CN110587623A - Automatic medicine delivery method of service robot and service robot - Google Patents
Automatic medicine delivery method of service robot and service robot Download PDFInfo
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- CN110587623A CN110587623A CN201910849083.4A CN201910849083A CN110587623A CN 110587623 A CN110587623 A CN 110587623A CN 201910849083 A CN201910849083 A CN 201910849083A CN 110587623 A CN110587623 A CN 110587623A
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- medicine
- medicine delivery
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- user
- delivery task
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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
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention discloses an automatic medicine delivery method of a service robot and the service robot, and belongs to the technical field of robots. The automatic medicine delivery method comprises the following steps: firstly, receiving a medicine delivery task issued by a control end; then, positioning and navigating are carried out according to the position information of the medicine taking point in the medicine delivery task, and the medicine taking point is moved to take the medicine needed by a medicine user; then, positioning and navigating are carried out according to the position information of the medicine person in the medicine delivery task, the medicine person goes to a medicine delivery point, and whether the medicine person is at the medicine delivery point is judged; if so, reminding the medicine user to take and take the medicine, and executing the next medicine delivery task; if not, the current medicine delivery task is delayed in sequence, and the next medicine delivery task is directly executed. The automatic medicine delivery method of the service robot provided by the invention can automatically perform operations such as medicine identification, medicine taking, medicine person identification, medicine delivery and the like, thereby greatly reducing the workload of workers of institutions such as a nursing home and the like and avoiding the occurrence of wrong medicine delivery.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an automatic medicine delivery method of a service robot and the service robot.
Background
In institutions such as nursing homes, since the elderly are large in grade and the physical skills decline, many elderly need to take medicines regularly, the memory and judgment ability of many elderly are degraded, and if a large amount of medicines are dispensed to the elderly at one time, the problems of forgetting to take medicines or wrong taking medicines are easy to occur.
In order to avoid such a problem, a manual method may be used, and a worker in an institution such as a nursing home may dispense a medicine to an old person at the time of administration of the medicine to the old person, but this method is inefficient, and not only may the workload of the worker be greatly increased, but also there is a possibility that the medicine is forgotten to be dispensed or is erroneously dispensed.
Disclosure of Invention
The present invention is directed to a method for automatically delivering a drug by a service robot and a service robot, which solve the problems of the background art.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:
an automatic medicine delivery method of a service robot comprises the following steps:
receiving a medicine delivery task issued by a control end, wherein the medicine delivery task comprises position information of a medicine taking point, identity information of a medicine person, face information of the medicine person, position information of the medicine person and identification information of a medicine required by the medicine person;
positioning and navigating according to the position information of the medicine taking point in the medicine delivery task, and moving to the medicine taking point;
identifying the medicine at the medicine taking point, and taking the medicine needed by the medicine user from the medicine taking point according to the identity information of the medicine user and the identification information of the medicine needed by the medicine user in the medicine sending task;
positioning and navigating according to the position information of the medicine user in the medicine delivery task to go to a medicine delivery point;
carrying out face recognition on a human body of the medicine delivery point, and judging whether a medicine user is at the medicine delivery point or not according to the face information of the medicine user in the medicine delivery task; if so, reminding the user to take and use the medicine, completing the current medicine delivery task, and executing the next medicine delivery task; if not, the current medicine delivery task is delayed in sequence, and the next medicine delivery task is directly executed.
In another preferred scheme adopted by the embodiment of the invention, in the step, the identification information of the medicine required by the user is one of a bar code, a two-dimensional code and a serial number.
In another preferred scheme adopted by the embodiment of the invention, in the step, the user is reminded to take and use the medicine in a voice playing mode.
According to another preferable scheme adopted by the embodiment of the invention, in the step, a user is reminded to take and use the medicine in a text display mode.
In another preferred embodiment of the present invention, the automatic drug delivery method further includes the following steps:
and if the number of times of the medicine delivery task after sequential delay reaches a preset value, judging that the execution of the medicine delivery task fails, stopping executing the medicine delivery task, and feeding back to the control end.
An embodiment of the present invention further provides a service robot, including:
the task unit is used for receiving a medicine delivery task issued by the control end; the medicine delivery task comprises medicine taking point position information, medicine person identity information, medicine person face information, medicine person position information and identification information of the medicine required by the medicine person;
the positioning navigation unit is used for positioning and navigating according to the position information of the medicine taking point and the position information of the medicine user in the medicine delivery task;
the motion control unit is used for controlling the service robot to move to a medicine taking point or a medicine delivering point according to the positioning navigation result of the positioning navigation unit;
the medicine identification unit is used for identifying the medicine at the medicine taking point and taking the medicine needed by the medicine user from the medicine taking point according to the identity information of the medicine user and the identification information of the medicine needed by the medicine user in the medicine sending task;
the face recognition unit is used for carrying out face recognition on a human body of the medicine delivery point and judging whether the medicine user is at the medicine delivery point or not according to the face information of the medicine user in the medicine delivery task;
the reminding unit is used for reminding the medicine user to take and use the medicine according to the judgment result of the face recognition unit, completing the current medicine delivery task and executing the next medicine delivery task;
and the delay unit is used for sequentially delaying the current medicine delivery task according to the judgment result of the face recognition unit and directly executing the next medicine delivery task.
According to another preferable scheme adopted by the embodiment of the invention, the identification information of the medicine required by the user is one of a bar code, a two-dimensional code and a number.
According to another preferable scheme adopted by the embodiment of the invention, the reminding unit reminds the user of taking and using the medicine in a voice playing mode.
According to another preferable scheme adopted by the embodiment of the invention, the reminding unit reminds the user of taking and using the medicine in a text display mode.
In another preferred scheme adopted by the embodiment of the invention, the service robot further comprises a task failure feedback unit; when the number of times of the medicine delivery task after sequential delay reaches a preset value, the task failure feedback unit judges that the execution of the medicine delivery task fails, stops executing the medicine delivery task, and feeds back the medicine delivery task to the control end.
Compared with the prior art, the technical scheme provided by the embodiment of the invention has the following technical effects:
the automatic medicine delivery method of the service robot provided by the embodiment of the invention can automatically perform operations such as medicine identification, medicine taking, medicine person identification, medicine delivery and the like, thereby greatly reducing the workload of workers of institutions such as a nursing home and the like, improving the working efficiency, and avoiding the occurrence of forgetting to deliver or mistakenly delivering medicines.
Drawings
Fig. 1 is a schematic structural diagram of a service robot provided in embodiment 2.
Detailed Description
The following specific examples are given to provide specific and clear descriptions of the technical solutions of the present application.
Example 1
The embodiment provides an automatic medicine delivery method of a service robot, which comprises the following steps:
(1) the service robot receives a medicine delivery task issued by the control end and an instruction for executing the medicine delivery task; the medicine delivery task comprises medicine taking point position information, medicine person identity information (including names, identity card numbers and the like), medicine person face information, medicine person position information (including information of rooms, beds and the like) and identification information of medicines required by medicine persons, and it needs to be explained that the medicine taking point position information can also be directly stored in the service robot, and the identification information of the medicines required by the medicine persons can be selected from bar codes, two-dimensional codes or serial numbers.
(2) And the service robot carries out positioning navigation according to the position information of the medicine taking point in the medicine delivery task and moves to the medicine taking point according to a positioning navigation result.
(3) The service robot identifies the medicine at the medicine taking point, takes the medicine needed by the medicine user from the medicine taking point according to the identity information of the medicine user and the identification information of the medicine needed by the medicine user in the medicine sending task, and ensures that the information of the taken medicine can correspond to the identity information of the medicine user and the identification information of the medicine needed by the medicine user in the medicine sending task, so that the wrong medicine sending can be avoided; it should be noted that the medicines at the medicine taking point can be placed in the medicine box in advance by medical staff, and identification information is set so as to facilitate the service robot to identify and take the medicines.
(4) After the service robot takes the medicine needed by the medicine user, positioning navigation is carried out according to the position information of the medicine user in the medicine delivery task, and the service robot goes to a medicine delivery point (namely the position of the medicine user) according to a positioning navigation result.
(5) The service robot carries out face recognition on a human body of the medicine delivery point, judges whether a medicine person is at the medicine delivery point or not according to the face information of the medicine person in the medicine delivery task, and can also carry out auxiliary judgment through a human body induction technology; if so, reminding the user of taking and taking the medicine by a voice playing mode or a text display mode, completing the current medicine delivery task, and repeating the steps to execute the next medicine delivery task; if not, the current medicine delivery task is delayed in sequence, and the steps are directly repeated to execute the next medicine delivery task.
(6) If the number of times of sequential delay of the medicine delivery task reaches 5 times, the service robot judges that the execution of the medicine delivery task fails, stops executing the medicine delivery task, and feeds task failure information back to the control end, so that the control end checks the medicine delivery task and gives the medicine delivery task again.
It should be noted that, after the service robot determines that the current medicine delivery task is completed, if there is no medicine delivery task to be executed next, the service robot may feed back to the control end that all tasks are completed, and automatically go to the designated location. In addition, the service robot can simultaneously execute a plurality of medicine delivery tasks, and the service robot can simultaneously execute the plurality of medicine delivery tasks, so that a plurality of groups of medicines can be taken away at one time, and after one medicine delivery task is executed, the service robot does not go to a medicine taking point to take the medicines and directly executes the next medicine delivery task. In addition, the face recognition method, the positioning navigation method and the medicine identification recognition method are all the prior art, and the specific steps thereof are not described in detail here.
Example 2
Referring to fig. 1, the embodiment provides a service robot for implementing the method, and specifically, the service robot includes: the task unit, the location navigation unit, the motion control unit, the medicine recognition unit, the face recognition unit, remind the unit, delay unit and task failure feedback unit, the task unit carries out communication connection with the control end, the task unit respectively with the location navigation unit, medicine recognition unit and face recognition unit carry out electric connection, location navigation unit carries out electric connection with the motion control unit, the face recognition unit respectively with remind unit and delay unit and carry out electric connection, delay unit and task failure feedback unit carry out electric connection, task failure feedback unit and control end carry out communication connection.
The task unit is used for receiving a medicine delivery task issued by the control end; specifically, the medicine delivery task comprises medicine taking point position information, medicine person identity information, medicine person face information, medicine person position information and identification information of the medicine required by the medicine person; the identification information of the medicine needed by the user can be a bar code, a two-dimensional code or a serial number.
The positioning navigation unit is used for positioning and navigating according to the position information of the medicine taking point and the position information of the medicine user in the medicine delivery task; the motion control unit is used for controlling the service robot to move to a medicine taking point or a medicine delivering point according to the positioning navigation result of the positioning navigation unit; the medicine identification unit is used for identifying the medicine at the medicine taking point and taking the medicine needed by the medicine user from the medicine taking point according to the identity information of the medicine user and the identification information of the medicine needed by the medicine user in the medicine sending task; the face recognition unit carries out face recognition on a human body of the medicine delivery point and judges whether a medicine person is at the medicine delivery point or not according to the face information of the medicine person in the medicine delivery task; the reminding unit is used for reminding a medicine user to take and use medicine in a voice playing mode or a character display mode according to the judgment result of the face recognition unit, completing the current medicine delivery task and executing the next medicine delivery task; and the delay unit is used for sequentially delaying the current medicine delivery task according to the judgment result of the face recognition unit and directly executing the next medicine delivery task.
In addition, when the number of times of the medicine delivery task being sequentially delayed reaches 5 times, the task failure feedback unit judges that the execution of the medicine delivery task fails, stops executing the medicine delivery task, and feeds back the medicine delivery task to the control end. The automatic medicine delivery method of the service robot is the same as that of embodiment 1, and the details are not repeated here.
In summary, the automatic medicine delivery method of the service robot provided by the embodiment of the invention can automatically perform operations such as medicine identification, medicine taking, medicine person identification, medicine delivery and the like, thereby greatly reducing the workload of workers in institutions such as nursing homes and the like, improving the working efficiency, and avoiding the occurrence of forgetting to deliver or mistakenly delivering medicines.
It should be noted that the above embodiments are only specific and clear descriptions of technical solutions and technical features of the present application. However, to those skilled in the art, aspects or features that are part of the prior art or common general knowledge are not described in detail in the above embodiments.
Of course, the technical solutions of the present application are not limited to the above-mentioned embodiments, and those skilled in the art should take the description as a whole, and the technical solutions in the embodiments may also be appropriately combined, so that other embodiments that may be understood by those skilled in the art may be formed.
Claims (10)
1. An automatic medicine delivery method of a service robot is characterized by comprising the following steps:
receiving a medicine delivery task issued by a control end, wherein the medicine delivery task comprises position information of a medicine taking point, identity information of a medicine person, face information of the medicine person, position information of the medicine person and identification information of a medicine required by the medicine person;
positioning and navigating according to the position information of the medicine taking point in the medicine delivery task, and moving to the medicine taking point;
identifying the medicine at the medicine taking point, and taking the medicine needed by the medicine user from the medicine taking point according to the identity information of the medicine user and the identification information of the medicine needed by the medicine user in the medicine sending task;
positioning and navigating according to the position information of the medicine user in the medicine delivery task to go to a medicine delivery point;
carrying out face recognition on a human body of the medicine delivery point, and judging whether a medicine user is at the medicine delivery point or not according to the face information of the medicine user in the medicine delivery task; if so, reminding the user to take and use the medicine, completing the current medicine delivery task, and executing the next medicine delivery task; if not, the current medicine delivery task is delayed in sequence, and the next medicine delivery task is directly executed.
2. The automatic medicine delivery method of the service robot as claimed in claim 1, wherein in the step, the identification information of the medicine required by the drugger is one of a bar code, a two-dimensional code and a number.
3. The automatic medicine delivery method of the service robot as claimed in claim 1, wherein in the step, the user is reminded to take and take medicine by voice playing.
4. The automatic medicine delivery method of the service robot as claimed in claim 1, wherein in the step, the user is reminded to take and take medicine by means of text display.
5. The automatic medicine delivery method of the service robot as claimed in any one of claims 1 to 4, wherein the automatic medicine delivery method further comprises the steps of:
and if the number of times of the medicine delivery task after sequential delay reaches a preset value, judging that the execution of the medicine delivery task fails, stopping executing the medicine delivery task, and feeding back to the control end.
6. A service robot, comprising:
the task unit is used for receiving a medicine delivery task issued by the control end; the medicine delivery task comprises medicine taking point position information, medicine person identity information, medicine person face information, medicine person position information and identification information of the medicine required by the medicine person;
the positioning navigation unit is used for positioning and navigating according to the position information of the medicine taking point and the position information of the medicine user in the medicine delivery task;
the motion control unit is used for controlling the service robot to move to a medicine taking point or a medicine delivering point according to the positioning navigation result of the positioning navigation unit;
the medicine identification unit is used for identifying the medicine at the medicine taking point and taking the medicine needed by the medicine user from the medicine taking point according to the identity information of the medicine user and the identification information of the medicine needed by the medicine user in the medicine sending task;
the face recognition unit is used for carrying out face recognition on a human body of the medicine delivery point and judging whether the medicine user is at the medicine delivery point or not according to the face information of the medicine user in the medicine delivery task;
the reminding unit is used for reminding the medicine user to take and use the medicine according to the judgment result of the face recognition unit, completing the current medicine delivery task and executing the next medicine delivery task;
and the delay unit is used for sequentially delaying the current medicine delivery task according to the judgment result of the face recognition unit and directly executing the next medicine delivery task.
7. The service robot as recited in claim 6, wherein the identification information of the medication required by the medication user is one of a bar code, a two-dimensional code and a number.
8. The service robot as claimed in claim 6, wherein the reminding unit reminds the drugger of taking and taking medicine by voice playing.
9. The service robot as claimed in claim 6, wherein the reminding unit reminds the user of taking and taking medicine by means of text display.
10. A service robot as claimed in any one of claims 6-9, characterized in that the service robot further comprises a task failure feedback unit; when the number of times of the medicine delivery task after sequential delay reaches a preset value, the task failure feedback unit judges that the execution of the medicine delivery task fails, stops executing the medicine delivery task, and feeds back the medicine delivery task to the control end.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910849083.4A CN110587623A (en) | 2019-09-09 | 2019-09-09 | Automatic medicine delivery method of service robot and service robot |
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| CN201910849083.4A CN110587623A (en) | 2019-09-09 | 2019-09-09 | Automatic medicine delivery method of service robot and service robot |
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Cited By (8)
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| CN111113453A (en) * | 2020-02-21 | 2020-05-08 | 燕京理工学院 | Intelligent medicine supply robot for old people and medicine supply method |
| CN111846018A (en) * | 2020-07-02 | 2020-10-30 | 浙江大学 | Medical intelligent medicine conveying trolley |
| CN111951466A (en) * | 2020-08-24 | 2020-11-17 | 宿州赛尔沃德物联网科技有限公司 | Method for realizing safe circulation and automatic vending of medicines |
| CN111938960A (en) * | 2020-08-04 | 2020-11-17 | 浙大宁波理工学院 | Multi-mode operation method for robot nursing in infectious disease ward |
| CN112077849A (en) * | 2020-09-11 | 2020-12-15 | 济南浪潮高新科技投资发展有限公司 | Medical delivery robot based on high in clouds management and control |
| CN113793107A (en) * | 2021-09-28 | 2021-12-14 | 联想(北京)有限公司 | Distribution system, method and equipment |
| CN114510022A (en) * | 2021-12-17 | 2022-05-17 | 重庆特斯联智慧科技股份有限公司 | Medical transportation robot and control method thereof |
| CN117295480A (en) * | 2021-04-29 | 2023-12-26 | X趋势人工智能公司 | Robot apparatus for dispensing specified items |
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| CN117295480A (en) * | 2021-04-29 | 2023-12-26 | X趋势人工智能公司 | Robot apparatus for dispensing specified items |
| CN113793107A (en) * | 2021-09-28 | 2021-12-14 | 联想(北京)有限公司 | Distribution system, method and equipment |
| CN114510022A (en) * | 2021-12-17 | 2022-05-17 | 重庆特斯联智慧科技股份有限公司 | Medical transportation robot and control method thereof |
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Application publication date: 20191220 |
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