CN108969858B

CN108969858B - Oxygen supplying method and system for full-automatic oxygen supply robot

Info

Publication number: CN108969858B
Application number: CN201810896177.2A
Authority: CN
Inventors: 黄颖琦
Original assignee: Guizhou University of Traditional Chinese Medicine
Current assignee: Guizhou University of Traditional Chinese Medicine
Priority date: 2018-08-08
Filing date: 2018-08-08
Publication date: 2021-04-06
Anticipated expiration: 2038-08-08
Also published as: CN108969858A

Abstract

The invention discloses an oxygen supply method and system for a full-automatic oxygen supply robot.A wearable monitoring device is worn on a patient, physiological characteristics such as heart rate, blood pressure and the like of the patient are monitored in real time, monitoring data are sent to an upper computer for real-time analysis, when the data are analyzed to be abnormal, the upper computer initially positions the position of the human body through a WIFI network, and a movable wheel type walking mechanism moves to a WIFI positioning point according to initial positioning information; then, carrying out UWB positioning by using a UWB base station, and positioning by combining an ultrasonic sensor to obtain the approximate position of the human face; the mechanical arm sends the camera and the oxygen mask to the position approximately right in front of the position of the human face, and the real nostril position is identified by using a machine vision algorithm; and calculating the distance between the oxygen mask and the actual nostril and the inclination angle position, accurately attaching the oxygen mask to the face by combining ultrasonic ranging, and then supplying oxygen. The invention has the characteristics of monitoring the health condition of the human body in real time and automatically supplying oxygen under emergency.

Description

Oxygen supplying method and system for full-automatic oxygen supply robot

Technical Field

The invention relates to the field of first aid, in particular to an oxygen supply method and system for a full-automatic oxygen supply robot.

Background

At present, more and more patients suffering from chronic diseases such as hypertension, heart disease and the like are at home independently, and very serious consequences can occur when the patients are discovered and rescued by no people in case of accidents, especially the people suffering from symptoms such as dyspnea and coma caused by diseases can be in danger of life if oxygen cannot be supplied in time.

However, the current treatment method is to prepare a spare oxygen bag or oxygen cylinder at home, and supply oxygen in time when an accident occurs, but the oxygen bag or oxygen cylinder needs the help of a caregiver, or can be used under the condition that a patient is not serious and the patient is still active, and when the caregiver cannot find out the critical condition of the patient in time and the patient cannot operate autonomously, the spare oxygen bag or oxygen cylinder loses the function.

Therefore, it is very important for the patient to design a device capable of monitoring the health condition of the patient in real time and automatically supplying oxygen in an emergency.

Disclosure of Invention

The invention aims to provide an oxygen supply method and system for a full-automatic oxygen supply robot. The invention has the characteristics of monitoring the health condition of a human body in real time and automatically supplying oxygen under an emergency; in addition, the invention has the characteristics of no damage to human health, accurate positioning, high first-aid efficiency and flexible rescue application.

The technical scheme of the invention is as follows: an oxygen supplying method of a full-automatic oxygen supply robot comprises the following steps: the UWB tag and the MEMS inclinometer are worn on the forehead of the human body in a matching way; the wearable monitoring equipment is worn on a patient, physiological characteristics are monitored in real time, monitored physiological characteristic data are sent to an upper computer for real-time analysis, when data are analyzed to be abnormal, the upper computer sends an emergency confirmation signal to the wearable monitoring equipment, when the wearable monitoring equipment feeds back to confirm emergency or the upper computer does not receive feedback within preset time, the upper computer initially positions the position of the human body through a WIFI network, and meanwhile, initial positioning information is sent to an MCU control center of the mobile oxygen robot; the MCU control center sends the initial positioning information to the navigation module and controls the movable wheel type travelling mechanism to move to the positioning position of the initial positioning information according to the initial positioning information;

after the initial positioning is finished, the UWB base station of the oxygen supply robot moves to different spatial position points to read UWB tag data positioned in a human body, and then the UWB tag data is transmitted to an MCU control center for operation to finish UWB positioning; after UWB positioning is finished, ultrasonic ranging positioning is carried out by combining an ultrasonic sensor on an oxygen-feeding robot mechanical arm, and the approximate position of the face of a human body is positioned;

sending the information of the approximate position of the human face to an MCU control center, controlling a mechanical arm to send a binocular camera and an oxygen mask positioned on the mechanical arm to the position right in front of the approximate position of the human face by the MCU control center, shooting a picture of the position of the human face by the binocular camera, transmitting the picture to the MCU control center for analysis, and positioning the position of a real nostril;

calculating the inclination angle and the distance between the delivered oxygen mask position and the actual nostril position, adjusting the inclination angle of the oxygen mask, driving the oxygen mask to gradually approach the face by the mechanical arm, and performing ultrasonic radar ranging alarm by an ultrasonic sensor at the tail end of the mechanical arm in the approaching process; when the oxygen mask is attached to the face of a person, the contact sensor on the oxygen mask gives an alarm, the mechanical arm stops acting, and the electromagnetic valve is opened to supply oxygen.

In the oxygen supply method of the full-automatic oxygen supply robot, the UWB positioning is completed according to the following steps, UWB base stations positioned at three or more than three position points in space read UWB tags worn on a human body to perform three-dimensional positioning calculation; and driving the movable wheel type travelling mechanism to move towards the position of the UWB tag obtained by positioning, reading the UWB tag at each position point by the UWB base station, calibrating the three-dimensional space position of the UWB tag by combining an RSSI signal measurement method, calibrating the position of the UWB tag after repeating the steps for multiple times, adding an offset to the position of the UWB tag, and calculating to obtain the approximate position of the human face.

In the oxygen supply method of the full-automatic oxygen supply robot, when the wearable monitoring equipment feeds back to confirm emergency treatment or the upper computer does not receive feedback within a preset time, the upper computer simultaneously starts the alarm system to send emergency treatment signals to the outside.

The system for the full-automatic oxygen supply robot comprises a UWB (ultra wide band) tag worn on a human body, an MEMS (micro-electromechanical system) inclinometer and a wearable monitoring device worn on the human body, wherein the wearable monitoring device is in wireless connection with an upper computer through a WIFI (wireless fidelity) network, and the upper computer is in wireless connection with the mobile oxygen supply robot through the WIFI network; the mobile oxygen supply robot comprises a main body, an oxygen supply assembly is arranged in the main body, a navigation module is arranged at the upper part of the main body, a mobile wheel type walking mechanism is arranged at the bottom of the main body, a mechanical arm is further arranged on the main body, and an end effector of the mechanical arm is respectively connected with a UWB base station, an oxygen mask, an ultrasonic sensor and a binocular camera through rod pieces; a temperature and smoke sensor is arranged at the tail end of the mechanical arm; the oxygen supply assembly is connected with an oxygen mask through an electromagnetic valve, and a contact sensor is arranged on the edge of the oxygen mask; navigation module, removal wheeled running gear, UWB basic station, arm, ultrasonic sensor, two mesh cameras, contact sense sensor, temperature and smoke transducer and solenoid valve all be connected with MCU control center, MCU control center is through WIFI network and host computer wireless connection, the host computer is connected with alarm system.

In the system for the full-automatic oxygen supply robot, the movable wheel type traveling mechanism is further provided with an obstacle avoidance module.

In the system for the full-automatic oxygen delivery robot, the navigation module is an SLAM laser radar autonomous navigation system.

In the system for the full-automatic oxygen supply robot, the oxygen supply component is an oxygen bottle or an oxygen bag.

In the system for the full-automatic oxygen supply robot, the oxygen supply assembly is externally provided with a safety cap, a pressure reducing valve, a shockproof ring and an insulating layer.

In the system for the full-automatic oxygen supply robot, the UWB base station is a UWB base station connected to the end of the robot arm; or three or more UWB base stations connected to the tail end of the mechanical arm; the three or more UWB base stations are respectively connected by different mechanical arms, or triangular or polygonal movable guide rail brackets are arranged at the tail end of the same mechanical arm for connection, and the UWB base stations can be pushed to move by the guide rails.

In the system for the fully automatic oxygen supply robot, the UWB base stations are connected to a rotatable joint having one degree of freedom.

The invention has the beneficial effects that: the invention wears the UWB label and the MEMS inclinometer on the forehead of the human body in a matching way; the wearable monitoring equipment is worn on a human body and is in wireless connection with an upper computer through a WIFI network, and the upper computer is in wireless connection with an MCU control center of the mobile oxygenation robot through the WIFI network; the wearable monitoring equipment sends monitoring data to the upper computer for real-time analysis, when the human body is monitored to have an accident (such as the occurrence of the accident of abnormal heart rate) the upper computer sends a first-aid confirmation signal to the wearable monitoring equipment for confirmation, when the upper computer receives a feedback confirmation first aid or does not receive feedback within a preset time, the upper computer sends a warning to the outside, meanwhile, the upper computer performs primary positioning on the position of the human body through a WIFI network and sends primary positioning information to the navigation module, and the movable wheel type walking mechanism moves to a primary WIFI positioning point according to the primary positioning information; sending the UWB base station to different position points in space, reading UWB tags at the different position points, carrying out UWB tag three-dimensional position positioning, then positioning by an ultrasonic sensor, and obtaining the approximate position of the human face by combining the UWB positioning and the ultrasonic sensor positioning; then the mechanical arm sends the binocular camera and the oxygen mask to the position approximately right in front of the position of the human face, the shot image is transmitted to an MCU control center, a machine vision program is started, the inclination angle data obtained by measurement of an MEMS inclinometer is combined, the inclination angle and the distance between the position of the sent oxygen mask and the position of a real nostril are calculated and judged, after the inclination angle of the oxygen mask is adjusted, the oxygen mask is inosculated on the human face, the environmental condition is measured at the moment, and after safe oxygen release is determined, the electromagnetic valve is opened to realize oxygen supply; through the structure, automatic oxygen supply when an accident situation occurs due to unattended operation is realized, and the oxygen mask can be accurately attached to the human face through three steps of initial positioning through a WIFI network, UWB positioning combined with ultrasonic positioning and machine vision combined with inclinometer positioning; the structure can realize accurate oxygen supply positioning, and the positioning in three steps is safer and more reliable without damaging human health.

The invention also connects the upper computer with an alarm system; through this structure, can be when carrying out the first aid, the host computer passes through alarm system and sends the first aid signal to the external world, in time contacts the first aid center and carries out the first aid, and then improves first aid efficiency, increases the success rate of patient's first aid.

Before oxygen is supplied for emergency treatment, the upper computer firstly inquires the wearable monitoring equipment whether the emergency treatment is carried out or not, informs the mobile oxygen supply robot whether the emergency treatment is carried out or not through the response of the wearable monitoring equipment, avoids initiating the emergency treatment under the condition that the emergency treatment is not needed, and has the characteristic of flexible use.

Drawings

FIG. 1 is a flow chart of the present invention;

FIG. 2 is a flow chart of three-dimensional modeling upon system initialization prior to use of the system of the present invention;

fig. 3 is a schematic structural diagram of the present invention.

Description of the reference numerals

The system comprises a UWB (ultra wide band) tag, a wearable monitoring device, a 3-alarm system, a 4-upper computer, a 5-mobile oxygen robot, a 6-main body of the body, a 7-oxygen supply assembly, an 8-navigation module, a 9-mobile wheel type walking mechanism, a 10-UWB base station, an 11-mechanical arm, a 12-oxygen mask, a 13-ultrasonic sensor, a 14-binocular camera, a 15-electromagnetic valve, a 16-MCU (microprogrammed control Unit) control center and a 17-obstacle avoidance module. 18-lithium rechargeable battery, 19-contact sensor, 20-temperature and smoke sensor.

Detailed Description

The present invention will be further described with reference to the following working principle, flow chart and drawings, but the invention is not limited thereto.

Example 1. An oxygen supply method of a full-automatic oxygen supply robot comprises the following steps of (1) wearing a UWB tag and an MEMS inclinometer on the forehead of a human body in a matching manner; the wearable monitoring device 2 is worn on a patient, the physiological characteristics of the patient are monitored in real time, such as heart rate, blood pressure, blood oxygen, pulse and the like, the monitored physiological characteristic data are sent to the upper computer 4 for real-time analysis, when the data are analyzed to be abnormal (namely, when the human body has an accident), the upper computer 4 sends an emergency confirmation signal to the wearable monitoring device 2, the wearable monitoring device 2 feeds back to confirm emergency or when the upper computer 4 does not receive feedback within preset time (can be set in the upper computer in advance, such as 20s), the upper computer 4 initially positions the position of the human body through a WIFI network (the initial positioning can also be set when the upper computer receives the accident information), and meanwhile, the initial positioning information is sent to the MCU control center 16 of the mobile oxygen supplier 5; the MCU control center 16 sends the primary positioning information to the navigation module 8 and controls the movable wheel type travelling mechanism 9 to move to the positioning position of the primary positioning information according to the primary positioning information;

after the initial positioning is finished, the MCU control center of the oxygen supply robot 5 reads the information of the MEMS inclinometer, calculates the inclination angle of a corresponding UWB tag, starts the ultrasonic distance measurement module and the obstacle avoidance module, calculates 3 or more than 3 different space position points which the UWB base station should reach, separates every two position points as far as possible, and ensures that the distance is at least more than 60 CM; then the oxygenation robot 5 sends the UWB base station 10 to different spatial position points obtained by calculation, the UWB base station antenna is opposite to the front side of the UWB tag, the UWB tag 1 data positioned on the human body is read, the UWB tag 1 data is sent to the MCU control center 16 for operation, after the three-dimensional position of the UWB tag is determined by calculation, the wheel type moving mechanism is driven to move to the measured UWB tag position, the UWB base station 10 is sent to different spatial position points obtained by calculation again, and the measured UWB tag position is calibrated by combining with an RSSI signal intensity detection method of the UWB; the UWB tag positioning is realized after the steps are repeated for multiple times; after UWB positioning is finished, ultrasonic ranging positioning 13 is carried out by combining an ultrasonic sensor 13 on a mechanical arm 11 of the oxygen robot 5, and the approximate position of the face of the human body is positioned;

sending the information of the approximate position of the human face to an MCU control center 16, controlling a mechanical arm 11 by the MCU control center 16 to send a binocular camera 14 and an oxygen mask 12 to the position right ahead of the approximate position of the human face, shooting a human face position picture by the camera, transmitting the picture to the MCU control center 16, starting a machine vision program, and finally identifying and positioning the true nostril position by combining the distance measurement of an ultrasonic sensor 13 through the steps of human face identification, binocular distance measurement and posture identification;

calculating the dip angle and the distance between the delivered oxygen mask position and the real nostril position by combining the dip angle data measured by the MEMS dip meter, driving the oxygen mask 12 to gradually approach the face by the mechanical arm 11 after adjusting the dip angle of the oxygen mask 12, and performing ultrasonic radar ranging alarm by an ultrasonic sensor 13 at the tail end of the mechanical arm 11 in the approaching process; when the oxygen mask 12 is attached to the human face, the contact sensor 19 on the oxygen mask 12 gives an alarm, and the mechanical arm 11 stops.

The temperature and smoke sensor on the mechanical arm 6 detects whether the environment meets the oxygen release condition, and when the environment meets the oxygen release condition, the electromagnetic valve 15 is opened to realize oxygen supply.

Before the system is used, the full-automatic oxygen supply robot system is initialized, human face images are shot, human face recognition three-dimensional modeling based on machine vision is firstly carried out, and human face characteristic point sampling and modeling of the image recognition system are completed. The modeling process is shown in FIG. 2.

The UWB positioning is three-dimensional space positioning, and is measured and calculated by combining UWB base stations positioned at different position points in space with an RSSI signal strength method, and the linear distances between every two different position points are all larger than 60 centimeters. I.e. the linear distance between points at different positions in space is more than 60 cm.

The different spatial position points of the UWB positioning are UWB base stations arranged at the tail end of the mechanical arm, and are driven by the mechanical arm to sequentially move to three or more spatial position points; or three or more movable UWB base stations arranged at the tail end of the mechanical arm and sent to different spatial position points.

The UWB base station may be a UWB base station connected to an end of the robot arm; the UWB base station can be connected with the tail end of the mechanical arm, the three or more UWB base stations can be respectively connected with different mechanical arms, a triangular or polygonal guide rail bracket can be arranged at the tail end of the same mechanical arm, and the UWB base stations can be pushed to move by the guide rail.

The UWB base stations described above are each coupled to a rotatable joint of one degree of freedom.

The UWB positioning is performed according to the following steps: combining MEMS inclinometer data, calculating three or more than three spatial position points which are parallel to a UWB tag plane and face forward, moving a UWB base station 10 to three or more than three different position points in space, reading the UWB tag 1 worn on a human body for ranging, further carrying out three-dimensional position positioning on the UWB tag 1, driving a mobile wheel type travelling mechanism to move gradually towards the direction of the measured UWB positioning position, detecting and correcting the position of the positioned UWB tag 1 by combining RSSI signal detection method of UWB, moving the UWB base station 10 to different spatial position points again, reading the UWB tag 1 for positioning the UWB tag 1, correcting the position of the positioned UWB tag 1 by using RSSI signal detection method again, and finishing UWB tag positioning after repeating for many times. And calculating the position of the UWB tag and adding the offset of the UWB tag from the nostril position of the human face to obtain the approximate position of the human face.

When the wearable monitoring device 2 feeds back to confirm the first aid or the upper computer 4 does not receive the feedback within the preset time, the upper computer 4 simultaneously starts the alarm system 3 to send the first aid signal to the outside.

The system for the oxygen supply method of the full-automatic oxygen supply robot comprises a UWB tag 1 (the UWB tag 1 is matched with an MEMS inclinometer) worn on the forehead of a human body and a wearable monitoring device 2 worn on the body of the human body, wherein the wearable monitoring device 2 is in wireless connection with an upper computer 4 through a WIFI network, and the upper computer 4 is in wireless connection with a mobile oxygen supply robot 5 through the WIFI network; the mobile oxygenation robot 5 comprises a robot body 6, an oxygen supply assembly 7 is arranged in the robot body 6, a navigation module 8 is arranged at the upper part of the robot body 6, a mobile wheel type walking mechanism 9 is arranged at the bottom of the robot body 6, and the mobile oxygenation robot 5 is powered by a lithium battery rechargeable battery 18; the mobile robot 5 is provided with a mechanical arm 11, and the tail end of the mechanical arm 11 is provided with a temperature and smoke sensor 20; an end effector of the mechanical arm 11 is respectively connected with a UWB base station 10, an oxygen mask 12, an ultrasonic sensor 13 and a binocular camera 14 through rod pieces; the oxygen supply assembly 7 is connected with an oxygen mask 12 through an electromagnetic valve 15, and the edge of the oxygen mask 12 is provided with a contact sensor 19; navigation module 8, remove wheeled running gear 9, UWB basic station 10, arm 11, ultrasonic sensor 13, binocular camera 14, touch sensor 19, temperature and smoke transducer 20 and solenoid valve 15 all are connected with MCU control center 16, MCU control center 16 through WIFI network and host computer 4 wireless connection (be about to remove oxygen robot 5 as the next machine, through WIFI network and host computer communication), host computer 4 is connected with alarm system 3. UWB label 1 still is equipped with the MEMS inclinometer rather than supporting use, and MEMS inclinometer and UWB label are located the coplanar, and MEMS inclinometer and MCU control center 16 wireless connection. Through above-mentioned structure, through robot autonomous movement and arm adjustment, send the different position points in space with portable UWB basic station, ensure that UWB basic station antenna is forward to face the UWB label, carry out the UWB location.

The moving wheel type traveling mechanism 9 is further provided with an obstacle avoidance module 17. The module 17 is arranged to ensure that the mobile wheel type traveling mechanism 9 can avoid obstacles when moving, and avoid colliding with obstacles and human bodies. The movable wheel type travelling mechanism 9 is a travelling mechanism controlled by the sensor obstacle avoidance module 17 and the navigation module (8) together, and can be a six-wheel type travelling mechanism or a four-wheel type travelling mechanism. The six-wheel type traveling mechanism is provided with 6 driving motors and 4 steering motors, 6 wheels are adopted for independent driving, and the front wheel and the rear wheel are independently steered; the four-wheel type walking mechanism is provided with 4 driving motors and at least 2 steering motors.

The robot arm 11 measures distance and moves away from an obstacle through the connected ultrasonic sensor 13, so that the robot arm 11 is prevented from touching the obstacle in the moving process.

The obstacle avoidance module 17 is an ultrasonic sensor obstacle avoidance module and/or an infrared sensor obstacle avoidance module and/or a photoelectric sensor obstacle avoidance module.

The upper computer 4 is also in wired or wireless connection with the alarm system 3.

The oxygen supply component 7 is an oxygen bottle or an oxygen bag. The oxygen supply assembly is externally provided with a safety cap, a pressure reducing valve, a shockproof ring and an insulating layer so as to ensure the safety of oxygen.

The navigation module 8 is an SLAM lidar autonomous navigation system.

The robot 11 is a six-axis serial robot or a seven-axis serial robot, and the end effector can reach any point in space.

The power supply system adopted by the full-automatic oxygen supply robot system is a lithium battery rechargeable battery.

The wireless module used by the full-automatic oxygen delivery robot system is a wireless connection module including but not limited to a WIFI module.

Claims

1. The utility model provides a system that full-automatic oxygen robot used which characterized in that: the portable oxygen supply robot comprises a UWB (ultra wide band) tag (1) worn on a human body, an MEMS (micro electro mechanical system) inclinometer and a wearable monitoring device (2) worn on the human body, wherein the wearable monitoring device (2) is in wireless connection with an upper computer (4) through a WIFI network, and the upper computer (4) is in wireless connection with a mobile oxygen supply robot (5) through the WIFI network; the mobile oxygen-supplying robot (5) comprises a main body (6), an oxygen-supplying assembly (7) is arranged in the main body (6), a navigation module (8) is arranged at the upper part of the main body (6), a mobile wheel type walking mechanism (9) is arranged at the bottom of the main body (6), a mechanical arm (11) is further arranged on the main body (6), and an end effector of the mechanical arm (11) is respectively connected with a UWB base station (10), an oxygen mask (12), an ultrasonic sensor (13) and a binocular camera (14) through rod pieces; a temperature and smoke sensor (20) is arranged at the tail end of the mechanical arm (11); the oxygen supply assembly (7) is connected with an oxygen mask (12) through an electromagnetic valve (15), and the edge of the oxygen mask (12) is provided with a contact sensor (19); navigation module (8), removal wheeled running gear (9), UWB base station (10), arm (11), ultrasonic sensor (13), binocular camera (14), contact sense sensor (19), temperature and smoke transducer (20) and solenoid valve (15) all be connected with MCU control center (16), MCU control center (16) through WIFI network and host computer (4) wireless connection, host computer (4) are connected with alarm system (3).

2. The system for the full-automatic oxygen transfer robot according to claim 1, characterized in that: and the movable wheel type travelling mechanism (9) is also provided with an obstacle avoidance module (17).

3. The system for the full-automatic oxygen transfer robot according to claim 1, characterized in that: the navigation module (8) is an SLAM laser radar autonomous navigation system.

4. The system for the full-automatic oxygen transfer robot according to claim 1, characterized in that: the oxygen supply component (7) is an oxygen bottle or an oxygen bag.

5. The system for the full-automatic oxygen transfer robot according to claim 1, characterized in that: the oxygen supply component (7) is externally provided with a safety helmet, a pressure reducing valve, a shockproof ring and an insulating layer.

6. The system for the full-automatic oxygen transfer robot according to claim 1, characterized in that: the UWB base station is connected to the tail end of the mechanical arm; or three UWB base stations connected to the end of the mechanical arm; the three UWB base stations are respectively connected by different mechanical arms, or a triangular or polygonal movable guide rail bracket is arranged at the tail end of the same mechanical arm for connection, and the UWB base stations can be pushed to move by the guide rails.

7. The system for the full-automatic oxygen transfer robot according to claim 6, characterized in that: the UWB base station is connected with a rotatable joint with one degree of freedom.