CN114040177A - Scientific and technological monitoring method for household medical robot - Google Patents
Scientific and technological monitoring method for household medical robot Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
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Abstract
The invention relates to an intelligent robot technology, and provides a scientific and technological monitoring method for a household medical robot, which comprises the following steps: continuously monitoring the physical state of the monitored person to judge whether the monitored person is in an abnormal physical state; if yes, controlling the household medical robot to move to the side of the monitored person, and judging the abnormal body type of the monitored person; when the monitored person is determined to be awake but can not move, judging whether an instruction of the monitored person is received; if so, controlling the household medical robot to make a corresponding rescue action according to the instruction; if the medical kit is not received, the body data and the historical data of the monitored person are acquired, whether the monitored person needs to deliver the specified medicine or not is judged, if yes, the household medical robot is controlled to take out the specified medicine from the medicine kit and deliver the medicine to the monitored person, the situation that the monitored person cannot obtain help due to sudden problems is avoided, and the probability of getting a rescue of the monitored person is greatly improved.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a scientific and technological monitoring method for a household medical robot.
Background
With the development of science and technology, the quality of life of people is improved, more and more household robots enter the family life of people, for example, robots specially used for detecting various body data of human bodies, robots used for accompanying children and old people, robots for remote monitoring and the like.
Disclosure of Invention
The invention mainly aims to provide a scientific and technological monitoring method of a household medical robot capable of dealing with body emergencies of a monitored person.
Based on the above purpose, the invention provides a scientific and technological monitoring method for a household medical robot, which is implemented based on the household medical robot, wherein the household medical robot is provided with a medicine box for placing specified medicines, the household medical robot comprises an acquisition module, and the method comprises the following steps:
continuously monitoring the physical state of a monitored person to judge whether the monitored person is in an abnormal physical state;
if yes, controlling the household medical robot to move to the side of the monitored person, and judging the abnormal body type of the monitored person, wherein the abnormal body type comprises that the monitored person is awake but cannot move and the monitored person is unconscious;
when the body abnormal type is that the monitored person is awake but can not move, judging whether an instruction of the monitored person is received;
if receiving the instruction of the monitored person, controlling the household medical robot to make a corresponding rescue action according to the instruction;
if the instruction of the monitored person is not received, acquiring body data and historical data of the monitored person to judge whether the monitored person needs to deliver the specified medicine, wherein the historical data comprises data of the monitored person which is rescued;
and if so, controlling the household medical robot to take the specified medicine out of the medicine chest and deliver the medicine to the monitored person.
Further, after the step of judging the type of the physical abnormality of the monitored person, the method comprises the following steps:
and when the body abnormal type is coma, triggering an alarm instruction, giving an alarm according to the alarm instruction, and giving alarm information to preset related personnel.
Further, after the step of issuing an alarm according to the alarm instruction, the method includes:
after a preset time period, position data of other people in a preset range is not detected, a connection instruction is triggered, and a specified terminal of a preset person is communicated according to the connection instruction;
and receiving a rescue instruction sent by the appointed terminal, and controlling the household medical robot to make a corresponding rescue action according to the rescue instruction.
Further, after the step of issuing an alarm according to the alarm instruction, the method includes:
after a preset time period, if no position data of other people in a preset range is detected, collecting the body data of the monitored person through the collecting module;
when abnormal problems are analyzed according to the body data, calling a corresponding rescue scheme according to the abnormal problems, wherein each abnormal problem corresponds to at least one rescue scheme, and the rescue schemes comprise preset rescue actions;
and controlling the household medical robot to rescue the person under guardianship according to the rescue scheme.
Further, the rescue actions include a precordial tapping action for removing ventricular fibrillation, a bandaging action for a bandaging session.
Further, the acquisition module comprises a non-contact radar life detection module and a camera, and the step of continuously monitoring the physical state of the monitored person to judge whether the monitored person is in an abnormal physical state comprises the following steps:
acquiring respiration and pulse data of the monitored person through the non-contact radar life detection module, and shooting image data of the monitored person through the camera, wherein the image data comprises expression data and physical activity data of the monitored person;
and when the fact that the expression of the monitored person is painful or eyes are closed and the body movement is in an abnormal state and/or the breathing and pulse data are abnormal is determined according to the image data, the monitored person is judged to be in the abnormal body state.
Further, before the step of continuously monitoring the physical state of the monitored person to judge whether the monitored person is in the abnormal physical state, the method comprises the following steps:
receiving monitoring reminding information input by a user, wherein the monitoring reminding information comprises a function of reminding the monitored person to change dressings, a function of reminding the monitored person to eat and a function of reminding the monitored person to excrete;
and triggering a reminding instruction every time the specified time is reached, and sending out corresponding monitoring reminding information according to the reminding instruction.
The invention has the beneficial effects that: the body state of the monitored person is continuously monitored by the household medical robot, and corresponding actions are executed according to the monitored result or the instruction of the monitored person, so that the possible emergency situation of the body of the monitored person is dealt with, the situation that the monitored person cannot obtain rescue due to the emergency problem is avoided, and the rescue probability of the monitored person is greatly improved.
Drawings
Fig. 1 is a schematic step diagram of a scientific and technological monitoring method for a home medical robot according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the scientific and technical monitoring method for the household medical robot in this embodiment is implemented based on the household medical robot, the household medical robot is provided with a medicine box for placing specified medicines, the household medical robot includes an acquisition module, and the method includes: .
Step S1: continuously monitoring the physical state of a monitored person to judge whether the monitored person is in an abnormal physical state;
step S2: if yes, controlling the household medical robot to move to the side of the monitored person, and judging the abnormal body type of the monitored person, wherein the abnormal body type comprises that the monitored person is awake but cannot move and the monitored person is unconscious;
step S3: when the body abnormal type is that the monitored person is awake but can not move, judging whether an instruction of the monitored person is received;
step S4: if receiving the instruction of the monitored person, controlling the household medical robot to make a corresponding rescue action according to the instruction;
step S5: if the instruction of the monitored person is not received, acquiring body data and historical data of the monitored person to judge whether the monitored person needs to deliver the specified medicine, wherein the historical data comprises data of the monitored person which is rescued;
step S6: and if so, controlling the household medical robot to take the specified medicine out of the medicine chest and deliver the medicine to the monitored person.
Above-mentioned domestic medical robot includes collection module, control module, motion module, power module, communication module etc, control module respectively with collection module, motion module, power module connects, supply power through power module, through control module control collection module, motion module work, carry out wireless communication through communication module and other equipment, this communication module can wiFi module, GPRS module etc, above-mentioned domestic medical robot's bottom operating system adopts present known open source robot operating system, no longer repeated here. Above-mentioned domestic medical robot is provided with the medical kit that is used for placing appointed medicine, and this medical kit sets up in domestic medical robot health inside, pops out the medical kit when needs, perhaps opens the chamber door of medical kit, and this chamber door comprises domestic medical robot shell. The acquisition module comprises a non-contact radar detection life module, a camera, a somatosensory sensor, a sphygmomanometer, an infrared body temperature sensor, a noninvasive glucometer, an oximeter and the like and is used for acquiring various body data of a human body.
The motion module comprises a motor driving unit, a motor set and the like; the motor drive unit is used for receiving the control signal that control module sent, be used for the work of driving motor group, the motor group can be by servo motor, direct current motor, step motor, big moment steering wheel etc. are constituteed, a head for controlling the robot body rotates, the waist rotates, arm hand action and shank motion, make domestic medical robot remove and accomplish corresponding action, in an embodiment, domestic robot's shank can realize removing through removing the wheel, furthermore, still include the encoder that tests the speed, this encoder links to each other with the motor group, a position and the information of rotational speed for real-time feedback motor group, realize the closed-loop control of motor group position and rotational speed.
The control module comprises a processing chip, a face recognition unit, a voice interaction unit and a positioning unit, the face recognition unit obtains face images through camera shooting, then the face images are processed through the face recognition unit, the identity is confirmed through face recognition, the voice interaction unit collects voices through a microphone, the voices are preprocessed, voice features are extracted, then the voices are input into a preset recognition model to be recognized, corresponding answers are obtained, then the answers are played through a loudspeaker, voice communication is further completed, the recognition model is obtained through deep learning based on a preset neural network framework, and the positioning unit can be a GPS positioning unit.
As described in step S1, the household medical robot continuously monitors the physical state of the monitored person, specifically, first captures a three-dimensional depth image through the motion sensing sensor and the camera, processes the image to achieve navigation and positioning, thereby determining the monitored position, and then determines the physical state of the monitored person through the non-contact radar detection life module and the camera, where the non-contact radar detection life module may be composed of a radar detection antenna, a radar signal transceiving and processing circuit, and a vital sign detection signal analysis and processing circuit, the specific structure and the detection process are the prior art, and are not described herein again, and the non-contact radar detection life module may extract the vital sign data of human body such as respiration, heartbeat, etc. for observation and monitoring, and then may determine whether the monitored person is in an abnormal physical state according to the data, specifically, step S1 includes:
step S1: acquiring respiration and pulse data of the monitored person through the non-contact radar life detection module, and shooting image data of the monitored person through the camera, wherein the image data comprises expression data and physical activity data of the monitored person;
step S2: and when the fact that the expression of the monitored person is painful or eyes are closed and the body movement is in an abnormal state and/or the breathing and pulse data are abnormal is determined according to the image data, the monitored person is judged to be in the abnormal body state.
In this embodiment, the non-contact radar detection life module obtains the respiration and pulse data of the monitored person, and captures the monitored image data through the camera, where the image data includes monitored expression data and physical activity data, the expression data indicates the data of the facial expression of the monitored person, such as the uncomfortable or calm expression of the patient, the expression of eyes being opened or closed, and the physical activity data includes data of the body in a normal upright, sitting, squatting, lying flat state, or in an abnormal upright, sitting, squatting, lying flat state, where the abnormal physical state data includes an environmental abnormality when the body is in a specific motion and an abnormal motion abnormality of the specific motion, such as the body is in a lying flat state, but the body is not on a bed or a sofa but on an abnormal lying flat place such as a floor, such as the body lies on a sofa, but with abnormal movements such as twitching. The acquired expression images and the body images are identified and matched to determine the state of the monitored person, when the monitored expression is painful or eyes are closed and the body is in an abnormal state, the monitored person can be determined to be in the abnormal state, furthermore, the latest acquired respiration and pulse data can be determined to be abnormal or not by comparing the respiration and pulse data with the preset normal respiration and pulse data, and if the latest acquired respiration and pulse data are abnormal, the monitored person can be determined to be in the abnormal state. The above-mentioned specific processes of facial expression recognition and body environment recognition adopt the existing recognition technology, and are not described herein again.
As described in the above step S2, when it is determined that the monitored person is in an abnormal body state, the control module and the motion module may drive the household medical robot to move to the side of the monitored person, specifically, the control module and the motion module may cooperate with each other to acquire data, and the data may be processed by the control module and fed back and controlled to identify and avoid the obstacle, and then move to the side of the monitored person, and at this time, the abnormal body type of the monitored person may be determined, where the abnormal body type includes that the monitored person is awake but unable to move, the monitored person is unconscious, and no vital sign of the monitored person, and specifically, the collecting module may collect corresponding body data, for example, the collecting module may contact the body of the monitored person to collect corresponding data, and the abnormal type may also be determined based on the data of the abnormal body state, for example, if the face expression is eye-closed, the body is lying down or sitting down, and the breathing and pulse data can be monitored, the monitored person is determined to be unconscious, if the image of the monitored person is identified but the breathing and pulse data cannot be monitored, the monitored person can be determined to have no vital signs, and if the face expression is eye-open and the breathing and pulse data can be monitored, the monitored person can be determined to be awake but cannot move.
As described in the foregoing steps S3-S4, when the body abnormality type is that the monitored person is awake but cannot move, for example, the monitored person falls down, has a heart attack, and the monitored person is still awake, a corresponding voice command may be issued to the home medical robot, and then a corresponding instruction is analyzed through the voice interaction unit, and when it is determined that the instruction of the monitored person is received, the home medical robot may be controlled according to the instruction to perform a corresponding rescue action, for example, the fallen monitored person is lifted up, or a specified medicine is taken out and delivered to the monitored person, or a mobile terminal connected to a specified person, and the like.
As described in the above steps S5-S6, when the instruction of reversing the monitored person is not received, that is, the monitored person does not issue a voice command to the home medical robot, and the monitored person may be in a state where it is difficult to issue a command, for example, the monitored person may be in a heart attack state, the body data of the monitored person may be acquired by the acquisition module, the body data includes data such as facial expression data, blood pressure, heartbeat, blood sugar, and the like, and meanwhile, the history data including data that the monitored person is rescued, the newly acquired body data is compared with the preset disease data, if matching, and according to the history rescue record, it is determined that the monitored person needs to eat the specified medicine at this time, the home medical robot is controlled to take out the specified medicine from the medicine chest and deliver the medicine to the monitored person, further, an alarm may be issued through the speaker, or sending the alarm information to a terminal of a designated person.
Therefore, the household medical robot continuously monitors the body state of the monitored person and executes corresponding actions according to the monitored result or the instruction of the monitored person, so that the emergency possibly occurring on the body of the monitored person is dealt with, the condition that the monitored person cannot acquire a rescue condition due to the occurrence of the emergency problem is avoided, and the rescue probability of the monitored person is greatly improved.
In one embodiment, the household medical robot may be controlled by a mobile terminal of a user, for example, control and prompt are performed through a corresponding software program on a mobile phone of the user, the household medical robot performs wireless communication with the mobile phone of the user through a communication module, when the user sends a corresponding instruction through the mobile phone, a control module in the household medical robot receives the instruction, and then controls the household medical robot to perform a corresponding operation according to the instruction, for example, collecting body data of a person under guardianship, lifting the person under guardianship, delivering a medicine, and the like.
In one embodiment, after the step S2, the method further includes:
step S20: and when the body abnormal type is coma, triggering an alarm instruction, giving an alarm according to the alarm instruction, and giving alarm information to preset related personnel.
In this embodiment, when the body abnormality type is a coma of the monitored person, in order to timely notify others of a rescue, an alarm instruction is triggered at this time, an alarm is given through a speaker according to the alarm instruction to remind others, and alarm information is given to preset related persons at the same time.
In one embodiment, the step S20 includes:
step S21: after a preset time period, position data of other people in a preset range is not detected, a connection instruction is triggered, and a specified terminal of a preset person is communicated according to the connection instruction;
step S22: and receiving a rescue instruction sent by the appointed terminal, and controlling the household medical robot to make a corresponding rescue action according to the rescue instruction.
In this embodiment, when the abnormal type of the body of the person under guardianship is coma, and an alarm is given, there may be other people coming for help, but the person under guardianship may be alone at home and other people may not come in time, and after the alarm is given, the home medical robot continuously monitors the surrounding environment of the person under guardianship to determine whether there is another person coming for help, and after a preset time period, for example, after 2 minutes, position data of the other people appearing in a preset range is not detected, the preset range may be a range within 10 meters from the person under guardianship or a range of the whole indoor space, and may be set by the user according to actual conditions, the position data may be data such as positioning coordinates, and at this time, a connection instruction may be triggered, and then a preset terminal of the person is connected according to the connection instruction, and the preset person may be a family or a designated doctor, if the communication is carried out through the appointed communication software, the preset personnel can send out corresponding instructions through the appointed communication software, the household medical robot can receive the rescue instructions sent out by the appointed terminal, and then the household medical robot is controlled to carry out corresponding rescue actions according to the rescue instructions, for example, corresponding items are detected for the person under guardianship, images of the person under guardianship are shot and transmitted to the appointed terminal, and the wound is bound.
In another embodiment, the step S20 includes:
step S23: after a preset time period, if no position data of other people in a preset range is detected, collecting the body data of the monitored person through the collecting module;
step S24: when abnormal problems are analyzed according to the body data, calling a corresponding rescue scheme according to the abnormal problems, wherein each abnormal problem corresponds to at least one rescue scheme, and the rescue schemes comprise preset rescue actions;
step S25: and controlling the household medical robot to rescue the person under guardianship according to the rescue scheme.
In this embodiment, when other people cannot timely come for help, the body data of the person under guardianship can be collected through the collection module, the body data includes data such as blood pressure heartbeat, pulse, blood sugar, and the like, and then the body data is analyzed, for example, when the body data is compared with a preset body health table, a monitored current coma state is combined, a corresponding abnormal problem is analyzed, a corresponding help scheme is called according to the abnormal problem, each abnormal problem is at least one help scheme, the help scheme includes a preset help action, because human body symptoms are various, the household medical robot may be difficult to analyze the current abnormal problem, when the abnormal problem is not analyzed, an alarm is continuously sent out to attract the attention of other people, so that the person can be helped in the future.
In this embodiment, the rescue operation includes a precordial tapping operation for removing ventricular fibrillation, a wound dressing operation, a holding operation for holding up a monitored person, and the like, which are all preset, and when the control module triggers a corresponding control instruction, the control instruction is transmitted to the motion module, and the motion module drives the home-use medical robot to implement the rescue operation.
In one embodiment, the household medical robot can also provide a monitoring reminding function, a turning assisting function, a monitored person sleeping monitoring function, a news song playing function, a chatting function and the like.
Specifically, the method further includes, before step S1:
step S01: receiving monitoring reminding information input by a user, wherein the monitoring reminding information comprises a function of reminding the monitored person to change dressings, a function of reminding the monitored person to eat and a function of reminding the monitored person to excrete;
step S02: and triggering a reminding instruction every time the specified time is reached, and sending out corresponding monitoring reminding information according to the reminding instruction.
In this embodiment, the household medical robot has a monitoring reminding function, the user can input monitoring reminding information through voice or terminal transmission information, and the monitoring reminding information can include various reminding items, such as reminding a monitored person to change medicine, reminding the monitored person to eat, reminding the monitored person to excrete, and the like. And each reminding item corresponds to corresponding time, a reminding instruction is triggered when the specified time is reached, and corresponding monitoring reminding information is sent according to the reminding instruction, such as breakfast reminding by eight minutes and half, lunch reminding by twelve minutes, dinner reminding by six minutes, dressing change reminding by ten minutes and the like.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (7)
1. A scientific and technological monitoring method of a household medical robot is realized based on the household medical robot, the household medical robot is provided with a medicine box for placing specified medicines, the household medical robot comprises an acquisition module, and the method comprises the following steps:
continuously monitoring the physical state of a monitored person to judge whether the monitored person is in an abnormal physical state;
if yes, controlling the household medical robot to move to the side of the monitored person, and judging the abnormal body type of the monitored person, wherein the abnormal body type comprises that the monitored person is awake but cannot move and the monitored person is unconscious;
when the body abnormal type is that the monitored person is awake but can not move, judging whether an instruction of the monitored person is received;
if receiving the instruction of the monitored person, controlling the household medical robot to make a corresponding rescue action according to the instruction;
if the instruction of the monitored person is not received, acquiring body data and historical data of the monitored person to judge whether the monitored person needs to deliver the specified medicine, wherein the historical data comprises data of the monitored person which is rescued;
and if so, controlling the household medical robot to take the specified medicine out of the medicine chest and deliver the medicine to the monitored person.
2. The scientific and technological monitoring method of the household medical robot according to claim 1, wherein the step of judging the type of the physical abnormality of the monitored person is followed by the steps of:
and when the body abnormal type is coma, triggering an alarm instruction, giving an alarm according to the alarm instruction, and giving alarm information to preset related personnel.
3. The method for monitoring the science and technology of the household medical robot as claimed in claim 2, wherein the step of sending an alarm according to the alarm instruction is followed by the steps of:
after a preset time period, position data of other people in a preset range is not detected, a connection instruction is triggered, and a specified terminal of a preset person is communicated according to the connection instruction;
and receiving a rescue instruction sent by the appointed terminal, and controlling the household medical robot to make a corresponding rescue action according to the rescue instruction.
4. The method for monitoring the science and technology of the household medical robot as claimed in claim 2, wherein the step of sending an alarm according to the alarm instruction is followed by the steps of:
after a preset time period, if no position data of other people in a preset range is detected, collecting the body data of the monitored person through the collecting module;
when abnormal problems are analyzed according to the body data, calling a corresponding rescue scheme according to the abnormal problems, wherein each abnormal problem corresponds to at least one rescue scheme, and the rescue schemes comprise preset rescue actions;
and controlling the household medical robot to rescue the person under guardianship according to the rescue scheme.
5. The method for monitoring the science and technology of a home medical robot as claimed in any one of claims 2 or 3, wherein the rescue actions include a precordial tapping action for removing ventricular fibrillation, a bandaging action for taking a lesson.
6. The scientific and technological monitoring method of the household medical robot according to claim 1, wherein the collecting module comprises a non-contact radar detection life module and a camera, and the step of continuously monitoring the physical state of the monitored person to judge whether the monitored person is in an abnormal physical state comprises the following steps:
acquiring respiration and pulse data of the monitored person through the non-contact radar life detection module, and shooting image data of the monitored person through the camera, wherein the image data comprises expression data and physical activity data of the monitored person;
and when the fact that the expression of the monitored person is painful or eyes are closed and the body movement is in an abnormal state and/or the breathing and pulse data are abnormal is determined according to the image data, the monitored person is judged to be in the abnormal body state.
7. The scientific and technological monitoring method for the household medical robot as claimed in claim 1, wherein the step of continuously monitoring the physical state of the monitored person to determine whether the monitored person is in an abnormal physical state is preceded by the steps of:
receiving monitoring reminding information input by a user, wherein the monitoring reminding information comprises a function of reminding the monitored person to change dressings, a function of reminding the monitored person to eat and a function of reminding the monitored person to excrete;
and triggering a reminding instruction every time the specified time is reached, and sending out corresponding monitoring reminding information according to the reminding instruction.
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