CN105310686B - A kind of health service robot of achievable ECG detecting - Google Patents
A kind of health service robot of achievable ECG detecting Download PDFInfo
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- CN105310686B CN105310686B CN201510523148.8A CN201510523148A CN105310686B CN 105310686 B CN105310686 B CN 105310686B CN 201510523148 A CN201510523148 A CN 201510523148A CN 105310686 B CN105310686 B CN 105310686B
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Abstract
The invention discloses a kind of health service robots of achievable ECG detecting, including robot body, main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, medical detection unit and power supply power supply unit；The medical treatment detection unit includes ECG detection device, and for the ECG detection device tool there are two EGC sensor, two EGC sensors are respectively placed in the left and right centre of the palm front of robot body；The main control unit is connected with motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detection unit respectively by bus communication protocol and serial communication protocol；The power supply power supply unit is used to power for other each units.The health service robot combination robot mobile technology of the present invention and medical detection technique have the advantages that good human-computer interaction, easy to remove, easy to use, usage time length.
Description
Technical field
The present invention relates to a kind of service robot, especially a kind of health service robot of achievable ECG detecting belongs to
In service robot and vital sign parameter detection technique field.
Background technology
Currently, angiocardiopathy has become the No.1 cause of the death in the whole world, according to statistics, the number for dying of angiocardiopathy every year is more
Seem increasingly important in the prevention and diagnosis of any other cause of the death, therefore angiocardiopathy.Electrocardiogram is to measure and diagnose at present
The best method of abnormal heart rhythms, by the diagnosable electrocardio conductive tissue of electrocardiogram when impaired the allorhythmia of heart and by
The change of cardiac rhythm caused by electrolyte balance is lacked of proper care.However, in traditional electrocardioscanner, it is main between each hardware device
It to be connected by the communications cable, operating platform enables it that model is used also based on non-wireless means, this kind of conventional apparatus because of wired connection
It encloses and is restricted significantly, it has not been convenient to it is mobile, also psychological pressure can be brought to detected person, to make testing result be distorted.
It is increasingly enhanced as the improvement of people's living standards, people's health is realized, whenever and wherever possible zero load detection physiology
The demand of parameter occurs therewith.In recent years, the service robot quickly grown is exactly the ideal carrier for meeting this demand, is utilized
The ecg information of robot terminal acquisition user is the future thrust of portable medical and tele-medicine, with by ECG detecting
Function is transplanted on service robot, on the one hand can the diseases such as monitor heart rate is uneven in real time, arrhythmia cordis and myocardial ischemia,
It is user-friendly for self health Evaluation, take measures the control state of an illness early, utmostly avoids heart rate is too low from causing
Health hazard or life danger.On the other hand, can be that handicapped old man and child carry out health anywhere or anytime
Detection, can largely simplify operation by the voice broadcast of the interaction of voice, result.
Although current ECG detecting function is common in various patient monitors or monitor, carried for monitoring, health assessment
A kind of objective vital sign parameter is supplied, still, common ECG detection device mostly uses patch electricity greatly in the market for these
Pole is attached to the characteristic portion of human body, and patch electrode is connected with controller, display by conducting wire, not only inconvenient to use,
And it is unfavorable for long periods of wear, the use of device when patch electrode and conducting wire all can greatly limit motion state.In addition, due to
These device volumes are big, inconvenient, comfort level is poor, but will cause tension when detection, psychological pressure is brought to tester
And physiological stress, it is distorted so as to cause result, and these detection devices have focused largely on inside large hospital, are unfavorable for remotely curing
The structure for the treatment of system and the convenient index of portable medical, it is difficult to promote in the family, it is also difficult to it is remote to realize that user carries out with doctor
Journey is interactive.
Invention content
The purpose of the present invention is to solve the defects of the above-mentioned prior art, provide a kind of being good for for achievable ECG detecting
ECG detecting may be implemented in health service robot, the health service robot, have good human-computer interaction, it is easy to remove, make
With the advantage of convenient usage time length.
The purpose of the present invention can be reached by adopting the following technical scheme that：
A kind of health service robot of achievable ECG detecting, including robot body, main control unit, motion control
Unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, medical detection unit and power supply supply
Electric unit；
The main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing pass
Sensor cell and medical detection unit are arranged on robot body；The medical treatment detection unit includes ECG detection device, institute
ECG detection device tool is stated there are two EGC sensor, two EGC sensors are respectively placed in the left and right centre of the palm of robot body
Front；
The main control unit by bus communication protocol and serial communication protocol respectively with motion control unit, binocular vision
Feel that capture unit, man-machine interaction unit, environment sensing sensor unit are connected with medical detection unit；
The power supply power supply unit is used for as main control unit, motion control unit, binocular vision capture unit, man-machine friendship
Mutual unit, environment sensing sensor unit and medical detection unit power supply.
Preferably, the main control unit include central processing unit, universal peripheral interface module, memory module,
Communication interface modules；The central processing unit is received by universal peripheral interface module or communication interface modules come autokinesis
The data of control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detection unit
Information, data information are stored in memory module after treatment, and the central processing unit is controlled by communication interface modules
Motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and medical detection unit
Working method.
Preferably, the motion control unit includes motor drive module, light-coupled isolation module, motor group and the coding that tests the speed
Device；It is isolated by light-coupled isolation module between the motor drive module and main control unit, and driving motor group rotates；It is described
Speed measuring coder is connected with motor group, is used for the location information and rotary speed information of Real-time Feedback motor group, realizes motor group position
With the closed-loop control of rotating speed；The motor group be used for control robot body head rotation, waist rotation, mechanical arm action with
And bobbin movement.
Preferably, the binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, realizes robot
Navigation and positioning function and optimal path planning.
Preferably, the man-machine interaction unit includes touch control display module and voice interaction module, and the touch-control shows mould
Block is for video interactive and motion control unit, binocular vision capture unit, environment sensing sensor unit and medical treatment detection
The status display of unit is also connected by wireless signal with external mobile terminal.
Preferably, the environment sensing sensor unit include optoelectronic switch, it is gyro sensor, touch sensor, red
Outer sensor and ultrasonic sensor；The optoelectronic switch, touch sensor, infrared sensor, ultrasonic sensor cooperate with work
Make, carries out the identification of barrier and hide；The gyro sensor carries out posture deciphering to robot body；The environment sense
Know sensor unit using multi-sensor information fusion technology to perception back data handle, by main control unit into
Row feedback control.
Preferably, the power supply power supply unit includes charging base, accumulator charging interface, accumulator, voltage transformation mould
Block；The accumulator charging interface, accumulator and voltage transformation module are integrated into robot body, and the charging base is fixed
Indoors；In machine man-hour, the voltage that accumulator provides is converted into main control unit, movement by the voltage transformation module
Control unit, binocular vision capture unit, man-machine interaction unit and the required voltage of environment sensing sensor unit, work as electric power storage
When pond electricity is less than the threshold value set, robot is automatically returned to by environment sensing sensor unit to be filled at charging base
Electricity.
Preferably, before the ECG detection device is including the first EGC sensor, the second EGC sensor, integrated simulation
End, mixed signal microcontroller, bluetooth module, indicating lamp module and power module；First EGC sensor and second heart
Electric transducer is connected with integrated simulation front end respectively；The integrated simulation front end is connected by SPI with mixed signal microcontroller；
The bluetooth module is connected by UART with mixed signal microcontroller, and the bluetooth module with external equipment for connecting；It is described
Power module is used for as the first EGC sensor, the second EGC sensor, integrated simulation front end, mixed signal microcontroller, indigo plant
Tooth module, indicating lamp module power supply；The indicating lamp module is connected with mixed signal microcontroller, for showing that robot is in
The functional status of ECG detecting；
The bluetooth module includes main control module, RF core module, universal peripheral interface module and sensor
Interface module；The main control module for receiving, storing the signal that mixed signal microcontroller transmits, and signal need to
When outer transmission, signal is passed to RF core module；The RF core module is used to transmit master control molding outward by antenna
The incoming signal of block；The universal peripheral interface module includes the connected I of conducting wire2C, UART and SPI；The master control molding
Block is connected by conducting wire with RF core module, universal peripheral interface module and sensor interface module respectively.
Preferably, the integrated simulation front end includes multi-lead selection circuit, Wilson's calibration circuit, filter circuit, AD
Conversion circuit and SPI communication interfaces, for the first EGC sensor and the collected electrocardiosignal of the second EGC sensor into
Row pretreatment；The mixed signal microcontroller is used to carry out smothing filtering to the pretreated signal in integrated simulation front end to disappear
Except Hz noise, fitting remedy is used to eliminate baseline drift and eliminate myoelectricity interference using Wavelet Transform；After processing
Electrocardiosignal, further use peak detection and variable slope threshold method to carry out QRS complex and detect in real time, using small wavelength-division
The method being combined with adaptive-filtering is solved to carry out the model inspection of QRS complex and use biradical quasi- lead and more baseline systems
Method carries out the mathematical morphology detection of QRS complex.
Preferably, the operating system of the robot body is mounted in using robot operating system of increasing income in Linux
Under the ubuntu systems of core, communicated with main control unit by serial ports, and then controlled motion control unit, binocular vision are caught
Catch the working method of unit, man-machine interaction unit, environment sensing sensor unit and medical detection unit.
The present invention has following advantageous effect compared with the existing technology：
1, ECG detecting may be implemented in health service robot of the invention, is detected in conjunction with robot mobile technology and medical treatment
Technology can largely improve the Mobile portable performance and interactivity of ECG detection device, facilitate user whenever and wherever possible into
Row uncharges medical detection, and better medical services and easier operating experience are brought for user.
2, binocular vision capture unit of the invention uses the Kinect somatosensory sensor of Microsoft, overcomes traditional ring
Limitation in terms of border modeling and analysis, Kinect somatosensory sensor can effectively establish 3D solid rings by three cameras
Border, to improve the decision judgement of main control unit.
3, power supply power supply unit of the invention works as accumulator by the way of fixed charging base and accumulator charging interface
It can be returned at charging base and charge by environment sensing sensor unit automatic identification route when low battery,
This automatic charging mode eliminates time and efforts of the user effort in robot charging link.
4, the operating system of health service robot of the invention uses the ubuntu operating systems for carrying linux kernel,
The robot operating system ROS that increases income is run in ubuntu systems, with the libraries carried ROS and kit collection, can simplify meter
Calculation machine vision algorithm and navigator fix and path planning algorithm, can effectively improve development efficiency, shorten the exploitation week of system
Phase.
5, there are two EGC sensors for ECG detection device of the invention tool, are respectively placed in the left and right centre of the palm front of robot,
User passes through the interaction between palm by the way that being bonded the left and right centre of the palm of robot can be obtained ecg information simultaneously by the both hands palm of the hand
To be that user brings different experience.
6, ECG detection device implantation health service robot it is stupid to be overcome traditional ECG detection device volume by the present invention
The use limitation that heave hand comes, and the zero load detection of electrocardio anywhere or anytime may be implemented by mobile robot, it is small
Ingeniously, movement is convenient, and as a result accurately, power consumption is extremely low, is convenient for indoor furniture or cardiovascular patient monitors whenever and wherever possible,
Farthest reduce damage and life danger of the angiocardiopathy to body.
7, the bluetooth module in ECG detection device of the invention is furnished with independently using super low-power consumption bluetooth module BLE
Super low-power consumption sensor controller can independently perceive the working condition of external EGC sensor, being capable of automatic identification sensor
Working condition, to reduce power consumption automatically into sleep state, and wakeup time is short, and stand-by time is long, can be good at full
Sufficient job requirement.
8, testing result can be sent on robot body by ECG detection device of the invention using bluetooth module
Touch control display module is shown, and then reduces the computational burden of main control unit, is further calculated to obtain health parameters, more may be used
To provide strong support as remote medical monitor and distance medical diagnosis by external mobile terminal, pass through Bluetooth technology and machine
People's mobile technology can greatly reduce the volume and travelling performance of Medical Devices, better, more acurrate to be brought to user
, more practical medical treatment experience.
9, ECG detection device of the invention uses integrated simulation front end so that signal processing is more efficient, and stability is bright
Aobvious enhancing.Test device complexity in previous detection device is overcome, needs to use a large amount of electronic components, is not easy to realize portability
The shortcomings that, in addition, ECG Acquisition Device collects after electrocardiosignal in a manner of analog voltage signal to next stage in the prior art
Digitlization is just realized in transmission at A/D conversions, and signal is highly prone to extraneous interference and introduces noise during this, is led to
It crosses and uses integrated simulation front end, overcome this defect, greatly improve the accuracy of measurement result.
Description of the drawings
Fig. 1 is the composed structure block diagram of the health service robot of the present invention.
Fig. 2 is the schematic diagram of the function of the motion control unit of the present invention.
Fig. 3 is the composed structure block diagram of the ECG detection device of the present invention.
Fig. 4 a are installed on the position of the robot body right hand for the first EGC sensor in the ECG detection device of the present invention
Figure.
Fig. 4 b are installed on the position of robot body left hand for the second EGC sensor in the ECG detection device of the present invention
Figure.
Fig. 5 be the present invention ECG detection device in bluetooth module composed structure block diagram.
Fig. 6 is the health service robot ECG detecting work flow diagram of the present invention.
Fig. 7 is mixed signal microcontroller work flow diagram in the ECG detection device of the present invention.
Specific implementation mode
Embodiment 1：
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
As shown in Figure 1, the health service robot of the present embodiment includes robot body, main control unit, motion control
Unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, medical detection unit and power supply supply
Electric unit；The main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensing
Device unit and medical detection unit are arranged on robot body；The medical treatment detection unit includes ECG detection device, described
For ECG detection device tool there are two EGC sensor, two EGC sensors are being respectively placed in the left and right centre of the palm of robot body just
Face；The main control unit is caught with motion control unit, binocular vision respectively by bus communication protocol and serial communication protocol
Unit, man-machine interaction unit, environment sensing sensor unit is caught with medical detection unit to be connected；Wherein, motion control unit, double
Visually feel capture unit, man-machine interaction unit, environment sensing sensor unit and medical detection unit for the functional unit of top layer.
The underlying operating system (software processing platform) of the robot body is using robot operating system of increasing income
(Robot Operating System, ROS) comprising hardware abstraction description, bsp driver management, common functions are held
Row, the message transmission between program, program distribution package management, distributed process frame and support code library it is system combined；
Robot operating system of increasing income is mounted under ubuntu (Wu Bantu) system of linux kernel, passes through serial ports and main control unit
It is communicated, and then controlled motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor list
The working method of member and medical detection unit.
The main control unit includes central processing unit (CPU), universal peripheral interface module, memory module, leads to
Believe interface module；The central processing unit is received by universal peripheral interface module or communication interface modules and comes from each function
Data are carried out integration processing by the data information of unit, are then carried out judging decision and be stored data in memory module,
The transmitting-receiving that the central processing unit is instructed by communication interface modules, and then controlled motion control unit, binocular vision are caught
Catch the working method of unit, man-machine interaction unit, environment sensing sensor unit and medical detection unit；The communication interface mould
Block includes I2C (Inter-Integrated Circuit), CAN (Controller Area Network, controller LAN
Network) bus and UART (Universal Asynchronous Receiver/Transmitter, universal asynchronous receiving-transmitting transmitter)
With SPI (Serial Peripheral Interface, Serial Peripheral Interface (SPI)) serial communication modular, to meet different function list
Communication interface requirement between member；The central processing unit can be communicated with operating system, complete motion control, navigation with
The functional requirement that positioning, human-computer interaction, data communicate.
As shown in Fig. 2, the motion control unit includes motor drive module, light-coupled isolation module, motor group and tests the speed
Encoder；The motor drive module is used to receive PWM (Pulse Width Modulation, the arteries and veins of main control unit transmission
Rush width modulated) control signal, the rotation of driving motor group, and pass through optocoupler between the motor drive module and main control unit
Isolation module is isolated, and main control unit is protected not influenced by electric moter voltage fluctuation；The speed measuring coder is connected with motor group,
For the location information and rotary speed information of Real-time Feedback motor group, the closed-loop control of motor group position and rotating speed is realized；The electricity
Unit can be made of servo motor, direct current generator, stepper motor, high-torque steering engine, the head for controlling robot body
Rotation, waist rotation, mechanical arm action and bobbin movement.
The binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, the Kinect somatosensory sensor
For establishing 3D steric environments by three cameras, and by image identifying and processing, realize navigation and the positioning work(of robot
The planning of energy and optimal path, to improve the decision judgement of main control unit.
The man-machine interaction unit includes touch control display module and voice interaction module, and the touch control display module is tablet
Computer, the tablet computer are placed in the front of robot body, are captured for video interactive and motion control unit, binocular vision
The status display of unit, environment sensing sensor unit and medical detection unit, it has provided personalized selection clothes to the user
Business, user are interacted by touch control display module and robot, and interaction results are fed back to touch control display module, and touch-control is aobvious
Show module also by wireless signal (data channel can select cellular network/WLAN/bluetooth) and external mobile terminal
It is connected；The voice interaction module includes voice recognition unit, phonetic synthesis unit, voice alerting unit, the speech recognition
Unit phonetic order from the user for identification；The phonetic synthesis unit is used to handle the voice data of identification,
Synthesis machine code (can be identified) by each functional unit of top layer, be sent to main control unit and carry out decision；The voice alerting unit
Voice prompting device may be used, the control instruction sended over for receiving main control unit carries out voice prompt to user, real
Interactive function between current family and robot；As it can be seen that user can pass through phonetic order, tablet computer operation interface and profit
Remote control command is sent with external mobile terminal to complete the operation of control robot.
The touch control display module provides visualization interface, and Interface Control is interacted convenient for user, aobvious by touch-control
Show that the camera function of module is the interactive interface that user establishes tele-medicine with medical worker, while providing and take pictures, image,
It makes video recording and audio-visual broadcasting entertainment service, and can keep with external mobile terminal that high in the clouds is synchronous and personalized function is self-defined,
And can provide short message, mail transmission-receiving function, convenient for providing good interactive experience to the user；The voice alerting unit can be with
It reminds user to take medicine, carries out the report of physiologic information, and carries out the voice broadcast for suggesting prompting after data analysis, while energy
Enough provide MP3 amusement functions to the user, the voice recognition unit can identify user speech, be controlled by voice processing technology
Correlation function provides service function.
The environment sensing sensor unit includes optoelectronic switch, gyro sensor, touch sensor, infrared sensor
And ultrasonic sensor；The optoelectronic switch, touch sensor, infrared sensor, ultrasonic sensor cooperate, and are hindered
Hinder the identification of object and hides；The gyro sensor carries out posture deciphering to robot body；The environment sensing sensor
Unit is handled the data of perception back using multi-sensor information fusion technology, and feedback control is carried out by main control unit
System.
The power supply power supply unit is used for as main control unit, motion control unit, binocular vision capture unit, man-machine friendship
Mutual unit, environment sensing sensor unit and medical detection unit power supply comprising charging base, stores accumulator charging interface
Battery, voltage transformation module；The accumulator charging interface, accumulator and voltage transformation module are integrated into robot body,
The charging base is fixed indoors；In machine man-hour, the voltage that the voltage transformation module provides accumulator is converted
At main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and
The medical required voltage of detection unit, when threshold value of the accumulator electric-quantity less than setting, i.e., when accumulator electric-quantity is too low, machine
People is automatically returned to by environment sensing sensor unit and is charged at charging base.
As shown in figure 3, the ECG detection device includes the first EGC sensor, the second EGC sensor, integrated simulation
Front end, mixed signal microcontroller, bluetooth module, indicating lamp module and power module；First EGC sensor is placed in machine
The right centre of the palm front of device human body, as shown in fig. 4 a, 1 mark is exactly the first EGC sensor；Second EGC sensor
The left centre of the palm front of robot body, as shown in Figure 4 b, 2 marks are exactly the second EGC sensor, and user is by by both hands hand
The heart is bonded the left and right centre of the palm of robot and can be obtained ecg information simultaneously；First EGC sensor and the second EGC sensor
It is connected respectively with integrated simulation front end；The integrated simulation front end is connected by SPI with mixed signal microcontroller；The bluetooth
Module is connected by UART with mixed signal microcontroller, and the bluetooth module with external equipment for connecting；The mixed signal
Microprocessor is connected by generalized device interface and serial communication equipment with each functional unit of top layer, and the transmitting-receiving of control instruction is passed through
And then control the working method of each functional unit；The power module is used for as the first EGC sensor, the second electrocardio sensing
Device, integrated simulation front end, mixed signal microcontroller, bluetooth module, indicating lamp module power supply；The indicating lamp module with mix
Signal microcontroller is connected, for showing that robot is in the functional status of ECG detecting.
The integrated simulation front end includes multi-lead selection circuit, Wilson's calibration circuit, filter circuit, A/D converter circuit
With SPI communication interfaces, integrated simulation front end can drive and control EGC sensor, to acquire the electrocardiogram (ECG) data of human body, and
The data of first EGC sensor and the acquisition of the second EGC sensor back are pre-processed, are transferred data to by SPI
Mixed signal microcontroller；
It is super low-power consumption type that the mixed signal microcontroller, which selects MSP430FR5739 microcontrollers, the microcontroller,
For being handled the pretreated signal in integrated simulation front end is further, that is, carry out smothing filtering to eliminate Hz noise,
Fitting remedy is used to eliminate baseline drift and eliminate myoelectricity interference using Wavelet Transform；To treated electrocardiosignal,
Further use peak detection and variable slope threshold method carry out QRS complex detect in real time, using wavelet decomposition with adaptively
The method being combined is filtered to carry out the model inspection of QRS complex and carry out using biradical quasi- lead and more baseline system methods
The mathematical morphology of QRS complex detects.
As shown in figure 5, the bluetooth module uses low-power consumption bluetooth standard V4.0 equipment, high-speed transfer not only can guarantee, but also
It can solve the problems, such as that power consumption is excessive comprising main control module, RF core module, universal peripheral interface module and sensing
Device interface module；The main control module is needed for receiving, storing the signal that mixed signal microcontroller transmits, and in signal
Outward when transmission, signal is passed to RF core module；The RF core module is used to transmit main control outward by antenna
The incoming signal of module；The universal peripheral interface module includes the connected I of conducting wire2C, UART and SPI；The main control
Module is connected by conducting wire with RF core module, universal peripheral interface module and sensor interface module respectively.
As shown in fig. 6, the health service robot ECG detecting workflow of the present embodiment is as follows：
User is bonded by the centre of the palm with the centre of the palm of robot body, can fast wake-up medical treatment detection unit ECG detecting dress
Work, system initialization are set, ECG detecting function is opened, and integrated simulation front end carries out the data of EGC sensor acquisition back
Pretreatment, treated, and signal enters that mixed signal microcontroller stored, operation, and operation result is sent to bluetooth module
Carry out data transmission, final ecg wave form, HR values and relevant health guidance suggestion are shown in robot body front
Tablet computer, at this time control system end task.
As shown in fig. 7, mixed signal microcontroller workflow is as follows in the ECG detection device of the present embodiment：
After receiving the digital signal from integrated simulation front end, successively to the pretreated signal in integrated simulation front end
Smothing filtering is carried out to eliminate Hz noise, uses fitting remedy to eliminate baseline drift and eliminate flesh using Wavelet Transform
Electrical interference；To treated electrocardiosignal, peak detection and variable slope threshold method is further used to carry out QRS complex real-time
Detection carries out the model inspection of QRS complex with the method that adaptive-filtering is combined using wavelet decomposition and uses biradical standard
Lead and more baseline system methods carry out the mathematical morphology detection of QRS complex；If having received whole signals, system finishing is appointed
Business, otherwise continues to by the digital signal of integrated simulation front end delivery.
Mobile terminal in above-described embodiment can be smart mobile phone, PDA handheld terminals etc..
In conclusion ECG detecting may be implemented in the health service robot of the present invention, in conjunction with robot mobile technology and
Medical detection technique can largely improve the Mobile portable performance and interactivity of ECG detection device, facilitate user with
When carry out uncharging medical detection everywhere, bring better medical services and easier operating experience for user.
The above, patent preferred embodiment only of the present invention, but the protection domain of patent of the present invention is not limited to
This, any one skilled in the art is in the range disclosed in patent of the present invention, according to the skill of patent of the present invention
Art scheme and its inventive concept are subject to equivalent substitution or change, belong to the protection domain of patent of the present invention.
Claims (4)
1. a kind of health service robot of achievable ECG detecting, including robot body, it is characterised in that：It further include master control
Unit processed, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, medical treatment detection
Unit and power supply power supply unit；
The underlying operating system of the robot body is using robot operating system of increasing income comprising hardware abstraction description, bottom
Message transmission, program distribution package management, distributed process block between layer driver management, the execution of common functions, program
Frame and support code library it is system combined；Robot operating system of increasing income is mounted under the ubuntu systems of linux kernel, is led to
It crosses serial ports to be communicated with main control unit, and then controlled motion control unit, binocular vision capture unit, human-computer interaction list
The working method of member, environment sensing sensor unit and medical detection unit, with the included library of robot operating system of increasing income
With kit collection carry out driver the coordinated management write between process, to develop computer vision algorithms make, with
And navigator fix and path planning algorithm；
The main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor
Unit and medical detection unit are arranged on robot body；The medical treatment detection unit includes ECG detection device, the heart
For electric detection means tool there are two EGC sensor, two EGC sensors are respectively placed in the left and right centre of the palm front of robot body；
The main control unit is caught with motion control unit, binocular vision respectively by bus communication protocol and serial communication protocol
Unit, man-machine interaction unit, environment sensing sensor unit is caught with medical detection unit to be connected；
The power supply power supply unit is used for as main control unit, motion control unit, binocular vision capture unit, human-computer interaction list
Member, environment sensing sensor unit and medical detection unit power supply；
The man-machine interaction unit includes touch control display module and voice interaction module, and the touch control display module is handed over for video
Mutually and motion control unit, binocular vision capture unit, the state of environment sensing sensor unit and medical detection unit are aobvious
Show, touch control display module is also connected by wireless signal with external mobile terminal；The voice interaction module includes speech recognition
Unit, phonetic synthesis unit, voice alerting unit, voice recognition unit phonetic order from the user for identification；Institute
For handling the voice data of identification, synthesis machine code is sent to main control unit and determines predicate sound synthesis unit
Plan；The voice alerting unit uses voice prompting device, the control instruction sended over for receiving main control unit, to user
Voice prompt is carried out, realizes the interactive function between user and robot；
The touch control display module provides visualization interface, and the camera function by touch control display module is user and medical treatment
Worker establishes the interactive interface of tele-medicine, while providing and take pictures, image, making video recording and audio-visual broadcasting entertainment service, and with it is outer
Portion's mobile terminal can keep that high in the clouds is synchronous and personalized function is self-defined, and can provide short message, mail transmission-receiving function；
The voice alerting unit can remind user to take medicine, carry out the report of physiologic information, and after progress data analysis
It is recommended that the voice broadcast of prompt, while MP3 amusement functions can be provided to the user, the voice recognition unit can identify user
Voice controls correlation function by voice processing technology and provides service function；
The binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, the Kinect somatosensory sensor to be used for
3D steric environments are established by three cameras, and by image identifying and processing, realize navigation and the positioning function of robot, with
And the planning of optimal path；
The environment sensing sensor unit includes optoelectronic switch, gyro sensor, touch sensor, infrared sensor and surpasses
Sonic sensor；The optoelectronic switch, touch sensor, infrared sensor, ultrasonic sensor cooperate, and carry out barrier
Identification with hide；The gyro sensor carries out posture deciphering to robot body；The environment sensing sensor unit
The data of perception back are handled using multi-sensor information fusion technology, feedback control is carried out by main control unit；
The motion control unit includes motor drive module, light-coupled isolation module, motor group and speed measuring coder；The motor
It is isolated by light-coupled isolation module between drive module and main control unit, and driving motor group rotates；The speed measuring coder
It is connected with motor group, is used for the location information and rotary speed information of Real-time Feedback motor group, realizes closing for motor group position and rotating speed
Ring controls；The motor group is used to control the head rotation of robot body, waist rotation, mechanical arm action and chassis fortune
It is dynamic；
The power supply power supply unit includes charging base, accumulator charging interface, accumulator, voltage transformation module；The electric power storage
Pond charging interface, accumulator and voltage transformation module are integrated into robot body, and the charging base is fixed indoors；In machine
The voltage that accumulator provides is converted into main control unit, motion control unit, double by device man-hour, the voltage transformation module
Capture unit, man-machine interaction unit and the required voltage of environment sensing sensor unit are visually felt, when accumulator electric-quantity is less than
When the threshold value of setting, robot is automatically returned to by environment sensing sensor unit and is charged at charging base.
2. a kind of health service robot of achievable ECG detecting according to claim 1, it is characterised in that：The master
Control unit includes central processing unit, universal peripheral interface module, memory module, communication interface modules；The center
Processor is received by universal peripheral interface module or communication interface modules and is captured from motion control unit, binocular vision
The data information of unit, man-machine interaction unit, environment sensing sensor unit and medical detection unit, data information is by processing
After be stored in memory module, the central processing unit passes through communication interface modules controlled motion control unit, binocular vision
The working method of capture unit, man-machine interaction unit, environment sensing sensor unit and medical detection unit.
3. a kind of health service robot of achievable ECG detecting according to claim 1, it is characterised in that：The heart
Electric detection means includes the first EGC sensor, the second EGC sensor, integrated simulation front end, mixed signal microcontroller, indigo plant
Tooth module, indicating lamp module and power module；First EGC sensor and the second EGC sensor respectively with integrated simulation
Front end is connected；The integrated simulation front end is connected by SPI with mixed signal microcontroller；The bluetooth module by UART with
Mixed signal microcontroller is connected, and the bluetooth module with external equipment for connecting；The power module is used to be the first electrocardio
Sensor, the second EGC sensor, integrated simulation front end, mixed signal microcontroller, bluetooth module, indicating lamp module power supply；
The indicating lamp module is connected with mixed signal microcontroller, for showing that robot is in the functional status of ECG detecting；
The bluetooth module includes main control module, RF core module, universal peripheral interface module and sensor interface
Module；The main control module is needed in signal to unofficial biography for receiving, storing the signal that mixed signal microcontroller transmits
When defeated, signal is passed to RF core module；The RF core module is used to transmit main control module outward by antenna and pass
The signal entered；The universal peripheral interface module includes the connected I of conducting wire2C, UART and SPI；The main control module point
It is not connected with RF core module, universal peripheral interface module and sensor interface module by conducting wire.
4. a kind of health service robot of achievable ECG detecting according to claim 3, it is characterised in that：The collection
Include multi-lead selection circuit, Wilson's calibration circuit, filter circuit, A/D converter circuit and SPI communication interfaces at AFE(analog front end),
For being pre-processed to the first EGC sensor and the collected electrocardiosignal of the second EGC sensor；The mixed signal is micro-
Controller is used to carry out smothing filtering to the pretreated signal in integrated simulation front end to eliminate Hz noise, is corrected using fitting
Method is to eliminate baseline drift and eliminate myoelectricity interference using Wavelet Transform；To treated electrocardiosignal, peak is further used
Value detection method and variable slope threshold method are carried out QRS complex and detect, are combined with adaptive-filtering using wavelet decomposition in real time
Method is carried out the model inspection of QRS complex and is carried out the mathematics of QRS complex using biradical quasi- lead and more baseline system methods
Morphologic detection.
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| CN106647745B (en) * | 2016-11-16 | 2023-08-22 | 厦门快商通科技股份有限公司 | Diagnosis guiding robot autonomous navigation system and method based on Bluetooth positioning |
| CN106361309A (en) * | 2016-11-16 | 2017-02-01 | 中禹科技集团有限公司 | Remote monitoring system for physiological parameters of human body |
| CN109475315B (en) * | 2016-12-30 | 2021-09-10 | 英华达（南京）科技有限公司 | Wearable heart monitoring device, heart monitoring system and method |
| CN108294743B (en) * | 2017-12-29 | 2020-09-11 | 华为技术有限公司 | Robot and electrocardiogram detection method |
| CN108942952A (en) * | 2018-04-23 | 2018-12-07 | 杨水祥 | A kind of medical robot |
| CN108937887A (en) * | 2018-05-28 | 2018-12-07 | 苏州格目软件技术有限公司 | A kind of multifunction nursing machine people's management system based on Internet of Things |
| CN109106362A (en) * | 2018-07-12 | 2019-01-01 | 上海常仁信息科技有限公司 | A kind of cardiac electricity detecting system based on robot |
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| JP2006026208A (en) * | 2004-07-20 | 2006-02-02 | Sharp Corp | Health care system |
| JP2006326229A (en) * | 2005-05-30 | 2006-12-07 | Makoto Hashizume | Lifesaving support robot system |
| KR101278552B1 (en) * | 2011-04-22 | 2013-06-25 | 주식회사 로보테크 | health care robot having check module of biometric data |
| CN104678818A (en) * | 2013-11-29 | 2015-06-03 | 哈尔滨功成科技创业投资有限公司 | Oil filling hose pipe automatic coiling and uncoiling control system based on DSP (digital signal processor) |
| CN104510478B (en) * | 2014-12-08 | 2017-01-25 | 华南理工大学 | Wearable device based blood oxygen saturation degree detection device |
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| CN204971270U (en) * | 2015-08-24 | 2016-01-20 | 华南理工大学 | Can realize health service robot of electrocardio detection |
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