ad hoc network group communication module according to claim 1 is to be based on ZigBee technology, between realization group, robot
Data transmission and coordinate rehabilitation training mode；Benefit structure is opened up by coordinator, router, terminal machine people, mesh network to take
Establishing network framework establishes base station within the scope of current network, and the robot node being each located under the network can forward other machines
The data of device people's node, can also be in the range of oneself signal covers and multiple isolated robot nodes realize that wireless interaction is logical
Letter；Coordinator is responsible for network establishment and maintenance, is the highest father node of grade；Router is responsible for information forwarding and aided coordination device
It safeguards network, may act as father or child node；Terminal machine people is the sub-node equipment of least significant end in ZigBee network, and two eventually
Communication needs to carry out multi-hop or single-hop communication by father node between end；Group communication provides number for more machine human world Collaborative Controls
According to basis, such as robot real time position data is shared, real-time obstruction data is shared, provides standard for the mapping of location navigation
Firmly believe breath.
4. intelligent interaction module according to claim 1 has voice and video call function, make the severe in robotic end
Patient can realize point-to-point voice and video telephone with the family members outside ward under local area network in Intensive Care Unit, be beneficial to patient mood and releive
With the recovery of the state of an illness；The host computer of robot carries Android8.0 system, using libstreaming third party's open source library structure
Build the real time flow medium of Android camera；Camera handles each frame real time data for shooting patient, and is encoded into original
Data are packaged and delivered to family members' mobile phone terminal, and data transmission is based on local area network, and data are taken out at family members end, restore stream medium data,
Realize real-time audio and video call；Patient needs to carry out 24 hours to guard, host computer installation monitoring system, captured in real-time disease
Feelings, video can not only be real-time transmitted to doctor's mobile phone terminal, while can also store to local, cloud platform is uploaded to later, as rear
The important evidence of the judgement of the phase state of an illness, early warning emergency event etc..
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| CN110405771A (en) * | 2019-08-07 | 2019-11-05 | 广东博智林机器人有限公司 | Exoskeleton robot, walk help control method, terminal and computer installation |
| CN110934716A (en) * | 2019-11-27 | 2020-03-31 | 湘南学院附属医院 | Combined type department of neurology numbness of lower limbs recovery system |
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| CN113311839A (en) * | 2021-05-24 | 2021-08-27 | 盛天智能机器人(广东)有限责任公司 | Intelligent robot control method and system for public area disinfection |
| CN113257440A (en) * | 2021-06-21 | 2021-08-13 | 杭州金线连科技有限公司 | ICU intelligent nursing system based on patient video identification |
| CN113611388A (en) * | 2021-08-02 | 2021-11-05 | 北京精密机电控制设备研究所 | Intelligent movement rehabilitation treatment and training system based on exoskeleton |
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| CN115985462A (en) * | 2023-02-10 | 2023-04-18 | 四川大学 | Rehabilitation and intelligence-developing training system for children cerebral palsy |
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