CN111015682B

CN111015682B - Multifunctional robot

Info

Publication number: CN111015682B
Application number: CN201911349498.1A
Authority: CN
Inventors: 杨柯欣
Original assignee: Henan Province Kang Hua Pharmaceutical Co ltd
Current assignee: Henan Province Kang Hua Pharmaceutical Co ltd
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2023-04-21
Anticipated expiration: 2039-12-24
Also published as: CN111015682A

Abstract

The application discloses a multifunctional robot, which comprises a maneuvering control system for controlling walking and basic services, a detection system and an early warning system for receiving information transmitted by the detection system and realizing early warning management; the early warning system comprises a communication unit, an information judging unit for realizing logic judgment to expect to judge whether the information sent by the detection system reaches the early warning condition, a storage unit and an early warning unit, wherein the early warning unit is used for configuring a calling application capable of calling to the nearby hospital telephone or the doctor personal telephone, and also used for calling the calling application to the nearby hospital telephone or the doctor personal telephone when the information sent by the detection system reaches the early warning condition. The system is mainly applied to the service of the caretaker, the detection system can monitor the vital sign state of the caretaker in real time, and the system can directly give an alarm to the nearby hospital or doctor to request the hospital or doctor to rescue in advance when the vital state of the caretaker is problematic and the life safety is not threatened.

Description

Multifunctional robot

Technical Field

The application relates to the technical field of robots, in particular to a multifunctional robot applied to nursing.

Technical Field

The use of robots is very common nowadays, and in practice there are also many nursing robots which not only have many sensing capabilities, but also can be used to back up the person and care for the elderly.

For example, chinese utility model CN201720674206.1 discloses a novel intelligent nursing robot, the upper structure of which has an elastic mattress, a turn-over air bag, an entertainment support and a special mobile phone for calling; the lower support structure comprises a safety net for supporting the upper mattress, a bed surface supporting frame, a base, a bed surface lifting mechanism, a back lifting mechanism and a leg bending and stretching mechanism. The robot is convenient for nursing work on bedridden patients, can improve the blood circulation of the contact part of the patient body and the mattress, provides convenience for living and living of the patients, and even so, the nursing robot in the prior art has single and basic functions, and especially cannot meet the nursing demands of ill high-risk groups.

Disclosure of Invention

The purpose of this application is for not enough in the prior art, provides a following technical scheme:

the multifunctional robot comprises a maneuvering control system for controlling walking and basic services, a detection system for detecting comprehensive vital signs of a cared person group and transmitting the vital signs to an early warning system in real time, and an early warning system for receiving information transmitted by the detection system and realizing early warning management, wherein the maneuvering control system, the detection system and the early warning system are connected in sequence; the early warning system comprises a communication unit for receiving specific information of the detection system, an information judging unit for realizing logic judgment to expect to judge whether the information sent by the detection system reaches an early warning condition, a storage unit for storing reference parameters of judging information and an early warning unit, wherein the early warning unit is used for configuring a calling application capable of calling to a nearby hospital telephone or a doctor personal telephone, and also used for calling the calling application to the nearby hospital telephone or the doctor personal telephone and reporting personal information exclusive to a nursing staff and life state information exclusive to the nursing staff when the information sent by the detection system reaches the early warning condition; the personal information specific to the nursed person comprises the name, identification information, blood type, historical disorder abstract, age, sex and real-time position of the nursed person; the life state information exclusive to the caretaker comprises blood flow sensing information, temperature sensing information, heart rate sensing information and skin electricity sensing information of the caretaker.

Further, the detection system comprises a jacket worn by a nursing staff, a skin electric sensor used for contacting the skin is arranged in the middle of the jacket, a processor is arranged on one side of the skin electric sensor, temperature sensors are arranged on two sides of the skin electric sensor, two telescopic belts used for fixing are arranged at the top of the jacket, two clamping rings are correspondingly arranged on shoulders on two sides of the jacket, a clamping buckle used for being clamped with the clamping rings is fixed at the end part of the telescopic belts, and a blood flow sensor and a heart rate sensor used for compressing carotid artery of the nursing staff are arranged at the position where the top of the jacket is connected with the telescopic belts; the blood flow sensor, the temperature sensor, the heart rate sensor, the piezoelectric sensor and the motion sensor are respectively and electrically connected with the processor, and the processor is also electrically connected with the communication circuit and is used for being connected with the communication unit of the early warning system for communication.

Further, the motor control system include motor control unit and motor control structure that is used for controlling robot to walk automatically, motor control structure include steering assembly, nursing article deposit the platform, drive assembly, drive group protective housing and erect the pole, nursing article deposits the below of platform and sets up steering assembly, nursing article deposits bench fixed horizontal pole one end, the other one end of horizontal pole passes through pole mounting and erects pole fixed connection, erect the pole lower part and be provided with control substrate, set up on the control substrate drive group protective housing, drive assembly is fixed to the below of drive group protective housing, still be provided with the sensing electric box in the erectting pole, the top of erectting the pole still is provided with the control box that is used for embedding early warning system and motor control unit, embedding early warning system and motor control unit are specifically the circuit board in the embedding control box.

Further, the maneuvering control unit at least comprises an external sensor, a storage device and a navigation module, a positioning module and a processor, wherein the external sensor and the storage device are arranged in the sensing electric box, and the navigation module, the positioning module and the processor are embedded in a circuit board in the sensing electric box, and the external sensor, the storage device, the navigation module and the positioning module are respectively and electrically connected with the processor.

Further, the multifunctional robot further comprises a man-machine interaction control system for identifying voice commands of the nursed personnel and feeding back the voice commands, and an audio collector and a loudspeaker are arranged on a maneuvering control structure of the corresponding maneuvering control system.

The beneficial effects are that: the method is mainly applied to the service of the personnel needing nursing and has various functions; the system can monitor the vital sign state of the nursed person in real time through the detection system, and directly give an alarm to the nearby hospital or doctor to request the hospital or doctor to rescue in advance when the vital sign state of the nursed person is problematic and the life safety of the nursed person is not threatened, so that the life safety of the nursed person can be ensured; the early warning unit is used for transferring the application call to the near-hospital telephone or doctor personal telephone and simultaneously sending personal information exclusive to the nursed person and life state information exclusive to the nursed person, so that the basis can be directly provided for the help of the hospital or doctor, the hospital or doctor can conveniently carry relevant medical equipment, and the direct on-site symptomatic treatment and on-site help treatment can be conveniently realized, so that the life safety and health of the nursed person can be ensured with maximum efficiency; the system is provided with the man-machine interaction control system, the nurses can directly communicate and communicate with the robot in language, and the voice training technology used by the algorithm part in the man-machine interaction control system can enable the system to have autonomous learning capability and continuously perfect the voice service capability, so that at least the command and the feedback voice of the nurses can be received through voice.

Drawings

FIG. 1 is a schematic diagram of a frame connection of an embodiment of the present application;

FIG. 2 is a schematic diagram of frame connection of an early warning system according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a detection system according to an embodiment of the present application;

FIG. 4 is a block diagram of circuit connections of a detection system of an embodiment of the present application;

FIG. 5 is a schematic diagram of a motorized control architecture of a motorized control system of an embodiment of the present application;

FIG. 6 is a schematic diagram of the structural and overall structural connections of the present application as it is implemented in an embodiment;

in the figure:

a steering assembly 1; a nursing article storage table 2; a drive assembly 3; a drive group protective case 4; a vertical rod 5; a rod fixing member 6; a horizontal bar 7; a sensor cell 8; a control box 9; a control substrate 10;

a blood flow sensor 1a, a temperature sensor 2a, a heart rate sensor 3a, a skin sensor 4a, a motion sensor 5a, a jacket 6a, a telescopic belt 7a, a buckle 8a, a clamping ring 9a and a processor 10a.

Detailed Description

In specific implementation, as shown in fig. 1, the system comprises a maneuvering control system for controlling walking and basic services, a detection system for detecting comprehensive vital signs of a cared person group and transmitting the vital signs to an early warning system in real time, and an early warning system for receiving information transmitted by the detection system and realizing early warning management, wherein the maneuvering control system, the detection system and the early warning system are connected in sequence; the early warning system (shown in fig. 2) comprises a communication unit for receiving specific information of the detection system, an information judging unit for realizing logic judgment to expect to judge whether the information sent by the detection system reaches an early warning condition, a storage unit for storing reference parameters of judging information and an early warning unit, wherein the early warning unit is used for configuring a calling application capable of calling to a nearby hospital telephone or a doctor personal telephone, and also is used for calling the calling application to the nearby hospital telephone or the doctor personal telephone and reporting personal information special for a nursed person and life state information special for the nursed person when the information sent by the detection system reaches the early warning condition; the personal information exclusive to the nursing staff comprises the name, the identification information, the blood type, the historical disorder abstract, the age, the sex and the real-time position of the nursing staff, and the life state information exclusive to the nursing staff comprises blood flow sensing information, temperature sensing information, heart rate sensing information and skin electricity sensing information of the nursing staff.

In a specific implementation, the detection system sends the comprehensive vital sign of the cared personnel group to the early warning system in real time, wherein the comprehensive vital sign of the cared personnel group comprises blood flow sensing information, temperature sensing information, heart rate sensing information and skin electric sensing information of the cared personnel, a communication unit of the early warning system receives the specific information of the detection system and then transmits the specific information to an information judging unit, the information judging unit judges whether the information sent by the real-time detection system reaches an early warning condition or not, namely judges whether the comprehensive vital sign of the cared personnel group has a problem in real time, the early warning unit is provided with a calling application capable of calling to a nearby hospital telephone or a doctor personal telephone in advance, and when the information sent by the detection system reaches the early warning condition, namely the comprehensive vital sign of the cared personnel group has a problem and the life safety is not threatened yet, the early warning unit calls the calling application to the nearby hospital telephone or the doctor personal telephone and reports personal information special for the cared personnel and the special life state information of the cared personnel, and then informs the hospital or doctor to rescue or prevent the cared in time; the method and the device can monitor the vital sign state of the nursed person in real time, and directly give an alarm to the nearby hospital or doctor to request the hospital or doctor to rescue in advance when the vital sign state of the nursed person is problematic and the life safety is not threatened, so that the life safety of the nursed person can be ensured; and the early warning unit is used for transferring the application call to the near-hospital telephone or doctor personal telephone and simultaneously sending personal information exclusive to the nursed person and life state information exclusive to the nursed person, so that the basis can be directly provided for the help of the hospital or doctor, the hospital or doctor can conveniently carry relevant medical equipment, and the direct on-site symptomatic treatment and on-site help treatment can be conveniently realized, so that the life safety and health of the nursed person can be ensured with the maximum efficiency.

In the implementation, as shown in fig. 3, the detection system comprises a jacket 6a worn by a nursing staff, a skin sensor 4a used for contacting the skin is arranged in the middle of the jacket 6a, a processor 10a is arranged on one side of the skin sensor 4a, temperature sensors 2a are arranged on two sides of the skin sensor 4a, two telescopic belts 7a used for fixing are arranged on the top of the jacket 6a, two clamping rings 9a are correspondingly arranged on two shoulders of the jacket 6a, a buckle 8a used for being clamped with the clamping rings 9a is fixed on the end part of the telescopic belt 7a, and a blood flow sensor 1a and a heart rate sensor 3a used for compressing carotid arteries of the nursing staff are arranged at the connection position of the top of the jacket 6a and the telescopic belt 7 a; as shown in fig. 4, the blood flow sensor 1a, the temperature sensor 2a, the heart rate sensor 3a, the piezoelectric sensor 4a and the motion sensor 5a in the detection system are respectively and electrically connected with the processor 10a, and the processor 10a is also electrically connected with the communication circuit and used for being connected and communicated with a communication unit of the early warning system; in a specific implementation, the various sensors described above are used to measure the integrated vital signs of the caregivers and communicate with the communication unit of the early warning system on a specific circuit, which embodiment directly provides the implementation means of the detection system.

The automatic walking control system comprises a automatic walking control unit and an automatic walking control structure for controlling a robot, as shown in fig. 5, the automatic walking control structure comprises a steering assembly 1, a nursing article storage table 2 for storing commonly used nursing articles and providing the nursing personnel, a driving assembly 3, a driving group protection shell 4 and an upright rod 5, the steering assembly 1 is arranged below the nursing article storage table 2, one end of a horizontal rod 7 is fixed on the nursing article storage table 2, the other end of the horizontal rod 7 is fixedly connected with the upright rod 5 through a rod fixing piece 6, a control substrate 10 is arranged at the lower part of the upright rod 5, the driving group protection shell 4 is arranged on the control substrate 10, the driving assembly 3 is fixed below the driving group protection shell 4, a sensing electric box 8 is also arranged on the upright rod 5, a control box 9 for embedding a warning system and the automatic walking control unit is arranged above the upright rod 5, and the automatic walking control unit is a circuit board embedded in the control box 9; in specific implementation, the driving component 3 adopts the existing structure of motor control driving wheels and wheel axles, the driving component 3 is used for providing power for driving the maneuvering control structure to walk, the steering component 1 can adopt the existing structure of motor control driving steering axles, the steering component 1 is used for realizing steering when the maneuvering control structure walks, the steering component 1 is connected with the nursing article storage table 2 through bolts, and the nursing article storage table 2 is connected with the horizontal rod 7 through welding. The vertical rod 5 is connected with the sensing electric box 8 through threads, and the vertical rod 5 is connected with the control box 9 through sleeve connection.

The maneuvering control unit at least comprises an external sensor, a storage device and a navigation module, wherein the external sensor and the storage device are arranged in the sensing electric box 8, and the navigation module, the positioning module and the processor are embedded in a circuit board in the sensing electric box 8, and the external sensor, the storage device, the navigation module and the positioning module are respectively and electrically connected with the processor; the circuit structure of the motor control unit in implementation can refer to the automatic driving control circuit in the prior art, such as an automatic driving control system of a vehicle authorized by China patent application No. CN201710022328.7, and the circuit structure description of the accompanying figure 1 and the corresponding implementation part of the specification can be taken as a verification of the prior art, for example, the disclosed circuit at least comprises an external sensor 1, a GPS receiving part 2, an internal sensor 3, a map database 4, a storage device 5, a navigation system 6, an HMI (Human Machine Interface: human-machine interface) 7, various actuators 8, an electronic control unit (ECU, electronic Computer Unit) 20 and the like.

In at least one embodiment, the application further comprises a man-machine interaction control system for identifying the voice command of the cared person and feeding back the voice command, wherein an audio collector and a loudspeaker are arranged on a maneuvering control structure of the corresponding maneuvering control system; in specific implementation, the man-machine interaction control system is a circuit structure, specifically a circuit board embedded in the control box 9; the audio collector and the loudspeaker are structurally arranged on the sensing electric box 8, the audio collector and the loudspeaker are used as information input and output ends of a man-machine interaction control system on a circuit, the man-machine interaction system is embedded into a processor of a circuit board at an application level, the man-machine interaction system application layer comprises a voice input unit which is configured to acquire audio information through the audio collector and then input the audio information into a training database, an audio data model is stored in the training database in advance, and the audio data model can be acquired through statistics; training operation is carried out according to the input audio information and the data model to obtain the feature value of the audio information after operation, and the feature value of the audio information is used for subsequent audio recognition; the human-computer interaction system application layer also comprises an audio recognition unit and an audio reply unit, wherein the audio recognition unit is used for calling input audio and characteristic numerical value recognition and calculating direct reply information, and the direct reply information is transmitted to a loudspeaker through the audio reply unit and is played to a nursed person; through the man-machine interaction control system, the nurses can directly communicate with the robot in language, and the voice training technology used by the algorithm part in the man-machine interaction control system can enable the system to have autonomous learning ability and continuously perfect the voice service ability, and at least can realize receiving commands and feeding back voices of the nurses through voices.

In order to facilitate understanding of the implementation of the present application, as shown in fig. 6, the connection schematic of the structure and the overall structure in the implementation of the embodiment is shown, and the robot structure of the present application includes a circuit structure and a maneuvering control structure of the jacket 6a and the load thereof, and as a preferred means, the circuit structure of the jacket 6a and the load thereof as a detection system and the maneuvering control structure in the load maneuvering control system and the early warning system are naturally configured with corresponding wireless communication modules in the implementation through radio interaction.

Claims

1. The multifunctional robot comprises a maneuvering control system for controlling walking and basic services, and is characterized by further comprising a detection system for detecting comprehensive vital signs of a cared person group and transmitting the comprehensive vital signs to an early warning system in real time, and an early warning system for receiving information transmitted by the detection system and realizing early warning management, wherein the maneuvering control system, the detection system and the early warning system are connected in sequence; the early warning system comprises a communication unit for receiving specific information of the detection system, an information judging unit for realizing logic judgment to expect to judge whether the information sent by the detection system reaches an early warning condition, a storage unit for storing reference parameters of judging information and an early warning unit, wherein the early warning unit is used for configuring calling application capable of calling to a nearby hospital telephone or a doctor personal telephone, and also used for calling the calling application to the nearby hospital telephone or the doctor personal telephone and reporting personal information exclusive to a nursing staff and life state information exclusive to the nursing staff when the information sent by the detection system reaches the early warning condition; the personal information specific to the nursed person comprises the name, identification information, blood type, historical disorder abstract, age, sex and real-time position of the nursed person; the special life state information of the nursed personnel comprises blood flow sensing information, temperature sensing information, heart rate sensing information and skin electricity sensing information of the nursed personnel; the detection system comprises a jacket worn by a nursing staff, wherein a skin electric sensor for contacting skin is arranged in the middle of the jacket, a processor is arranged on one side of the skin electric sensor, temperature sensors are arranged on two sides of the skin electric sensor, two telescopic belts for fixing are arranged at the top of the jacket, two clamping rings are correspondingly arranged on shoulders on two sides of the jacket, a clamping buckle for being clamped with the clamping ring is fixed at the end part of the telescopic belts, and a blood flow sensor and a heart rate sensor for compressing carotid arteries of the nursing staff are arranged at the position where the top of the jacket is connected with the telescopic belts; the blood flow sensor, the temperature sensor, the heart rate sensor, the piezoelectric sensor and the motion sensor are respectively and electrically connected with the processor, and the processor is also electrically connected with the communication circuit and used for being connected and communicated with the communication unit of the early warning system; the automatic walking control system comprises a motor control unit and a motor control structure, wherein the motor control unit and the motor control structure are used for controlling a robot to automatically walk, the motor control structure comprises a steering assembly, a nursing article storage table, a driving assembly, a driving group protection shell and a vertical rod, the steering assembly is arranged below the nursing article storage table, one end of a horizontal rod is fixed on the nursing article storage table, the other end of the horizontal rod is fixedly connected with the vertical rod through a rod fixing piece, a control substrate is arranged at the lower part of the vertical rod, the driving group protection shell is arranged on the control substrate, the driving assembly is fixed below the driving group protection shell, a sensing electric box is further arranged on the vertical rod, a control box for embedding an early warning system and the motor control unit is further arranged above the vertical rod, and the early warning system and the motor control unit are specifically embedded in a circuit board in the control box; the maneuvering control unit at least comprises an external sensor and a storage device which are arranged in the sensing electric box, and a navigation module, a positioning module and a processor which are embedded in a circuit board in the sensing electric box, wherein the external sensor, the storage device, the navigation module and the positioning module are respectively and electrically connected with the processor; the system also comprises a man-machine interaction control system for identifying the voice command of the nursed and feeding back the voice command, and an audio collector and a loudspeaker are arranged on the maneuvering control structure of the corresponding maneuvering control system.