CN112123346A - Old man nurses robot - Google Patents
Old man nurses robot Download PDFInfo
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- CN112123346A CN112123346A CN202010906606.7A CN202010906606A CN112123346A CN 112123346 A CN112123346 A CN 112123346A CN 202010906606 A CN202010906606 A CN 202010906606A CN 112123346 A CN112123346 A CN 112123346A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 37
- 230000000474 nursing effect Effects 0.000 claims abstract description 25
- 239000000779 smoke Substances 0.000 claims abstract description 23
- 230000036541 health Effects 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 18
- 230000036772 blood pressure Effects 0.000 claims description 12
- 230000036760 body temperature Effects 0.000 claims description 12
- 239000004973 liquid crystal related substance Substances 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 230000007613 environmental effect Effects 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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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)
- Alarm Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an old man nursing robot, which is provided with a head, a body part and an omnidirectional wheel chassis, and also comprises: the controller is used for receiving the state information and the operation information of the robot and sending a control command to the robot; the multifunctional input system comprises a microphone for inputting specific control information; the system comprises a health condition monitoring system and a family monitoring system, wherein the family monitoring system comprises a temperature and humidity sensor and a smoke sensor and is used for monitoring family temperature and humidity and smoke concentration environment information, and reminding the old to adjust temperature and humidity and detect the fire hazard of a family in time; the alarm system comprises a loudspeaker and an alarm lamp. The old people nursing robot provided by the invention can monitor and nurse the body condition of old people, can monitor the surrounding environment, regulate and control the air temperature and humidity, can give an alarm when smoke is detected, avoids the traditional complex structure, has small volume and light weight, is simpler in whole, and meets the requirement of light load.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an old people nursing robot.
Background
With the development of scientific technology and robot technology, the figure of the robot appears in all walks of life. In each item research and the application of old man's nurse robot, need robot and old man more effective interchange many times, it is convenient to bring for old man's life, detects the emergence of avoiding danger to the surrounding environment simultaneously. The existing old people nursing robot mostly adopts a voice communication interaction mode, the error of voice recognition caused by the diversity of languages is not considered, and if some old people are old, the words can be not clearly spoken. In addition, current old man nurse robot only detects old man's health status, does not detect the family environment, can not in time make the counter-measure when family's humiture is abnormal or there is the conflagration hidden danger. Therefore, it is necessary to have a nursing robot with gesture recognition interaction and monitoring of the home environment.
Disclosure of Invention
The invention aims to provide an old people nursing robot which can interact with the robot by using gesture recognition and can monitor a home environment at the same time.
In order to achieve the above object, according to one aspect of the present invention, there is provided an aged care robot having three parts of a head, a body part, and an omni-wheel chassis, further comprising: the nursing robot controller is used for receiving the state information and the operation information of the robot and sending a control instruction to the robot; the multifunctional input system is used for inputting specific control information of the robot; the multifunctional input system comprises a microphone for voice input; the health condition monitoring system is used for monitoring the physical condition of the old, and prompting the robot if the physical condition is found; the household monitoring system comprises a smoke sensor and a temperature and humidity sensor and is used for monitoring the environmental information of household smoke concentration and environmental temperature and humidity, and timely reminding the old of the hidden danger of household fire and adjusting the temperature of an air conditioner and a humidifier; the alarm system consists of a loudspeaker and an alarm lamp which are arranged on the body part of the robot and is used for giving an alarm when a fire hazard exists in a family; when the home monitoring system detects that the smoke concentration is greater than 50bs, a signal is sent to an alarm system, and a loudspeaker and an alarm lamp of the alarm system send out alarm signals.
As a preferable mode, the old people nursing robot further comprises a robot obstacle avoidance system, wherein the robot obstacle avoidance system comprises a binocular camera group for environment image input and an ultrasonic sensor arranged on a body part of the robot; when the binocular camera group scans that an obstacle exists in front, the distance of the obstacle can be actually measured through a binocular imaging principle, the obstacle avoidance system sends a front obstacle and distance signal to the controller through a threshold value set by the obstacle avoidance system if the distance is smaller than the threshold value set by the obstacle avoidance system, and then the controller makes an obstacle avoidance instruction; the ultrasonic sensor is used for detecting the condition of obstacles around the robot, when the distance between the obstacles is smaller than a threshold value set by the obstacle avoidance system, the obstacle avoidance system sends the obstacle and distance signals to the controller, and then the controller makes an obstacle avoidance instruction.
As a preferred mode, the health condition monitoring system comprises a binocular camera, a heart rate detection sensor, a blood pressure detection sensor and a body temperature sensor; when the binocular camera, the heart rate detection sensor, the blood pressure detection sensor and the body temperature sensor detect that the binocular, the heart rate, the blood pressure and the body temperature of the old people are out of the input numerical value, the current abnormal numerical value is sent to the controller, and then the alarm system is controlled to send out an alarm instruction through the master controller.
Preferably, the binocular camera is mounted on the robot head; the preferred binocular camera is of the type PTC 06.
Preferably, the heart rate detection sensor, the blood pressure detection sensor and the body temperature sensor are mounted on a body part of the robot.
As a preferable mode, the old people nursing robot further comprises a video and audio entertainment system, wherein the video entertainment system is used for playing videos including dramas, TV plays, video calls between old people and relatives or chats among companions; the video entertainment system comprises a liquid crystal touch screen, a microphone and a loudspeaker; the liquid crystal touch screen is arranged in the middle of the body part of the robot.
As a preferred mode, the old people nursing robot further comprises an autonomous help seeking system, when a fire disaster is monitored or the old people is in a good and worried state, the controller sends information to the monitoring end through the China Mobile Internet of things module, and meanwhile, an alarm call is dialed. Preferably, the China Mobile Internet of things module is a China Mobile OneMO NB-IOT/GSM Internet of things module M5313.
Preferably, the elderly care robot further comprises a remote monitoring system for remotely monitoring the health condition of the elderly and the family environment information. Preferably, the remote monitoring system adopts a WIFI module for communication.
Preferably, the geriatric care robot further includes a battery management system mounted around the omni-wheel chassis for providing power required for operation of the robot and an estimate of the amount of charge on the battery.
Preferably, the elderly care robot further comprises a robot motion driving system for driving the chassis of the omnidirectional wheel of the robot to move. Preferably, the robot motion drive system is mounted centrally on the omni-wheel chassis.
As a preferred mode, the old people nursing robot is of a circular structure, 4 omnidirectional wheels of an omnidirectional wheel chassis are all distributed in the circular chassis, the four omnidirectional wheels are mutually orthogonal, the connecting lines of the two wheels on the diagonal line of the positive direction are mutually vertical, the omnidirectional wheel chassis is an independent module and is connected with other systems through mechanical buckles, and the omnidirectional wheels are directly connected with a driving motor through flanges.
Preferably, the controller is mounted inside a body part of the robot. Preferably, the controller is a chip of model STM32F 407. Preferably, the temperature and humidity sensor is a temperature and humidity sensor of a DHT11 model; the smoke sensor adopts an MQ2 model smoke sensor; the temperature and humidity sensor and the smoke sensor are arranged on the body part of the robot.
The invention has the beneficial effects that:
the old people nursing robot provided by the invention can monitor and nurse the body condition of old people, can monitor the surrounding environment, regulate and control the air temperature and humidity, can alarm systematically when smoke is detected, avoids the traditional complex structure, has small volume, light weight and simpler whole, and meets the requirement of light load. In addition, the omnidirectional wheel can be utilized to facilitate control, and the reliability is higher.
Drawings
Fig. 1 shows a schematic diagram of an elderly care robot control system of the present invention.
Fig. 2 shows an axial schematic view of the geriatric care robot of the present invention.
Fig. 3 shows a front view of the geriatric care robot of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments. It should be emphasized that the specific embodiments described herein are merely illustrative of the invention, are some, not all, and therefore do not limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1 to 3 together, the elderly care robot includes a controller 101, a multifunctional input system, a health monitoring system, and an alarm system 102, in addition to three parts, a head, a body, and an omni-wheel chassis. The controller 101 is installed inside the body of the robot, and is used for receiving the robot state information and the operation information and sending a control instruction to the robot. Preferably, the controller 101 is a chip of the STM32F407 type, and has powerful functions and sufficient memory space.
The multifunctional input system is used for inputting specific control information of the robot and comprises a microphone for voice input, and the microphone is installed at the position of the mouth of the head of the robot. The robot camera adopts the camera of PTC06 model, and it is that a section collects video acquisition, control shooting, serial ports communication in the image acquisition and processing module of industrial grade of an organic whole. The health condition monitoring system is used for monitoring the physical condition of the old, and if the physical condition is found, a prompt is given to the robot.
The household monitoring system comprises a smoke sensor 205 and a temperature and humidity sensor 206, wherein the temperature and humidity sensor 206 and the smoke sensor 205 are installed on the body part of the robot and used for monitoring household smoke concentration environment information and environment temperature and humidity, and timely reminding the old of household fire hazards and adjusting the temperature of an air conditioner and a humidifier. Preferably, the smoke sensor 205 is an MQ2 model smoke sensor. The temperature and humidity sensor 206 is a DHT11 type temperature and humidity sensor.
The alarm system 102 is composed of a speaker and an alarm lamp installed on a robot body part, and the speaker and the alarm lamp are installed on the robot body part in parallel for alarming when a fire hazard exists in a family. When the home monitoring system detects that the smoke concentration is greater than 50bs, a signal is sent to the alarm system, and a loudspeaker and an alarm lamp of the alarm system send out alarm signals.
The old man nursing robot further comprises a robot obstacle avoidance system, wherein the robot obstacle avoidance system comprises a binocular camera 201 for inputting environment images and an ultrasonic sensor arranged on a body part of the robot. The binocular camera 201 is installed at the robot head, and when there is the barrier in the place ahead scanning of binocular camera group, can actually measure the distance of barrier through binocular imaging principle, through keeping away the threshold value that the barrier system set up, if be less than the threshold value of keeping away the barrier system setting, then keep away the barrier system and send controller 101 with the barrier in the place ahead and distance signal, controller 101 makes the instruction of keeping away the barrier afterwards. The ultrasonic sensor is used for detecting the condition of obstacles around the robot, when the distance between the obstacles is smaller than a threshold value set by the obstacle avoidance system, the obstacle avoidance system sends the obstacle and distance signals to the controller, and then the controller makes an obstacle avoidance instruction.
The health condition monitoring system comprises a binocular camera 201, a heart rate detection sensor 202, a blood pressure detection sensor 203 and a body temperature sensor 204. Wherein, two eyes positions department at the robot head are installed to the binocular camera, and the model of preferred binocular camera is PTC 06. The heart rate detection sensor 202, the blood pressure detection sensor 203 and the body temperature sensor 204 are arranged in a cylindrical cavity above the robot body, and the smoke sensor 205 and the temperature and humidity sensor 206 are arranged below the robot body in parallel. When the binocular camera 201, the heart rate detection sensor 202, the blood pressure detection sensor 203 and the body temperature sensor 204 detect that the binocular, the heart rate, the blood pressure and the body temperature of the old people and the input numerical values are in, the current abnormal numerical values are sent to the controller 101, and then the controller 101 controls the alarm system to send out an alarm instruction.
The old people nursing robot also comprises a video and audio entertainment system which is used for playing videos including dramas, TV plays, video calls between old people and relatives or chatting of the old people. The video entertainment system comprises a liquid crystal touch screen 103, a microphone device 301 and a loudspeaker. The liquid crystal touch screen 103 of the robot state display system is arranged in the middle of the body of the robot.
The old man nursing robot further comprises an autonomous help seeking system and a remote monitoring system, when a fire disaster is monitored or the state of the old man is in a great hurry, the controller 101 sends information to a monitoring end through a China Mobile Internet of things module, such as the China Mobile OneMO NB-IOT/GSM Internet of things module M5313, and meanwhile an alarm call is dialed. The remote monitoring system is used for remotely monitoring the health condition of the old and the family environment information. Preferably, the remote monitoring system adopts a WIFI module for communication.
The elderly nursing robot further comprises a battery management system, wherein the battery management system is arranged around the omnidirectional wheel chassis and provides electric energy required by the robot to operate and charge quantity estimation of a battery for the system.
The old man nursing robot also comprises a robot motion driving system which is arranged in the center of the omnidirectional wheel chassis and used for driving the omnidirectional wheel chassis of the robot to move.
Preferably, the geriatric care robot may be of a circular configuration. The chassis of the omnidirectional wheel of the robot motion driving system is an independent module which is connected with other systems through mechanical buckles, and the omnidirectional wheel is directly connected with a driving motor through a flange.
The foregoing is only a preferred application of the present invention, and it should be noted that, for those skilled in the art, several modifications can be made without departing from the technical principle of the present invention, and these modifications should also be regarded as the protection scope of the present invention.
Claims (10)
1. An old man nursing robot, has head, body part and omni-wheel chassis triplex, its characterized in that still includes:
the nursing robot controller (101) is used for receiving the robot state information and the operation information and sending a control instruction to the robot;
the multifunctional input system is used for inputting specific control information of the robot; the multifunctional input system comprises a microphone for voice input;
the health condition monitoring system is used for monitoring the physical condition of the old, and prompting the robot if the physical condition is found;
the household monitoring system comprises a smoke sensor (205) and a temperature and humidity sensor (206) and is used for monitoring the environmental information of the household smoke concentration and the environmental temperature and humidity, timely reminding the old of the household fire hazard and adjusting the temperature of an air conditioner and a humidifier;
the alarm system (102) consists of a loudspeaker and an alarm lamp which are arranged on the body part of the robot and is used for giving an alarm when a household has fire hazard; when the home monitoring system detects that the smoke concentration is greater than 50bs, a signal is sent to an alarm system, and a loudspeaker and an alarm lamp of the alarm system send out alarm signals.
2. The geriatric care robot of claim 1, further comprising a robot obstacle avoidance system comprising a binocular camera (201) for ambient image input and an ultrasonic sensor mounted on a body part of the robot;
when a binocular camera scans that an obstacle exists in front, the distance of the obstacle can be actually measured through a binocular imaging principle, through a threshold value set by an obstacle avoidance system, if the distance is smaller than the threshold value set by the obstacle avoidance system, the obstacle avoidance system sends a front obstacle and distance signal to a nursing robot controller (101), and then the nursing robot controller (101) makes an obstacle avoidance instruction;
the ultrasonic sensor is used for detecting the situation of obstacles around the robot, when the distance between the obstacles is smaller than a threshold value set by the obstacle avoidance system, the obstacle avoidance system sends the obstacle and distance signals to the nursing robot controller (101), and then the nursing robot controller (101) makes an obstacle avoidance instruction.
3. The elderly care robot according to claim 2, wherein the health monitoring system comprises a binocular camera (201), a heart rate detection sensor (202), a blood pressure detection sensor (203), and a body temperature sensor (204); when the binocular camera (201), the heart rate detection sensor (202), the blood pressure detection sensor (203) and the body temperature sensor (204) detect that the binocular, the heart rate, the blood pressure and the body temperature of the old people enter and exit with the input numerical values, the current abnormal numerical values are sent to the controller (101), and then the controller (101) controls the alarm system to send out an alarm instruction.
Preferably, the binocular camera (201) is mounted on a robot head; the model of the binocular camera (201) is preferably PTC 06.
Preferably, the heart rate detection sensor (202), the blood pressure detection sensor (203) and the body temperature sensor (204) are mounted on a robot body part.
4. The geriatric care robot of claim 1, further comprising a video entertainment system for playing video including drama, tv show, video call between the elderly and relatives, or chat with the elderly; the video entertainment system comprises a liquid crystal touch screen (103), a microphone and a loudspeaker; the liquid crystal touch screen (103) is arranged in the middle of the body part of the robot.
5. The elderly care robot as claimed in claim 1, further comprising an autonomous help system, wherein when a fire disaster or a state of the elderly is detected, the controller (101) sends information to a monitoring terminal through the China Mobile Internet of things module and makes an alarm call.
Preferably, the China Mobile Internet of things module is a China Mobile OneMO NB-IOT/GSM Internet of things module M5313.
6. The geriatric care robot of claim 1, further comprising a remote monitoring system for remote monitoring of geriatric health and home environmental information.
Preferably, the remote monitoring system adopts a WIFI module for communication.
7. The geriatric care robot of claim 1, further comprising a battery management system mounted around the omni-wheel chassis to provide power required for operation of the robot and an estimate of the amount of charge on the battery.
8. The geriatric care robot of claim 1, further comprising a robot motion drive system for driving the robot omni-wheel chassis in motion.
Preferably, the robot motion driving system is installed at the center of the omni-wheel chassis.
9. The geriatric nursing robot of claim 2, wherein the geriatric nursing robot is circular, 4 omni wheels of the omni wheel chassis are distributed inside the circular chassis, four omni wheels are orthogonal to each other, the connecting lines of the two wheels on the diagonal line of the positive direction are perpendicular to each other, the omni wheel chassis is an independent module and is connected with other systems through mechanical fasteners, and the omni wheels are directly connected with the driving motor through flanges.
10. Elderly care robot according to claim 1, wherein the controller (101) is mounted inside a robot body part.
Preferably, the controller is a chip of model STM32F 407.
Preferably, the temperature and humidity sensor adopts a temperature and humidity sensor of a DHT11 model; the smoke sensor adopts an MQ2 model smoke sensor; the temperature and humidity sensor and the smoke sensor are arranged on the body part of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010906606.7A CN112123346A (en) | 2020-09-01 | 2020-09-01 | Old man nurses robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010906606.7A CN112123346A (en) | 2020-09-01 | 2020-09-01 | Old man nurses robot |
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| CN112123346A true CN112123346A (en) | 2020-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010906606.7A Pending CN112123346A (en) | 2020-09-01 | 2020-09-01 | Old man nurses robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310967A (en) * | 2022-01-19 | 2022-04-12 | 上海今一科技发展有限公司 | Old man attends to intelligent robot |
| CN114683295A (en) * | 2020-12-29 | 2022-07-01 | 大连理工江苏研究院有限公司 | Intelligent voice meal delivery robot and system for ensuring food safety |
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2020
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| CN206455673U (en) * | 2016-12-30 | 2017-09-01 | 西安智道科技有限责任公司 | Old man nurses robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114310967A (en) * | 2022-01-19 | 2022-04-12 | 上海今一科技发展有限公司 | Old man attends to intelligent robot |
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Application publication date: 20201225 |