CN108742556A - A kind of household is accompanied and attended to robot - Google Patents
A kind of household is accompanied and attended to robot Download PDFInfo
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- CN108742556A CN108742556A CN201810566553.1A CN201810566553A CN108742556A CN 108742556 A CN108742556 A CN 108742556A CN 201810566553 A CN201810566553 A CN 201810566553A CN 108742556 A CN108742556 A CN 108742556A
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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
- 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
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
- A61B5/02055—Simultaneously evaluating both cardiovascular condition and temperature
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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
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61B5/021—Measuring pressure in heart or blood vessels
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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
- 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
- A61B5/024—Detecting, measuring or recording pulse rate or heart rate
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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
- 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
- A61B5/024—Detecting, measuring or recording pulse rate or heart rate
- A61B5/02405—Determining heart rate variability
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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
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1118—Determining activity level
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/145—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue
- A61B5/14532—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue for measuring glucose, e.g. by tissue impedance measurement
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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
- A61B5/145—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue
- A61B5/14546—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue for measuring analytes not otherwise provided for, e.g. ions, cytochromes
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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
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7271—Specific aspects of physiological measurement analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/74—Details of notification to user or communication with user or patient ; user input means
- A61B5/746—Alarms related to a physiological condition, e.g. details of setting alarm thresholds or avoiding false alarms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/74—Details of notification to user or communication with user or patient ; user input means
- A61B5/7465—Arrangements for interactive communication between patient and care services, e.g. by using a telephone network
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J7/00—Devices for administering medicines orally, e.g. spoons; Pill counting devices; Arrangements for time indication or reminder for taking medicine
- A61J7/04—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers
- A61J7/0409—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers with timers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/38—Applying electric currents by contact electrodes alternating or intermittent currents for producing shock effects
- A61N1/39—Heart defibrillators
- A61N1/3904—External heart defibrillators [EHD]
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
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- Oral & Maxillofacial Surgery (AREA)
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- Measuring And Recording Apparatus For Diagnosis (AREA)
Abstract
Accompany and attend to robot the invention discloses a kind of household, including robot main control unit and with the joining body ginseng monitoring unit of main control unit, facial monitoring unit, defibrillating system and intelligent medicine box；Body joins monitoring unit and obtains the data of outer body ginseng sensor, and transmits it to robot main control unit and carry out storage processing；Facial monitoring unit obtains human body face image by video camera；Defibrillating system includes defibrillation detection control unit, electrocardiogram acquisition unit, high pressure defibrillating unit and defibrillation electrode；Electrocardiogram acquisition unit is by the electrocardiosignal of human body impedance and patient between measuring defibrillation electrode, and defibrillation detection control unit is according to measurement result control high pressure defibrillating unit to the matched high-voltage pulse of defibrillation electrode application；Intelligent medicine box triggers medicine-chest control unit after being connected to medication instruction, and box body and box cover are produced to drug storage chamber, medicine is taken for user so that robot becomes the safety guarantee of house patient.
Description
Technical field
The invention belongs to field of artificial intelligence, and in particular to a kind of robot that Household patient is accompanied and attended to.
Background technology
China comes into aging society, and aging of population accelerates, and the elderly's absolute number increases.With aging society
Arrival, also bring a series of social concern, as Empty nest elderly health detection, house old man's the difficulty of getting medical service, the home for the aged cure
The problems such as treating shortage of resources.Based on domestic robot is mainly entertained at present, it is short of the health data to old man in family and patient
Monitor, the prompting that takes medicine on time, disease find, and are got in touch in real time with medical platform according to monitoring result in advance, to right
The health of old man provides relief accurately and timely.
Application No. is " 201010194783.3 " Chinese patents " medical tele-robotic system ", and it includes remote to disclose a kind of
The robot system of process control robot.Camera and monitor allow remotely located care provider to be supervised by robot
It controls and nurses.Complete platform allows robot to be moved at home or at facility, to positioning and/or follows patient, this
Robot, which has the drawback that, to be monitored and be followed to patient activity, and shortcoming is monitored the health parameters of patient,
It is carried out at the same time medication alert and defibrillation first aid etc. is carried out to heart patient.
Invention content
It accompanies and attends to robot the purpose of the present invention is to provide a kind of household, is supervised for a long time by the body parameter to service object
Analysis is surveyed, find the state of an illness early and is disposed, the functions such as intelligent medicine box, defibrillation are provided simultaneously with, is that the health of house old man is protected
Drive convoy.
Technical scheme is as follows：
A kind of household is accompanied and attended to robot, including robot main control unit and single with the joining body ginseng monitoring of main control unit
Member, facial monitoring unit, defibrillating system and intelligent medicine box；
Body joins monitoring unit and obtains the data of outer body ginseng sensor, and transmits it to robot main control unit and deposited
Storage is handled；Facial monitoring unit obtains human body face image by video camera, and image data is transmitted to main control unit and is carried out
Storage is handled；Robot main control unit onboard data storage unit and with external remote medical center and intelligent terminal into line number
According to exchange；Robot main control unit and display, interactive voice element connection, by image and voice to the health parameters of human body
It is fed back；The robot main control unit connection has identity recognizing unit, and the identity to monitoring people is identified, and establishes
Independent healthy data library and independent sensor coefficient calibration data base；
Defibrillating system includes defibrillation detection control unit, electrocardiogram acquisition unit, high pressure defibrillating unit and defibrillation electrode；
Electrocardiogram acquisition unit passes through the electrocardiosignal of human body impedance and patient between measuring defibrillation electrode, defibrillation detection control unit root
High pressure defibrillating unit is controlled according to measurement result, and matched high-voltage pulse is applied to defibrillation electrode；Main control unit connection have relief by
Button, heart rate sensor, robot main control unit judge whether have according to relief button trigger signal and/or heart rate sensor parameter
There is defibrillation demand；Robot main control unit and remote medical center wireless communication realize that the guidance of defibrillation remote medical emergency and medical treatment are rescued
It helps；
Intelligent medicine box includes the box body being arranged inside drug storage chamber, box cover, motor and medicine-chest control unit；The motor
Box body and box cover is driven to rotate in and out drug storage chamber, the drug storage chamber is arranged in robot chest space, the medicine-chest control
Unit processed is connected with robot main control unit, and robot main control unit triggers medicine-chest control unit after being connected to medication instruction,
Box body and box cover are produced to drug storage chamber, medicine is taken for user.
Above-mentioned household is accompanied and attended in robot, and the box cover shape matches with box body, and box cover includes covering plate and middle part
The opening for getting medicine of setting.
Above-mentioned household is accompanied and attended in robot, and the first position block and the second position block are provided in drug storage chamber, and first is fixed
Position block limits the rotational angle of box cover；Second position block limits the rotational angle of box body and box cover.
Above-mentioned household is accompanied and attended in robot, and the box body includes several coyote holes separated by baffle, for accommodating drug；
Above-mentioned household is accompanied and attended in robot, is provided with temperature control medicine box, the temperature control in several coyote holes at least one
The bottom of medicine box is provided with semiconductor cooler.
Above-mentioned household is accompanied and attended in robot, and coding disk, the output signal of the coding disk are provided in the shaft of motor
Line couples with medicine-chest control unit, realizes the measurement and control of motor rotational angle.
Above-mentioned household is accompanied and attended in robot, is provided with Flexible element in the shaft of motor, box body and box cover are fixed
In shaft.
Above-mentioned household is accompanied and attended in robot, and Flexible element is spring or elastic force gasket.
Above-mentioned household is accompanied and attended in robot, and robot main control unit connection has electric quantity monitoring unit, under defibrillation mode
Electric quantity monitoring alarm.
Above-mentioned household is accompanied and attended in robot, body ginseng sensor include body temperature transducer, heart rate sensor, blood pressure sensor and
Blood glucose sensor；The body temperature transducer, heart rate sensor, blood pressure sensor are integrated in Intelligent bracelet, by wirelessly sending out
It penetrates module and is sent to body ginseng monitoring unit.
The advantageous effects that the present invention has are as follows：
1, the present invention integrates blood pressure, blood glucose, blood fat, heart rate, body temperature, acceleration transducer by wired or wireless way
With robot, health parameters monitoring and data acquisition storage are realized, is accumulated by long term data, obtains the health of patient
Variation tendency, simultaneous camera record human body face image daily, and send data on tele-medicine platform for doctor point
Analysis, convenient for the timely discovery of the diseases such as thrombus, apoplexy, facial paralysis, plays the work to give warning in advance to realize house pathological monitoring
With.In addition it is directed to the magnitude error problem of existing body ginseng sensor, the method for using periodic calibration, and is directed to each patient
The coefficient calibration data base for establishing sensor ensures that the reliability and stability that body ginseng sensor is measured in house.
2, household of the invention robot of accompanying and attending to is integrated with cardiac defibrillation unit, in the heart rate sensor monitoring of bracelet connection
In the case of there is cacosphyxia, people is sued and laboured according to operating instruction, by defibrillating unit by video or the prompting of interactive voice unit
Defibrillation electrode is connected on patient body, and after monitoring electrode impedance is errorless, the electrocardiosignal of patient, and root are measured by defibrillation electrode
Apply the high pressure defibrillation pulse to match according to electrocardiosignal, realizes cardiac resuccitation automatically, while information is provided to tele-medicine
Platform is instructed and is succoured for remote medical emergency.
3, robot of accompanying and attending to of the invention is integrated with intelligent medicine box, and storage inside household's common drug, robot can basis
The data of remote medical center setting are taken medicine in time by video or voice reminder patient, while the medicine box of specified drug can be automatic
It opens, avoids the occurrence of medication mistake；In addition temperature incubation function is also provided in partial partition, it is ensured that certain special medicines in intelligent medicine box
The long-time of product stores.Intelligent medicine box will be carried using simple stepping rotating manner by fine rotational box body and box cover position
Wake up medication drug rotational positioning in opening for getting medicine position, facilitate patient's medication, and avoid mistake, and with it is simple in structure can
It leans on, low energy consumption, is usually accommodated in drug storage chamber, the features such as preventing stranger from disorderly taking drug and do not take up space.
4, the present invention devises identification system, by voice and recognition of face service object, and for each in family
Member establishes independent health detection database, while establishing side sensor coefficient calibration data for each member
Library so that a set of robot can meet the use of the more people of family.
5, the present invention can in real time be interconnected with distal end medical centre, by voice and video to the relief of patient, medication,
Physical examination parameter gives some on the spot guidance, as needed can also online interrogation, reservation register, 120 first aids, real time position upload etc..
6, the present invention uses track route priori store-memory pattern, realize robot in room to specified target and
The self-service walking of special routes conveniently realizes security monitoring of the robot to room, while interactive voice unit can be with user
Speech exchange chat is carried out, and it is more that amusement functions, a machines such as the broadcasting of opera program, TV signal search can be carried out according to voice
With.
Description of the drawings
Fig. 1 is the theory of constitution block diagram of robot of the invention of accompanying and attending to；
Fig. 2 is the theory of constitution figure that health parameters of the present invention monitor system；
Fig. 3 is the operation principle of intelligent medicine box of the present invention；
Fig. 4 is box body structure schematic diagram of the present invention；
Fig. 5 is the structural schematic diagram of box cover of the present invention；
Fig. 6 is the structural schematic diagram inside medicine-chest of the present invention plant drug storage chamber；
Fig. 7 is that medicine-chest of the present invention is located at the structural schematic diagram outside drug storage chamber；
Fig. 8 is defibrillation principle schematic of the present invention；
Fig. 9 is high pressure defibrillating unit principle schematic of the present invention.
Reference numeral is：1-box body；2-box covers；3-motors；4-coding disks；5-the first position block；6-drugs；
7-shafts；8-medicine-chest control units；9-baffles；10-semiconductor coolers；11-drug storage chambers；13-robot chests；
14-Flexible elements；15-temperature control medicine boxs；16-opening for getting medicine；17-covering plates；18-the second position block；19-take medicine to rotate
Direction；30-bodies join sensor；31-Intelligent bracelets；32-wireless transmitter modules.
Specific implementation mode
Home entertainment robot has had been introduced into many families at present, and major function includes that walking, voice is followed to chat
It, indoor environment temperature monitoring, play functions, the present invention such as TV programme and increased around doctor on the basis of above-mentioned robot
Treat tentative diagnosis, accompany and attend to, first aid, the functions such as remote diagnosis, it is specific as follows.
The face prison that robot includes main control unit as shown in Figure 1, the household of the present invention is accompanied and attended to and main control unit is core
Survey unit, body ginseng monitoring unit, intelligent medicine box, cardiac defibrillation unit, walking avoidance unit and circuit mnemon.Main control unit
With remote medical center and intelligent terminal by interconnected with wireless network, the health and fitness information of monitoring can be uploaded to remote medical center
Medical staff, while by the instruction issuing of medical staff to robot, intelligent terminal (such as laptop, mobile phone) can be right
Robot is configured, controls and the work such as health data inquiry；Walking avoidance unit and circuit mnemon pass through driving
Walking mechanism realizes that indoor avoidance follows walking and sets the walking of circuit.Simultaneously for human needs of accompanying and attending to, sets and rescue
Button is helped, in emergency circumstances sending out relief signal.It is the same with other robot, robot of accompanying and attending to equally contain power supply,
Display, interactive voice unit, environmental sensor, positioning unit and storage unit.Chief component is described below：
(1) health parameters monitor system
As shown in Fig. 2, health parameters acquisition system includes mainly body ginseng monitoring unit and facial monitoring unit, wherein body is joined
Monitoring unit can realize that body temperature, heart rate, blood pressure, blood glucose, blood fat, lectin from hemolymph and other blood parameters measure, these parameters can be with
Directly as sensor 30 and body ginseng, monitoring unit is wired couples, and can also be integrated on bracelet, pass through wireless transmitter module 32
Join monitoring unit wireless connections with body.Facial monitoring unit is accompanied and attended to people's by the daily time recording of robot vision video camera
Face-image by long-term image data accumulation and compares, finds potential disease in advance.
Body join monitoring unit and face monitoring unit couple with main control unit, main control unit onboard data storage unit and with
External remote medical center and intelligent terminal carries out data exchange；The main control unit and display, interactive voice unit
Connection, feeds back the health parameters of human body by image and voice；The main control unit connection has identity recognizing unit,
Identity to monitoring people is identified, and establishes independent healthy data library and independent sensor coefficient calibration data
Library.
Body joins body temperature in monitoring unit and uses infrared radiation temperature meter, is used by infrared temperature sensor non-cpntact measurement
The body temperature at family.
Heart rate can be realized by being based on photoelectricity volume diagram (PPG) technology, with the variation of heart rate be consistent using human circulation
, and the hemoglobin with oxygen and the hemoglobin without oxygen are different to the absorptivity of light, by the light for emitting specific wavelength
The oxygen-containing situation of blood is measured, to further obtain heart rate data.
Existing electronic sphygmomanometer can be used in blood pressure measurement, is integrated in robot, and photoelectric sensor can also be used and adopt
Collect the pulse waveform of wrist, analyzing the characteristic parameters such as the rate of rise and the wave band time of pulse wave can obtain specifically
Calculation formula estimates that blood pressure values, wherein second method can be integrated on bracelet.
The non-invasive blood sugar instrument based on photovoltaic principals can be used in blood glucose, by measuring absorption or measurement of the finger to characteristic spectrum
The total amount of heat that human body blood oxygen total amount and metabolism generate is estimated to obtain glycemic parameters.Other blood testing projects such as blood fat, blood flow
Change, red blood cell content etc. can join monitoring unit according to client's needs, after existing commercially available blood detector is integrated by body
It is transmitted to main control unit after acquisition, and testing result is stored in storage unit, is read for remote medical center and intelligent terminal
Take and analyze data.In addition heart rate, body temperature, blood pressure sensor and acceleration transducer are integrated on bracelet 31, wherein acceleration
Sensor can be additionally used in the amount of exercise for counting children under guardianship.
Robot accompany and attend to after by these of user index measurement one time, by identity recognizing unit, is established for the user
Private Electronic's health account, and user is reminded to pay attention to the physical condition of oneself in daily life.In order to ensure the survey of sensor
Accuracy of measurement carries out primary calibration using the measuring apparatus of standard by medical department to sensor every other month or some months, and
The result of calibration is input to independent side sensor coefficient calibration data base.Inventor is existing by the discovery that studies for a long period of time
Body join sensor such as non-invasive blood glucose meter, there is what the blood glucose device data with standard differed greatly to ask in application popularization
Topic also has wherein it is larger by individual difference to be mainly due to non-invasive blood glucose meter in terms of as universality measuring apparatus
There is a certain distance, but in this project, since medical care robot is limited using number of objects, the side of periodic calibration can be passed through
Method establishes the coefficient calibration data base of sensor for each patient, ensures that body ginseng sensor is measured in house
Reliability and stability.
Facial monitoring unit starts video camera and carries out image taking to the face for the people that accompanied and attended to sooner or later daily, in order to ensure at
Image quality amount is compared and is handled convenient for the later stage, and every time when shooting, robot is keeping approximately the same distance and angle with the people that accompanied and attended to
In the case of degree, face-image is obtained, by image processing software, the image obtained to long time integration is compared, and analysis is inclined
The omen symptom of the state of an illness such as paralysed apoplexy.
It is combined with upper body ginseng monitoring unit and facial monitoring unit long term monitoring data and the medical diagnosis on disease result of hospital,
Client's thrombus, hemiplegia apoplexy, the pathogenetic probability of heart can be analyzed in advance, accomplishes timely early warning, provide for a rainy day, and by aobvious
Show that device or interactive voice unit point out healthy diet and regularity living.
(2) intelligent medicine box
As shown in fig. 3 to 7, intelligent medicine box includes box body 1, box cover 2, motor 3 and medicine-chest control unit 8, and motor 3 drives box
Body 1 and box cover 2 rotate in and out drug storage chamber 11, and drug storage chamber 11 is arranged in 13 space of robot chest, and medicine-chest control is single
Member 8 and the main control unit of robot are connected, and are ensconced inside drug storage chamber 11 when box body 1, box cover 2, motor 3 are flat, when by the people that accompanies and attends to
When having arrived the medication time of setting, main control unit reminds patient to take medicine by interactive voice unit and display, while motor 3 drives
Turn axis 7 rotates, and is provided with the Flexible elements such as spring or elastic force gasket 14 in the shaft 7 of motor 3, box body 1 and box cover 2 are compressed
It being fixed in shaft 7, normal condition lower box body 1 and box cover 2 can be rotated synchronously with shaft 7, when encountering foreign object blocking, box body 1
It can not be rotated synchronously again with shaft 7 with box cover 2.It is previously entered to robot according to the characteristic of drug at the time of wherein medication
In main control unit.
Coding disk 4, output signal line and the medicine-chest control unit 8 of the coding disk 4 are provided in the shaft 7 of motor 3
The measurement and control of motor rotational angle are realized in connection, and box body 1 and box cover 2 is driven to produce drug storage chamber 11, and the medicine reminded simultaneously
Product 6 are placed exactly in the position of opening for getting medicine 16, motor can also stepper motor, pass through the number of steps for controlling motor so that taken medicine
Product 6 are placed exactly in the position of opening for getting medicine 16.
As shown in figure 4, box body 1 includes several coyote holes separated by baffle 9, each coyote hole corresponds to different numbers, each
Coyote hole is equipped with different types of common drug 6, the stepping of the coded number or stepper motor of coding disk 4 in the number and motor of coyote hole
Number is corresponding.At least one is internally provided with temperature control medicine box 15 in all coyote holes, and the bottom of temperature control medicine box 15 is provided with semiconductor
Refrigerator 10, by giving semiconductor cooler 10 to apply electric current forward or backwards so that at a temperature of medicine box work is setting, lead to
It it is often 10 DEG C hereinafter, needing the drug of low-temperature storage for placing insulin etc..
As shown in figure 5, box cover 2 is the structure to match with box body 1, box cover 2 includes covering plate 17 and middle part on side
Opening for getting medicine 16.Opening for getting medicine 16 is corresponding with a wherein coyote hole position, can only take out a kind of medicine by opening for getting medicine 16 every time, it is ensured that
Medication is errorless.
Fig. 6 and Fig. 7 is set forth intelligent medicine box and is located at the inside and outside structural schematic diagram of drug storage chamber, drug storage chamber in figure
The upper surface of 11 oral area is provided with the first position block 5, and the lower edge of the first position block 5 is higher than the lower surface of box cover 2, drug storage
The upper surface of the inside of room 11 is provided with the second position block 18, and the lower edge of the second position block 18 is less than the lower surface of box cover 2,
When 3 drive shaft 7 of motor drives box body 1 and box cover 2 rotates, the first position block 5 only limits the rotational angle of box cover 2
Position, the rotational angle of box cover 2 and box body 1 is limited the second position block 18 simultaneously.
The operation principle of intelligent medicine box is as follows：
Usually box body 1 and box cover 2 are ensconced in the drug storage chamber 11 in robot chest space, when receiving medication instruction, are turned
Axis 7 drives box body 1 and when taking the position that the rotation of medicine rotation direction 19 is touched to the first position block 5 of 2 edge of box cover, opening for getting medicine 16
It is placed exactly in the position that human hand takes medicine, at this moment shaft 7 is further continued for along taking medicine rotation direction 19 to rotate, since box cover 2 is stopped
Limit, and box body 1 and shaft 7 elasticity still can Flexible element 14 under the action of, since opening for getting medicine 16 is located at the first position block 5
Near, and the number of coyote hole and position are corresponding with the coded number of the number of steps of stepper motor or coding disk 4, therefore only need to turn
Move corresponding angle, you can so that just corresponding the taken medicine coyote hole of opening for getting medicine 16, therefore patient can only take a kind of drug every time, and
It is taken medicine by the quantity of interactive voice unit or display prompts.After taking medicine, shaft 7 drives box body 1 and 2 edge of box cover
It and the negative direction of medicine rotation direction 19 is taken to transfer back in drug storage chamber 11, the second position block is internally provided with due to drug storage chamber 11
18, even if box body 1 and box cover 2 are misaligned state, by the limit of the second position block 18, it can all be eventually returned to the original of starting
Position.
The mode of this intelligent medicine box realizes being accurately positioned for box body and box cover using a motor and position block,
The drug of reminding function is limited in opening for getting medicine position, patient's medication is facilitated, and avoid mistake, compared to other electromagnetism
Elastic switch medicine box has the characteristics that simple and reliable for structure, low energy consumption.
(3) defibrillating system
As shown in figure 8, the defibrillating system of the present invention includes defibrillation detection control unit, electrocardiogram acquisition unit, high pressure
Defibrillating unit and defibrillation electrode；Defibrillation detection control unit couples with main control unit.Main control unit connection has relief button, heart rate
Sensor, main control unit and display, interactive voice element-interconn ection, realize the guidance of seeking help of defibrillation procedure.Main control unit according to
Relief button trigger signal and/or heart rate sensor parameter judge whether with defibrillation demand；Once it was found that the heart for the people that accompanied and attended to
Rate is abnormal or has defibrillation relief, suggests that household carries out defibrillation relief.Electrocardiogram acquisition unit passes through defibrillation electrode at this time
The human body impedance between defibrillation electrode and the electrocardiosignal of patient are measured, defibrillation detection control unit controls high according to measurement result
Defibrillating unit is pressed to apply matched high-voltage pulse to defibrillation electrode.Robot main control unit and remote medical center wireless communication,
For the guidance of defibrillation remote medical emergency and medical rescue.Wherein main control unit, defibrillation detection control unit, electrocardiogram acquisition unit and height
Defibrillating unit is pressed to be arranged inside robot trunk, defibrillation electrode and lead are accommodated in after tightening in the space at robot rear portion.
As shown in figure 9, method of the high pressure defibrillating unit using RLC damping electric discharges, voltage changer is by the direct current of battery
Pressure is converted into high-voltage pulse, after high-voltage rectifier, charges to high-voltage energy storage capacitor, when the energy of capacitance C reaches predetermined
When value, relay disconnects charging circuit, charging complete.Equivalent circuit between discharge circuit and human body is decayed for RLC series resonances
Circuit, wherein R are the contact resistances of discharge electrode and human body.Discharge circuit is connected, and defibrillation system passes through defibrillation electrode P1 and P2
Defibrillation is carried out to human body release current, usually controls discharge time within 4 to 10 milliseconds, discharge voltage peak value is in 1000V-
1500V, resistance R1 are in order to which after charging complete, internal discharge, R1 can be carried out by being not required to defibrillation procedure in patient>>R2.
The study found that ranging from 20~200 ohm of the human body thorax impedance at setting electrode position, if special using defibrillation
Not in this range with the thorax impedance measured by electrode, then it needs to reexamine whether electrode posts.When work, in interactive voice system
Under the prompting of system and display, the defibrillation electrode stored in machine human body is attached accurately to patient, defibrillation control
Unit controls electrocardiogram acquisition unit automatic measurement patient's thorax impedance, if thorax impedance value between 20~200 ohm, just determines electrode
It is good with human contact；Into electrocardiogram acquisition pattern, display real-time display ecg wave form, heart rate data etc., and the heart will be simulated
Electric signal is converted to digital signal, is on the one hand transmitted to distal end medical centre and is divided into analysis and remote guide；On the other hand, defibrillation control
Unit processed is according to the electrocardiosignal of acquisition, the high-voltage pulse amplitude and pulse duration that corresponding adjusting exports, and drives high pressure
High-voltage pulse of the defibrillating unit to defibrillation electrode output setting；After often applying pulsatile once, the electrocardiosignal of patient is monitored, until
Electrocardiosignal restores until no longer needing defibrillation or defibrillation invalid.Aforesaid operations can be right in real time with remote medical center
It connects, it is ensured that the correctness of defibrillation procedure strives for treatment time for patient, reduces and the death rate after room is quivered occurs.Since defibrillation is
Energy consumption than usual machine man-hour energy consumption it is a little more, electric quantity monitoring unit want real-time monitoring robot battery it is sustainable when
Between, remind the Human-to-Machine people that sues and labours to carry out power source charges or in such a way that power supply is directly powered when necessary.
The present invention increases health parameters monitoring system, intelligent medicine box, heart on conventional home entertainment robot base
Defibrillation system so that robot is provided with patient nursing function, plays the role of healthy bodyguard to house old man and patient, beats
Last 500 meters of tele-medicine, great marketing application value are led to.
Claims (10)
- The robot 1. a kind of household is accompanied and attended to, it is characterised in that：Including robot main control unit and with the joining body of main control unit Join monitoring unit, facial monitoring unit, defibrillating system and intelligent medicine box；Body joins monitoring unit and obtains the data of outer body ginseng sensor (30), and transmits it to robot main control unit and deposited Storage is handled；Facial monitoring unit obtains human body face image by video camera, and image data is transmitted to main control unit and is carried out Storage is handled；Robot main control unit onboard data storage unit and with external remote medical center and intelligent terminal into line number According to exchange；Robot main control unit and display, interactive voice element connection, by image and voice to the health parameters of human body It is fed back；The robot main control unit connection has identity recognizing unit, and the identity to monitoring people is identified, and establishes Independent healthy data library and independent sensor coefficient calibration data base；Defibrillating system includes defibrillation detection control unit, electrocardiogram acquisition unit, high pressure defibrillating unit and defibrillation electrode；Electrocardio Collecting unit is by the electrocardiosignal of human body impedance and patient between measuring defibrillation electrode, and defibrillation detection control unit is according to survey It measures output control high pressure defibrillating unit and matched high-voltage pulse is applied to defibrillation electrode；Main control unit connection has relief button, the heart Rate sensor, robot main control unit judges whether to have according to relief button trigger signal and/or heart rate sensor parameter to be removed It quivers demand；Robot main control unit and remote medical center wireless communication realize the guidance of defibrillation remote medical emergency and medical rescue；Intelligent medicine box includes setting box body (1), box cover (2), motor (3) and the medicine-chest control unit internal in drug storage chamber (11) (8)；The motor (3) drives box body (1) and box cover (2) rotates in and out drug storage chamber (11), the drug storage chamber (11) setting In robot chest (13) space, the medicine-chest control unit (8) is connected with robot main control unit, robot master control Unit triggering medicine-chest control unit (8) after being connected to medication instruction, box body (1) and box cover (2) are produced to drug storage chamber (11) outside Portion takes medicine for user.
- The robot 2. household according to claim 1 is accompanied and attended to, it is characterised in that：Box cover (2) shape and box body (1) Match, box cover (2) includes the opening for getting medicine (16) of covering plate (17) and middle part setting.
- The robot 3. household according to claim 1 is accompanied and attended to, it is characterised in that：It is provided with the first positioning in drug storage chamber (11) Block (5) and the second position block (18), the first position block (5) limit the rotational angle of box cover (2)；Second positioning Block (18) limits the rotational angle of box body (1) and box cover (2).
- The robot 4. household according to claim 1 is accompanied and attended to, it is characterised in that：The box body (1) include it is several by every The coyote hole that shelves (9) separate, for accommodating drug (6).
- The robot 5. household according to claim 4 is accompanied and attended to, it is characterised in that：It is arranged at least one in several coyote holes There are temperature control medicine box (15), the bottom of the temperature control medicine box (15) to be provided with semiconductor cooler (10).
- The robot 6. household according to claim 1 is accompanied and attended to, it is characterised in that：It is provided with volume in the shaft (7) of motor (3) The output signal line of code-disc (4), the coding disk (4) couples with medicine-chest control unit (8), realizes the survey of motor rotational angle Amount and control.
- The robot 7. household according to claim 1 is accompanied and attended to, it is characterised in that：It is provided with bullet in the shaft (7) of motor (3) Property unit (14), box body (1) and box cover (2) are pressed abd fixed in shaft (7).
- The robot 8. household according to claim 7 is accompanied and attended to, it is characterised in that：Flexible element (14) is spring or elastic mattress Piece.
- The robot 9. household according to claim 1 is accompanied and attended to, it is characterised in that：Robot main control unit connection has electricity prison Unit is surveyed, for the electric quantity monitoring alarm under defibrillation mode.
- The robot 10. household according to claim 1 is accompanied and attended to, it is characterised in that：Body ginseng sensor (30) includes that body temperature passes Sensor, heart rate sensor, blood pressure sensor and blood glucose sensor；The body temperature transducer, heart rate sensor, blood pressure sensor It is integrated in Intelligent bracelet (31), being sent to body by wireless transmitter module (32) joins monitoring unit.
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| CN201810566553.1A CN108742556B (en) | 2018-06-05 | 2018-06-05 | Household accompanying and attending robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810566553.1A CN108742556B (en) | 2018-06-05 | 2018-06-05 | Household accompanying and attending robot |
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| CN108742556B CN108742556B (en) | 2021-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810566553.1A Active CN108742556B (en) | 2018-06-05 | 2018-06-05 | Household accompanying and attending robot |
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| CN113364843A (en) * | 2021-05-31 | 2021-09-07 | 哈尔滨工程大学 | Indoor timely rescue system who meets accident alone of old person |
| CN114373260A (en) * | 2022-01-20 | 2022-04-19 | 上海市共进通信技术有限公司 | Method for realizing registration reservation processing based on home gateway, home gateway system, device, processor and storage medium thereof |
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