CN110802614A

CN110802614A - Nursing robot and working method thereof

Info

Publication number: CN110802614A
Application number: CN201911125792.4A
Authority: CN
Inventors: 秦统云
Original assignee: Suzhou Dacheng Well Data Technology Co Ltd
Current assignee: Suzhou Dacheng Well Data Technology Co Ltd
Priority date: 2019-11-18
Filing date: 2019-11-18
Publication date: 2020-02-18

Abstract

The invention belongs to the field of nursing robots, and particularly discloses a nursing robot and a working method thereof; the robot comprises a mechanical arm (1), a core control module (2), a driving module (3), a sensing module (4), an interface circuit module (5) and a communication system module (6), and can help medical staff to convey various medical equipment, experimental tools and garbage in hospitals, convey food, check results or medicines to patients in wards and the like, and greatly relieve the problem of insufficient hands in medical institutions or nursing institutions.

Description

Nursing robot and working method thereof

Technical Field

The invention belongs to the field of nursing robots, and particularly discloses a nursing robot and a working method thereof.

Technical Field

At present, a plurality of hospitals and nursing homes all over the country have the problem of insufficient number of nurses. The Chinese medical society has published articles, the gap of the number of Chinese medical staff is large at present, and the number of nurses in hospitals in China cannot reach the configuration standard. China ranks the 197 th number of global per capita nurses and is in the position of reciprocal. In hospitals and nursing institutions all over the country, a plurality of medical staff need to take care of more than twenty patients, and even some hospitals have the phenomenon that one medical staff needs to take care of three or forty patients simultaneously. On one hand, many hospitals and nursing homes have serious shortage of nurses, and on the other hand, many medical staff in the hospitals and nursing homes need to do a lot of repetitive work everyday, such as medicine delivery, medical record delivery, report delivery or test results for patients. These tasks take a lot of physical strength and energy of medical staff seriously, thereby causing a reduction in working efficiency, resulting in that many medical staff cannot pay more attention to the treatment of patients and recovery of the state of an illness, and thus a practical nursing robot is urgently needed.

Disclosure of Invention

In view of the above disadvantages, the present invention provides a control system for an industrial mobile robot and a working method thereof, and the control system has a simple structure, a strong function, and a high flexibility, and can be applied to various industrial scenes.

In order to achieve the aim, the invention adopts the following technical scheme:

a care robot comprising the following modules: the system comprises a mechanical arm, a core control module, a driving module, a sensing module, an interface circuit module and a communication system module; the mechanical arm adopts a five-degree-of-freedom combination device consisting of five MG995 types of steering engines; the core control module uses an ALTERA DE2 control board; the driving module adopts an independently driven four-wheel structure, and power sources of the driving module come from driving motors on the left side and the right side of the robot platform; the sensing module comprises a photoelectric coded disc, a geomagnetic sensor, an ultrasonic sensor and a visual sensor; the interface circuit module comprises an interface circuit, a power conversion circuit and a power overcurrent protection circuit; the communication system module is selected from a glacier wireless APC200A-43 wireless communication system. The visual sensor can be selected from OV7725, which is a high performance sensor integrating an 1/4 inch single chip VGA camera and an image processor. The method has the characteristics of convenience in operation, wide application range, high data transmission speed and the like, and can automatically adjust the enhancement of edges and the suppression of noise.

Furthermore, above-mentioned nursing robot, the arm least significant end is the base, fixes whole arm at nursing robot top, and each joint in the middle of controls the arm through the rotary joint angle and carries out different actions, and the most terminal is hand type grabber. The mechanical arm has the advantages of high precision, convenience in operation, easiness in control and the like, a steering engine device commonly used by a service robot is used as an actuating mechanism, and the precise control of the mechanical arm is completed through the joint rotation angles of five steering engines.

Furthermore, according to the nursing robot, the photoelectric coded disc in the sensing module is an incremental photoelectric coded disc with 12 grating grids, and is combined with the hollow cup speed reduction motor, and the motor drives the photoelectric coded disc to rotate one by one when rotating so as to perform synchronous counting of the coded disc. A pair of light-sensitive sensors are respectively arranged on two sides of a grid of the photoelectric coded disc, the photoelectric coded disc is driven to rotate together when the motor rotates, and the light-sensitive sensors achieve the function of measuring the number of turns of the motor after rotation by capturing the number of light rays with alternate light and dark.

Further, according to the nursing robot, the four-wheel structure of the driving module comprises two driving wheels arranged on the left and right sides and two universal wheels arranged on the front and back sides.

Further, according to the nursing robot, the geomagnetic sensor in the sensing module is an MAG3110 geomagnetic sensor, the MAG3110 geomagnetic sensor firstly measures a magnetic field around the robot, geomagnetic component values are measured through magnetic sensitive axes on each coordinate system, an included angle between a carrier and geomagnetic north can be obtained through calculation and error correction, and an accurate course angle of the nursing robot is obtained through correcting a magnetic declination. MAG3110 is a microminiature geomagnetic sensor sensitive to spatial triaxial direction geomagnetism, and is sensitive to surrounding geomagnetic information. The test range is-1000 uT to +1000uT, the sensitivity is 0.10uT, and the requirement of using the MAG3110 geomagnetic sensor to measure the course angle of the nursing robot in the system is met.

Furthermore, according to the nursing robot, the ultrasonic sensors in the sensing module are US-100 ultrasonic sensors, and three groups of ultrasonic sensors are respectively arranged on the left side, the front side and the right side of the robot. The US-100 ultrasonic sensor is a commonly used mobile robot ranging sensor, the input voltage of the sensor is 2.4-5.5V, the static power consumption is low, generally, the US-100 ultrasonic sensor has a function of detecting ranging results by a temperature sensor when a product leaves a factory, supports multiple data transmission modes such as RS232 and I/O interfaces, and can still work stably in a complex environment. And a temperature sensor is arranged in the device, and can carry out temperature compensation correction on the measured distance information.

Further, the wireless APC200A-43 wireless communication system of the ice river is installed in the upper control machine. The nursing robot needs to move continuously during work, the number of staff is often large in hospitals, the environment is complex, and generally, the system is not suitable for wired communication under the condition, so that the system selects a wireless APC200A-43 wireless communication system of the ice river as communication equipment between the nurse assistant robot and an upper computer.

Further, the working method of the nursing robot comprises the following steps:

I. editing an instruction for the nursing robot in the upper control machine, transmitting the instruction through a wireless communication system of the wireless APC200A-43 of the ice river, receiving the instruction by a communication system module of the nursing robot within a signal range, transmitting the instruction and storing the instruction in a core control module;

II, the core control module sends an instruction to control the driving module to drive the four-wheel structure of the driving module to start, pause, advance, retreat, turn, accelerate, decelerate and the like;

when the driving module works, a photoelectric coded disc in the sensing module and a geomagnetic sensor work in a coordinated mode, so that the nursing robot obtains the accurate position of the nursing robot; the ultrasonic sensor works continuously to sense surrounding obstacles, so that the nursing robot avoids the obstacles in motion;

and IV, when the nursing robot moves to a specified position, the core control module controls the mechanical arm to finish lifting, putting down, conveying and other operations.

The invention has the following beneficial effects: the nursing robot disclosed by the invention is simple in structure, powerful in function, high in flexibility, moderate in cost, capable of identifying various scenes through the image sensor, avoiding obstacles and strong in moving capability; the wireless data transceiver has wireless data transceiving capacity, can move autonomously, and can be remotely controlled by people; the robot can help medical personnel to transport various medical equipment, experimental tools and clear up rubbish in the hospital, can also transport work such as food, inspection result or send medicine for the patient in the ward, is fit for using widely in each medical treatment and endowment institution throughout the country.

Drawings

FIG. 1 is a schematic view of example 1

FIG. 2 is a schematic view of example 2.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to specific experimental data, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Fig. 1 is a nursing robot, comprising the following modules: the system comprises a mechanical arm 1, a core control module 2, a driving module 3, a sensing module 4, an interface circuit module 5 and a communication system module 6; the mechanical arm 1 adopts a five-degree-of-freedom combination device consisting of five MG995 type steering engines; the core control module 2 uses the ALTERA DE2 control board; the driving module 3 adopts an independently driven four-wheel structure, and power sources of the driving module come from driving motors on the left side and the right side of the robot platform; the sensing module 4 comprises a photoelectric code disc 41, a geomagnetic sensor 42, an ultrasonic sensor 43 and a vision sensor 44; the interface circuit module 5 comprises an interface circuit 51, a power conversion circuit 52 and a power overcurrent protection circuit 53; the communication system module 6 selects a glacier wireless APC200A-43 wireless communication system.

Example 2

A care robot as shown in fig. 2, comprising the following modules: the system comprises a mechanical arm 1, a core control module 2, a driving module 3, a sensing module 4, an interface circuit module 5 and a communication system module 6; the mechanical arm 1 adopts a five-degree-of-freedom combination device consisting of five MG995 type steering engines; the core control module 2 uses the ALTERA DE2 control board; the driving module 3 adopts an independently driven four-wheel structure, and power sources of the driving module come from driving motors on the left side and the right side of the robot platform; the sensing module 4 comprises a photoelectric code disc 41, a geomagnetic sensor 42, an ultrasonic sensor 43 and a vision sensor 44; the interface circuit module 5 comprises an interface circuit 51, a power conversion circuit 52 and a power overcurrent protection circuit 53; the communication system module 6 selects a wireless APC200A-43 communication system of the ice river; particularly, the lowest end of the mechanical arm 1 is a base, the whole mechanical arm is fixed at the top of the nurse assistant robot, joints in the middle operate the mechanical arm to perform different actions by rotating joint angles, and the tail end of the mechanical arm is a hand-shaped gripper; the photoelectric coded disc 41 in the perception module 4 is an incremental photoelectric coded disc containing 12 grating grids, and is combined with a hollow cup speed reduction motor, and the motor drives the photoelectric coded disc to rotate one by one when rotating to perform coded disc synchronous counting; the four-wheel structure of the driving module 3 comprises two driving wheels arranged on the left and right and two universal wheels arranged on the front and back; the geomagnetic sensor 42 in the sensing module 4 is an MAG3110 geomagnetic sensor, the MAG3110 geomagnetic sensor firstly measures a magnetic field around the robot, geomagnetic component values are measured through magnetic sensitive axes on each coordinate system, an included angle between a carrier and geomagnetic north can be obtained through calculation and error correction, and an accurate course angle of the nursing robot is obtained through correcting a magnetic declination; furthermore, the ultrasonic sensors 43 in the sensing module 4 are US-100 ultrasonic sensors, and three groups of ultrasonic sensors are respectively installed on the left side, the front side and the right side of the robot; in particular, the wireless APC200A-43 wireless communication system of the ice river is installed in the upper control machine 7.

When in work: I. an instruction is edited for the nursing robot in the upper control machine 7, the instruction is transmitted through a wireless communication system of the glacier wireless APC200A-43, and the instruction is received by a communication system module 6 of the nursing robot within a signal range, transmitted and stored in a core control module 2;

II, the core control module 2 sends an instruction to control the driving module 3 to drive the four-wheel structure of the core control module to start, pause, advance, retreat, turn, accelerate, decelerate and the like;

when the driving module 3 works, the photoelectric coded disc 41 and the geomagnetic sensor 42 in the sensing module 4 work in a coordinated manner, so that the nursing robot obtains the accurate position of the nursing robot; the ultrasonic sensor 43 works continuously to sense surrounding obstacles, so that the nursing robot avoids the obstacles in motion;

and IV, when the nursing robot moves to a specified position, the core control module 2 controls the mechanical arm 1 to complete lifting, putting down, conveying and the like.

The preferred embodiments of the present invention have been described in detail with reference to the examples, but the present invention is not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.

It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.

In addition, any combination between the embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the idea of the present invention.

Claims

1. A care robot, characterized by comprising the following modules: the robot comprises a mechanical arm (1), a core control module (2), a driving module (3), a sensing module (4), an interface circuit module (5) and a communication system module (6); the mechanical arm (1) adopts a five-degree-of-freedom combination device consisting of five MG995 types of steering engines; the core control module (2) uses an ALTERA DE2 control board; the driving module (3) adopts an independently driven four-wheel structure; the perception module (4) comprises a photoelectric code disc (41), a geomagnetic sensor (42), an ultrasonic sensor (43) and a visual sensor (44); the interface circuit module (5) comprises an interface circuit (51), a power conversion circuit (52) and a power overcurrent protection circuit (53); the communication system module (6) selects a wireless APC200A-43 communication system of the ice river.

2. A nursing robot as claimed in claim 1, characterized in that the mechanical arm (1) is a base at the lowest end, the whole mechanical arm is fixed on the top of the nursing robot, the middle joints are used for operating the mechanical arm to perform different actions by rotating the joint angle, and the tail end is a hand-shaped gripper.

3. The nursing robot as claimed in claim 1, wherein the photoelectric coded disc (41) in the sensing module (4) is an incremental photoelectric coded disc with 12 grating grids, and is combined with a hollow cup speed reduction motor, and the motor drives the photoelectric coded disc to rotate together when rotating so as to perform synchronous counting of the coded disc.

4. A nursing robot as claimed in claim 1, characterized in that the four-wheel structure of the drive module (3) is two drive wheels mounted left and right and two universal wheels mounted front and back.

5. The nursing robot as claimed in claim 1, wherein the geomagnetic sensor (42) in the sensing module (4) is a MAG3110 geomagnetic sensor, the MAG3110 geomagnetic sensor first measures a magnetic field around the robot, measures geomagnetic component values through magnetic sensitive axes in each coordinate system, obtains an included angle between a carrier and the geomagnetic north through calculation and error correction, and obtains an accurate heading angle of the nursing robot through correction of a magnetic declination.

6. A robot as claimed in claim 1, wherein the ultrasonic sensors (43) in the sensing module (4) are US-100 ultrasonic sensors, and three groups of ultrasonic sensors are installed on the left side, the front side and the right side of the robot respectively.

7. A nursing robot as claimed in any of claims 1-6, characterized by further comprising an upper control machine (7), wherein said upper control machine (7) is installed with a wireless communication system of the wireless APC200A-43 of the ice river.

8. The method of operating a care robot as recited in claim 7, comprising the steps of:

I. an instruction is edited for the nursing robot in the upper control machine (7) and is transmitted through a wireless communication system of the ice river APC200A-43, and a communication system module (6) of the nursing robot in a signal range receives the instruction, transmits the instruction and stores the instruction in a core control module (2);

II, the core control module (2) sends an instruction to control the driving module (3) to drive the four-wheel structure of the core control module to start, pause, advance, retreat, turn, accelerate, decelerate and the like;

III, when the driving module (3) works, a photoelectric coded disc (41) and a geomagnetic sensor (42) in the sensing module (4) work in a coordinated mode, so that the nursing robot obtains the accurate position of the nursing robot; the ultrasonic sensor (43) works continuously to sense surrounding obstacles, so that the nursing robot avoids the obstacles in motion;

and IV, when the nursing robot moves to a specified position, the core control module (2) controls the mechanical arm (1) to finish lifting, putting down, conveying and other operations.