CN109955258A - Old man nurses robot - Google Patents
Old man nurses robot Download PDFInfo
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- CN109955258A CN109955258A CN201711410926.8A CN201711410926A CN109955258A CN 109955258 A CN109955258 A CN 109955258A CN 201711410926 A CN201711410926 A CN 201711410926A CN 109955258 A CN109955258 A CN 109955258A
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- robot
- old man
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- measuring device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Measuring And Recording Apparatus For Diagnosis (AREA)
Abstract
Present invention relates particularly to a kind of old men to nurse robot, including robot head body and chassis, the body part is shell and inside, infrared distance sensor and ultrasonic range finder sensor are housed before the shell of the body, the accommodating chamber for placing article is equipped with inside body, blood pressure measuring device is installed in the accommodating chamber, heart rate measurement device, body temperature measuring device and article mounting table, the inside of the body includes main control module, detection module, identification module, communication module, module of seeking help and drive module, machine human body each group part and each component in head are correspondingly connected with the three-dimensional robot of composition.Old man of the invention nurses the detection function that robot not only has health indicator such as heart rate, blood pressure, body temperature, can monitor the physical condition of old man at any time；Be also equipped with seek help module can the preset call for help of automatic dialing when emergency occurs, effectively avoid unexpected generation.
Description
Technical field
The present invention relates to home care areas more particularly to a kind of old man to nurse robot.
Background technique
As the people that five sixties of last century are born steps into old age, China enters aging of population fast development
Stage.To ending for the end of the year 2013,60 one full year of life of China and the above population account for the 14.9% of total population, and 65 one full year of life and the above population Zhan are total
The 9.7% of population.The existing aged of China is increased every year with nearly 10,000,000 speed more than 200,000,000, and relevant expert is pre-
It surveys, to the year two thousand fifty, the Chinese aged is up to the one third of total population.At the same time, many families of Chinese society are all
It is one-child family, many situations are all that spouses need to look after four old men.But it is many times due to various reasons, sub
Female is difficult that senior care is thorough；With being continuously increased for Empty nest elderly, once emergency situations occur, if old man cannot obtain
It timely finds and treats, the state of an illness will be delayed, cause irremediable serious consequence, thus shield timely to the elderly, effective
Reason just seems increasingly important.But the service that existing all kinds of old welfare institutions, China can be provided, the even less than aged
1.5%, be far from satisfying needs.It makes up to be short of hands using robot as a result, and just becomes a new solution route.
A kind of household and Hospital Service Robot are opened in Chinese patent CN204748629U altogether, equipped with walking in robot
Mechanism and positioning mechanism, control robot are moved to and are serviced at service people, are also equipped with the accommodating chamber for placing article and grab
Take device, grabbing device is from taking out the article needed for service people in accommodating chamber.This kind of family and Hospital Service Robot can be with
Substitution is artificial well, compensates for the problem of artificial deficiency, daily treatment and help can also be carried out to old man, slows down society
Problem brought by the elderly.But this robot function is less, solves only and helps old man to take article and play radio reception
The problem of machine program.But it is health problem that old man, which nurses sixty-four dollar question, existing service robot does not have offer still
Old man's physical condition is monitored at any time, and seeks the function of relief in time.
In consideration of it, old man's physical condition can be monitored at any time by designing one kind, it can find in time emergency situation and seek to rescue
The old man helped, which nurses robot, has very important application value.
Summary of the invention
Old man's physical condition, Bu Nengbang cannot be monitored at any time in order to solve home-services robot existing in the prior art
The problem of people that helps the elderly seeks help, the present invention provides a kind of old men to nurse robot.The technical problem to be solved in the present invention by with
Lower technical solution is realized:
A kind of old man's nurse robot, including robot head, body and chassis, the head are installed in body
Side, the body are installed on above chassis, set that there are two steering engines in the head, are controlled head or so respectively and upper and lower are turned
Dynamic, there are three microphones for head top and two sides setting for receiving sound instruction, sets that there are two eyes device, institutes before head
Stating eyes device is two rotatable cameras symmetrically arranged on the left and the right, is additionally provided with below the eyes device for playing language
The voice module of sound and liquid crystal touch screen for inputting setting information；
The body part is shell and inside, and infrared distance sensor is housed before the shell of the body and is surpassed
Sound ranging sensor, body inside are equipped with the accommodating chamber for placing article, and the opening of the accommodating chamber has corresponding on the shell
Chamber door is accommodated, blood pressure measuring device, heart rate measurement device, body temperature measuring device and article are installed in the accommodating chamber and placed
Platform, the inside of the body include main control module, detection module, identification module, communication module, module of seeking help and driving mould
Block；
The output signal of the blood pressure measuring device, heart rate measurement device and body temperature measuring device is sent to detection module,
The detection module is used to analyze the detection data of blood pressure measuring device, heart rate measurement device and body temperature measuring device；
Information of the identification module for reception and analysis microphone, liquid crystal touch screen and camera acquisition；
The communication module is made of Bluetooth wireless communication module and 3G/4G wireless communication module；
Information is passed through communication mould by the infrared distance sensor, ultrasonic range finder sensor, detection module and identification module
Block is sent to main control module；
The module of seeking help is for dialing default call for help；
The main control module is embedded OS, the main control module by communication module and voice module,
Module of seeking help is connected with drive module interactive mode；
The chassis includes power-supply system, switch and walking mechanism, and the walking mechanism is by chassis case, two drivings
Wheel, each elastic universal wheel in front and back, motor and Servo-controller composition, the motor and Servo-controller are controlled by drive module.
Further, old man of the present invention nurses in robot, and the liquid crystal touch screen is that TFT multiple spot is tangible
Liquid crystal display.
Further, old man of the present invention nurses in robot, and the back of the body also has radiator fan.
Further, old man of the present invention nurses in robot, and anti-tumble device 37 is housed on the chassis case,
The anti-tumble device is infrared distance sensor.
Further, old man of the present invention nurses in robot, and the power-supply system includes rechargeable battery and charging
Socket, the charging jack are USB jack or the DC power supply charging interface of 2A, 12V.
Further, old man of the present invention nurses in robot, is also equipped with automatic charge device, automatic charge device
Cradle is found by infrared receiving device, and is driven to using remaining electricity and carries out docking charging at cradle.
Beneficial effects of the present invention:
1, robot of the invention has the detection function of health indicator such as heart rate, blood pressure, body temperature, can monitor at any time old
The physical condition of people；
2, robot of the invention have seek help module can when emergency occurs the preset electricity of seeking help of automatic dialing
Words；
3, robot of the invention has storage and prompting function, can be by the daily drug taken, reading glasses, mobile phone
Or the ordinary articles such as remote controler are placed on the article mounting table of robot, it is convenient to take at any time, and by voice reminder, prevent
Only old man forgets to take medicine.
The present invention is described in further details below with reference to accompanying drawings and embodiments.
Detailed description of the invention
Fig. 1 is the overall structure diagram that old man of the invention nurses robot；
Fig. 2 is the chassis structure schematic diagram that old man of the invention nurses robot；
Fig. 3 is the control planning schematic diagram that old man of the invention nurses robot；
In figure: the head 1-, 2- body, the chassis 3-, 4- steering engine, 5- microphone, 6- eyes device, 7- camera, 8- language
Sound module, 9- liquid crystal touch screen, 10- shell, inside 11-, 12- infrared distance sensor, 13- blood pressure measuring device, 14- heart rate
Measuring device, 15- body temperature measuring device, 16- article mounting table (16), 17- main control module, 18- detection module, 19- identification
Module, 20- communication module, 21- seek help module, 22- drive module, 23- accommodating chamber, 24- accommodate chamber door, 25- bluetooth channel radio
Believe that module, 26-3G/4G wireless communication module, 27- power-supply system, 28- switch, 29- walking mechanism, 30- chassis case, 31- drive
The anti-tumble device of driving wheel, 32- elastic universal wheel, 33- motor, 34- radiator fan, 35- rechargeable battery, 36- charging jack, 37-,
38- ultrasonic range finder sensor, 39- Servo-controller.
Specific embodiment
Reach the technical means and efficacy that predetermined purpose is taken for the present invention is further explained, below in conjunction with attached drawing and reality
Example is applied to a specific embodiment of the invention, structure feature and its effect, detailed description are as follows.
Embodiment 1:
Old man as shown in Figs. 1-3 nurses robot, including robot head 1, body 2 and chassis 3, and head 1 is installed
Above body 2, body 2 is installed on the top of chassis 3, sets that there are two steering engines 4 in head 1, control respectively head or so and
There are three microphones 5 for upper and lower rotation, 1 top of head and two sides setting for receiving sound instruction, set before head 1 there are two
Eyes device 6, eyes device 6 are two rotatable cameras 7 symmetrically arranged on the left and the right, are additionally provided with use below eyes device 5
In the voice module 8 and liquid crystal touch screen 9 for inputting setting information that play voice；Liquid crystal touch screen 9 is that TFT multiple spot can touch
Touch liquid crystal display.
Liquid crystal touch screen 9 can input setting information, have chronic disease to need the old man to take medicine on time that medication can be set
Interval information, reaching robot medication time can prevent old man from forgetting to take medicine by voice reminder.
The head of robot uses the design of humanoid, is made of inner skeleton and shell, and head skeleton can using two
Control corner steering engine, can allow head in the case where fuselage is motionless up and down and left-right rotation.There are two take the photograph dress in inner skeleton
As head, can be taken pictures and recorded video.It is total in the two sides of head shell and middle upper portion there are three microphone, camera
Shooting part is located at the position of the eyes device of head shell, and microphone is located at ear and the overhead position on head.Camera
It is to be fixedly mounted with microphone.
Body 2 is divided for shell 10 and inside 11, and 12 He of infrared distance sensor is housed before the shell 10 of body
Ultrasonic range finder sensor 38, body inside 11 are equipped with the accommodating chambers 23 for placing article, and the opening of accommodating chamber 23 is on shell 10
There is corresponding receiving chamber door 24, blood pressure measuring device 13, heart rate measurement device 14, body temperature measuring device are installed in accommodating chamber 23
15 and article mounting table 16, the inside 11 of body 2 includes main control module 17, detection module 18, identification module 19, communication mould
Block 20, module of seeking help 21 and drive module 22.
Body skeleton is made of sheet metal, makes its lightweight as far as possible under the requirement for meeting service performance, here
Select the production of aluminium alloy metal plate material.There are also article mounting tables for the accommodating chamber of body, can be by the daily drug taken, presbyopia
The ordinary articles such as mirror, mobile phone or remote controler are placed on the article mounting table of robot, convenient to take at any time.Avoid old man by
It often can not find the worry of some small articles in amnesia.
The case surface of robot body is arranged in infrared distance sensor and ultrasonic range finder sensor, can detecte machine
Various objects in device people's operational process.Infrared distance sensor issue light wavelength about in several hundred nanometer ranges, be
The electromagnetic wave of short wavelength.Infrared sensor is not subject to the influence of electromagnetic waves, non-noise source, untouchable measurement can be achieved.Ultrasonic wave
Distance measuring sensor, which can detect, closely can arrive 2cm, and remote reachable 4m, precision reaches 0.3cm, barrier, can stablize
The distance of reliable measurement front shelter.Master controller is surveyed according to infrared distance sensor (12) and ultrasonic range finder sensor
Drive module can be controlled according to current front shelter distance by calculating information, so that robot advanced, retreated or turned to.
The output signal of blood pressure measuring device 13, heart rate measurement device 14 and body temperature measuring device 15 is sent to detection module
18, detection module 18 includes that A/D converter has function switching signal, is mainly used for analyzing blood pressure measuring device 13, heart rate survey
Measure the detection data of device 14 and body temperature measuring device 15.
Blood pressure measuring device 13 and heart rate measurement device 14 are bracelet shape, include optical sensor, are sent out by measuring device
Light irradiates wrist portion skin out, and when blood flows through capillary, light luminance has slight change, and optical sensor detection is anti-
The variation for penetrating light can obtain heart rate, blood pressure, breath data by algorithm.Body temperature measuring device is specially temperature sensor.
As long as may be implemented function of the invention using chip, the present embodiment measuring device select AFE4403, MT2502 and
NRF51822 chip.
Detection module has data analysis function, the information such as the blood pressure, heart rate, body temperature of test can be stored and incite somebody to action
Test data is compared with normal data.
Voice that identification module 19 is acquired for reception and analysis microphone 5, liquid crystal touch screen 9 and camera 7, text or
Image information.Communication module 20 is made of Bluetooth wireless communication module 25 and 3G/4G wireless communication module 26.Infrared distance measurement sensing
Device 12, ultrasonic range finder sensor 38, detection module 18 and identification module 19 by information by communication module 20, specially bluetooth without
Line communication module 22 is sent to main control module 17.3G/4G wireless communication module 26 is handed over for robot with kinsfolk
Mutual formula connection.Mobile terminal can be used in kinsfolk, and the health monitoring number of old man is inquired by 3G/4G wireless communication module 26
According to.
Module of seeking help 21 is for dialing default call for help；When burst disease or other situations, old man can pass through language
It seeks help, after the voice messaging that robot microphone receives is identified the identification of module 19, is sent through Bluetooth wireless communication module 22
To main control module 17, so that controlling robot opens functions of modules of seeking help, dials and suddenly ask phone or other kinsfolk's phones.
It is helped in time, avoids unexpected generation.
Main control module 17 is embedded OS, main control module 17 by communication module 20 and voice module 8, ask
Help module 21 and the interactive connection of drive module 22.
Main control module is AT91SAM9263 chip.
The back of body also has radiator fan 34, and it is three-dimensional that each component of body and each component in head are correspondingly connected with composition
Robot.
Chassis includes power-supply system 27, switch 28 and walking mechanism 29, and walking mechanism 29 is driven by chassis case 30, two
Wheel 31, each elastic universal wheel 32 in front and back, motor 33 and Servo-controller 39 form, and motor 33 and Servo-controller 39 are by driving mould
Block 22 controls.Anti- tumble device 37 is housed, anti-tumble device is infrared distance sensor on chassis case.
Robot chassis structure is as shown in Fig. 2, wherein chassis case is made of sheet metal.Chassis walking mechanism uses
Rechargeable battery powered, motor drives driving wheel rotation, and universal wheel carries out guiding and form robot to support, in base housing
Lower end surface the infrared distance sensor emitted downwards is installed, can perceive whether front has pit to avoid.Robot
If when using Three-wheel driven scheme, the projection of center of gravity on the ground and two driving wheel axis are too close, and height of C.G. is too
Height causes robot to be toppled over when running around this axis.For this purpose, three-wheel walking mechanism is changed to four-wheel walking mechanism to increase by the present invention
Its stability, as shown in Figure 2.There is also a wheels in walking to be made to drive by overhead defect for the 4 four-wheels walking scheme of robot
Power deficiency and the reduced capability to break the barriers can stretch up and down so steering front wheel is designed to elastic wheel by spy.In this way may be used
Improve its passage capacity in uneven ground or encounter small barrier when.
Power-supply system 27 includes rechargeable battery 35 and charging jack 36, and the charging jack 36 is USB jack or 2A, 12V
DC power supply charging interface.
Old man nurses in robot, is also equipped with automatic charge device, and automatic charge device is found by infrared receiving device
Cradle, and driven to using remaining electricity and carry out docking charging at cradle.In actual use, the present invention is according to actual use
Situation is as follows:
It 1, can be by equipped with APP client mobile phone or click liquid crystal touch screen or term when needing to detect health parameters
Sound order carries out instruction control, starts corresponding blood pressure measuring device, heart rate measurement device, body temperature measuring device, testing result
After testing after module data analysis, it is sent to main control module and carries out data processing, processing result is with the shape of image and sound
Formula also can be used mobile client and inquired by communication module in liquid crystal touch screen.
2, health parameters and medication time are monitored according to preparatory setting daily specified time, reach specified time
Afterwards, voice module meeting voice prompting old man is monitored and takes medicine.
3, it needs to acquire sound by microphone, instructs and be sent to via identification module analysis processing acquisition human speech
Main control module, such as help information, after voice messaging that robot microphone receives is identified module identification, through bluetooth without
Line communication module is sent to main control module, seeks help functions of modules to control robot unlatching, dial it is anxious ask phone or other
Kinsfolk's phone.
4, human speech instruction is obtained by identification module, the 3G/4G wireless communication module for starting network module carries out intelligence
It can voice interface, broadcasting music and video.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (6)
1. a kind of old man nurses robot, including robot head (1), body (2) and chassis (3), the head (1) are installed
Above body (2), the body (2) is installed on above chassis (3), which is characterized in that
There are two setting in the head (1) steering engine (4), head or so and upper and lower rotation, head (1) top and two are controlled respectively
There are three microphone (5) for side setting for receiving sound instruction, sets that there are two eyes device (6), the eyes before head (1)
Device (6) is two rotatable cameras (7) symmetrically arranged on the left and the right, is additionally provided with below the eyes device (5) for broadcasting
Put the voice module (8) of voice and the liquid crystal touch screen (9) for inputting setting information；
The body (2) is divided into shell (10) and inside (11), and infrared survey is housed before the shell (10) of the body
Away from sensor (12) and ultrasonic range finder sensor (38), (11) are equipped with the accommodating chamber (23) for placing article inside body, described
The opening of accommodating chamber (23) has corresponding receiving chamber door (24) on shell (10), and blood pressure survey is equipped in the accommodating chamber (23)
Device (13), heart rate measurement device (14), body temperature measuring device (15) and article mounting table (16) are measured, the body (2)
Internal (11) include main control module (17), detection module (18), identification module (19), communication module (20), module of seeking help
(21) and drive module (22)；
The output signal of the blood pressure measuring device (13), heart rate measurement device (14) and body temperature measuring device (15) is sent to inspection
It surveys module (18), the detection module (18) is surveyed for analyzing blood pressure measuring device (13), heart rate measurement device (14) and body temperature
The detection data of device (15) is measured,
The identification module (19) is for reception and analysis microphone (5), the letter of liquid crystal touch screen (9) and camera (7) acquisition
Breath；
The communication module (20) is made of Bluetooth wireless communication module (25) and 3G/4G wireless communication module (26)；
The infrared distance sensor (12), ultrasonic range finder sensor (38), detection module (18) and identification module (19) will be believed
Breath is sent to main control module (17) by communication module (20),
The module of seeking help (21) is for dialing default call for help；
The main control module (17) is embedded OS, and the main control module (17) passes through communication module (20) and language
The interactive connection of sound module (8), module of seeking help (21) and drive module (22)；
The chassis includes power-supply system (27), switch (28) and walking mechanism (29), the walking mechanism (29) by chassis outside
Shell (30), two driving wheels (31), each elastic universal wheel (32) in front and back, motor (33), Servo-controller (39) composition, it is described
Motor (33) and Servo-controller (39) are controlled by drive module (22).
2. old man according to claim 1 nurses robot, it is characterised in that: the liquid crystal touch screen (9) is that TFT is more
The tangible liquid crystal display of point.
3. old man according to claim 1 nurses robot, it is characterised in that: the back of the body also has heat dissipation
Fan (34).
4. old man according to claim 1 nurses robot, which is characterized in that the power-supply system (27) includes charging electricity
Pond (35) and charging jack (36), the charging jack (36) are USB jack or the DC power supply charging interface of 2A, 12V.
5. old man according to claim 1 nurses robot, which is characterized in that filled on the chassis case equipped with anti-tumble
It sets (37), the anti-tumble dropping control device is infrared distance sensor.
6. old man according to claim 1 nurses robot, which is characterized in that be also equipped with automatic charge device, fill automatically
Electric installation finds cradle by infrared receiving device, and is driven to using remaining electricity and carry out docking charging at cradle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711410926.8A CN109955258A (en) | 2017-12-23 | 2017-12-23 | Old man nurses robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711410926.8A CN109955258A (en) | 2017-12-23 | 2017-12-23 | Old man nurses robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109955258A true CN109955258A (en) | 2019-07-02 |
Family
ID=67020015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711410926.8A Pending CN109955258A (en) | 2017-12-23 | 2017-12-23 | Old man nurses robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109955258A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421518A (en) * | 2020-03-18 | 2020-07-17 | 浙江工业大学 | Intelligent medicine delivery inspection interactive robot |
| CN112123346A (en) * | 2020-09-01 | 2020-12-25 | 北京机械设备研究所 | Old man nurses robot |
| CN112562264A (en) * | 2020-12-10 | 2021-03-26 | 浙江国视科技有限公司 | Nursing method and system based on nursing robot |
| CN112606021A (en) * | 2020-12-25 | 2021-04-06 | 上海汇申企业管理咨询有限公司 | Self-service medical service robot |
| CN113021362A (en) * | 2019-12-09 | 2021-06-25 | 詹丽燕 | Health maintenance AI recognition robot integrating health behavior intervention and follow-up visit |
-
2017
- 2017-12-23 CN CN201711410926.8A patent/CN109955258A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021362A (en) * | 2019-12-09 | 2021-06-25 | 詹丽燕 | Health maintenance AI recognition robot integrating health behavior intervention and follow-up visit |
| CN111421518A (en) * | 2020-03-18 | 2020-07-17 | 浙江工业大学 | Intelligent medicine delivery inspection interactive robot |
| CN112123346A (en) * | 2020-09-01 | 2020-12-25 | 北京机械设备研究所 | Old man nurses robot |
| CN112562264A (en) * | 2020-12-10 | 2021-03-26 | 浙江国视科技有限公司 | Nursing method and system based on nursing robot |
| CN112606021A (en) * | 2020-12-25 | 2021-04-06 | 上海汇申企业管理咨询有限公司 | Self-service medical service robot |
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Application publication date: 20190702 |
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