CN204945795U - A kind of health service robot based on multifunctional intellectual electronic medicine box - Google Patents
A kind of health service robot based on multifunctional intellectual electronic medicine box Download PDFInfo
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- CN204945795U CN204945795U CN201520641334.7U CN201520641334U CN204945795U CN 204945795 U CN204945795 U CN 204945795U CN 201520641334 U CN201520641334 U CN 201520641334U CN 204945795 U CN204945795 U CN 204945795U
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Abstract
The utility model discloses a kind of health service robot based on multifunctional intellectual electronic medicine box, comprise robot body, main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, Power supply unit and multifunctional intellectual electronic medicine box; Described multifunctional intellectual electronic medicine box is placed in the thorax abdomen of robot body; Described main control unit is connected with multifunctional intellectual electronic medicine box with motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit with serial communication protocol respectively by bus communication protocol; Described Power supply unit is used for powering for main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and multifunctional intellectual electronic medicine box.Health service robot of the present utility model has good human-computer interaction interface and accurate medicine output function, easy and simple to handle, feature richness.
Description
Technical field
The utility model relates to a kind of service robot, and especially a kind of health service robot based on multifunctional intellectual electronic medicine box, belongs to service robot and health care equipment technical field.
Background technology
Along with the raising of people's living standard, the health perception of people strengthens day by day, to the intellectuality of health service class health product, the requirement of multifunction is also more and more higher, in recent years, open up service robot rapidly and meet the ideal carrier of this demand just, utilize robot terminal to realize developing direction that the intellectuality of medicine-chest and multifunction are wisdom life and intelligent medical treatment, along with multifunctional intellectual electronic medicine box is transplanted on service robot, intellectuality and the multifunction of electronic medicine box can be realized on the one hand by combined with intelligent Robotics, the operating process of multifunctional intellectual electronic medicine box can be simplified on the other hand by human-computer interaction technology, thus substitute the children needing eldercare, remind on time and monitor the situation of taking medicine of this kind of crowd accurately, solve the trouble and worry of children.
Along with social senilization's aggravation, day by day huge old group, this kind of crowd is in daily life, because of the problem such as age, fitness of self, easily allow various being eaten up with illness, need the complex treatment accepting multi-medicament, a lot of people there will be when sick such as forget take medicine, can not take medicine on time, can not easy situation of getting it filled in time, and this types of populations is many and frequent because of the medicament categories taken, easily causes drug abuse and cause other complications to form secondary in hospital.Meanwhile, along with the high speed development of society, the quickening of rhythm of life, increasing middle aged colony is because of daily intensive work pressure and erratic daily life, cause various common rich man's disease and other illnesss, and these crowds are because of the daily reason such as to be busy with one's work, then following the doctor's advice and take medicine on demand according to quantity on time of can not restraining oneself after seeking medical advice.Therefore, the intellectuality and the multifunction that realize electronic medicine box are very important.
At present, electronic medicine box major function on the market concentrates on and is easy to carry with on timed reminding, but, electronic medicine box common on these markets does not also have intellectuality on practical significance and multifunction, just tablet is left in reminding box, can not automatic transport medicine, do not possess the function of automatic recording user medicining condition and warning yet.In addition, the interactive performance of existing electronic medicine box is poor, complicated operation, uses inconvenience for old man, child and handicapped crowd, and probably brings potential safety hazard because of maloperation.Existing electronic medicine box as one independently equipment exist, can not be connected with external network, be unfavorable for the structure of Telemedicine System and the intelligent index of intelligent medical treatment, be difficult to promote in the family, also be difficult to realize user and doctor carries out remote interaction.
Utility model content
The purpose of this utility model is the defect in order to solve above-mentioned prior art, provide a kind of health service robot based on multifunctional intellectual electronic medicine box, this health service robot has good human-computer interaction interface and accurate medicine output function, easy and simple to handle, feature richness.
The purpose of this utility model can reach by taking following technical scheme:
Based on a health service robot for multifunctional intellectual electronic medicine box, comprise robot body, main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, Power supply unit and multifunctional intellectual electronic medicine box;
Described main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit and environment sensing sensor unit are on robot body; Described multifunctional intellectual electronic medicine box is placed in the thorax abdomen of robot body;
Described main control unit is connected with multifunctional intellectual electronic medicine box with motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit with serial communication protocol respectively by bus communication protocol;
Described Power supply unit is used for powering for main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and multifunctional intellectual electronic medicine box.
Preferably, described main control unit comprises central processing unit, universal peripheral interface module, memory module, communication interface modules, described central processing unit is received from motion control unit by universal peripheral interface module or communication interface modules, binocular vision capture unit, man-machine interaction unit, the data message of environment sensing sensor unit and multifunctional intellectual electronic medicine box, integration process is carried out to data, then carry out judgement decision-making and store data in memory module, described central processing unit carries out the transmitting-receiving of instruction by communication interface modules, and then controlled motion control module, binocular vision capture unit, man-machine interaction unit, the working method of environment sensing sensor unit and multifunctional intellectual electronic medicine box.
Preferably, described motion control unit comprises motor drive module, light-coupled isolation module, group of motors and speed measuring coder; The pwm control signal that described motor drive module sends for receiving main control unit, drive motor group is rotated, and is isolated by light-coupled isolation module between described motor drive module and main control unit; Described speed measuring coder is connected with group of motors, for positional information and the rotary speed information of Real-time Feedback group of motors, realizes the closed-loop control of group of motors position and rotating speed; Described group of motors is used for the head rotation of control machine human body, waist rotates, mechanical arm action and bobbin movement.
Preferably, described binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, for realizing the navigation and localization function of robot, and the planning of optimal path.
Preferably, described man-machine interaction unit comprises touch control display module and voice interaction module, described touch control display module is used for the state display of video interactive and motion control unit, binocular vision capture unit, environment sensing sensor unit and multifunctional intellectual electronic medicine box, is also connected with outside mobile terminal by wireless signal; Described voice interaction module comprises voice recognition unit, phonetic synthesis unit, voice alerting unit, and described voice recognition unit is for identifying the phonetic order from user; The speech data that described phonetic synthesis unit is used for identifying processes, and synthesis machine code, sends to main control unit to carry out decision-making; The steering order that described voice alerting unit sends over for receiving main control unit, carries out voice message to user, realizes the interactive function between user and robot.
Preferably, described environment sensing sensor unit comprises optoelectronic switch, gyro sensor, touch sensor, infrared sensor and ultrasonic sensor; Described optoelectronic switch, touch sensor, infrared sensor, ultrasonic sensor collaborative work, carry out the identification of barrier and hide; Described gyro sensor carries out attitude deciphering to robot body; Described environment sensing sensor unit adopts multi-sensor information fusion technology to process the data that perception is returned, and carries out FEEDBACK CONTROL by main control unit.
Preferably, described Power supply unit comprises charging base, charge in batteries interface, accumulator, voltage transformation module; Described charge in batteries interface, accumulator and voltage transformation module integration are in robot body, and described charging base is fixed on indoor; At machine man-hour, the voltage transitions that accumulator provides by described voltage transformation module becomes main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit and the voltage required for environment sensing sensor unit, when accumulator electric-quantity is lower than the threshold value set, robot automatically returns to charging base place by environment sensing sensor unit and charges.
Preferably, described multifunctional intellectual electronic medicine box comprises stereo rotating medicine storage cabinet module, motor-driven module, electromagnetic relay module, microprocessor, Temperature Humidity Sensor module, bluetooth module, indicating lamp module, alarm module and power module; Described stereo rotating medicine storage cabinet module is connected with electromagnetic relay module with motor-driven module respectively; Described microprocessor is connected with alarm module with motor-driven module, electromagnetic relay module, Temperature Humidity Sensor module, bluetooth module, indicating lamp module respectively, and microprocessor is also connected with main control unit by communication device interface; Described power module is used for powering for stereo rotating medicine storage cabinet module, motor-driven module, microprocessor, bluetooth module, indicating lamp module and alarm module;
Described bluetooth module is used for being connected with external unit, comprises main control module, RF core module, universal peripheral interface module and sensor interface module; The signal that described main control module transmits for receiving, storing mixed signal microcontroller, and when signal demand outwards transmits, signal is imported into RF core module; Described RF core module is used for when signal demand outwards transmits, and receives the signal that main control module imports into, and is outwards transmitted by antenna by signal; Described universal peripheral interface module comprises the I that wire is connected
2c, UART and SPI; Described main control module is connected with sensor interface module with RF core module, universal peripheral interface module respectively by wire.
Preferably, described stereo rotating medicine storage cabinet module is made up of upper, middle and lower-ranking structure, and each Rotating fields is by seven medicine storage cabinets around forming, and each medicine storage cabinet of upper, middle and lower-ranking has corresponding geocoding;
Described motor-driven module comprises vertical rotary gear train and horizontal drive mechanism, and described vertical rotary gear train is for realizing the switching between different medicine storage cabinet, and the medicine storage cabinet that described horizontal drive mechanism is used for carrying out rotating location carries out horizontal transmission;
Described electromagnetic relay module is connected with motor-driven module, for controlling the adhesive of medicine storage cabinet and vertical rotary gear train and flicking.
Preferably, the operating system of described robot body adopts robot operating system of increasing income, under it is mounted in the ubuntu system of linux kernel, communicated with main control unit by serial ports, and then the working method of controlled motion control module, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and multifunctional intellectual electronic medicine box.
The utility model has following beneficial effect relative to prior art:
1, health service robot of the present utility model, in conjunction with robot mobile technology and intelligent medical technology, can largely improve and enrich the intelligent and multi-functional of electronic medicine box, facilitate and simplify the operating process of user, friendly interactive interface is that user brings better medical services and easier operating experience, electronic medicine box is made to have more hommization, more easily by users colony is accepted.
2, binocular vision capture unit of the present utility model adopts the Kinect somatosensory sensor of Microsoft, overcome the limitation of traditional environment modeling and analysis aspect, Kinect somatosensory sensor can effectively set up 3D steric environment by three cameras, thus improves the decision-making judgement of main control unit.
3, Power supply unit of the present utility model adopts the mode of fixing charging base and charge in batteries interface, automatically route can be identified by environment sensing sensor unit when accumulator electric-quantity is too low time, get back to charging base place to charge, this automatic charging mode eliminates the time and efforts of user effort in robot charging link.
4, the operating system of health service robot of the present utility model adopts the ubuntu operating system of carrying linux kernel, the robot operating system ROS that increases income runs in ubuntu system, the storehouse using ROS to carry and kit collection, computer vision algorithms make and navigator fix and path planning algorithm can be simplified, effectively can improve development efficiency, shorten the construction cycle of system.
5, multifunctional intellectual electronic medicine box of the present utility model is placed in the thorax abdomen of robot body, it comprises stereo rotating medicine storage cabinet module, stereo rotating medicine storage cabinet module is by upper, in, lower three-decker composition, every one deck by 7 medicine storage cabinets around forming, be connected with stepper motor module, to upper, in, each medicine storage cabinet of lower three layers carries out geocoding, each medicine storage cabinet can be extracted accurately by the accurate addressing of microprocessor, it is larger that stereo rotating medicine storage cabinet module volume compares conditional electronic medicine-chest, the dose of next month can be held, and can directly the medicine box used for a long time be put into wherein.
6, multifunctional intellectual electronic medicine box is implanted health service robot by the utility model, overcomes conditional electronic medicine-chest interactivity poor, the limitation of function singleness, and can realize transmitting medicine accurately whenever and wherever possible by mobile robot.Mobile convenient, result is accurate, and feature richness, power consumption are extremely low, are convenient to the medicine deposit carrying out indoor furniture, accelerates the realization of Intelligent life and intelligent medical treatment.
7, the Temperature Humidity Sensor module in multifunctional intellectual electronic medicine box of the present utility model, the ambient temperature and humidity of stereo rotating medicine storage cabinet module can be detected, prevent medicine storage ambient temperature and humidity too high, thus damage drug quality, be connected with alarm module by microprocessor, the function of overload alarm prompting can be realized.
8, the bluetooth module in multifunctional intellectual electronic medicine box of the present utility model, adopt super low-power consumption bluetooth module BLE, is furnished with autonomous super low-power consumption sensor controller, can the duty of the autonomous external multifunctional intellectual electronic medicine box of perception, thus automatically enter sleep state reduction power consumption, and wakeup time is short, stand-by time is long, can be good at meeting job requirement.
9, multifunctional intellectual electronic medicine box of the present utility model adopts bluetooth module testing result can be sent to touch control display module on robot body and outside mobile terminal shows, and then reduce the computational burden of main control unit, calculate health parameters further, more can provide powerful support for for remote medical monitor and distance medical diagnosis provide, greatly can promote the intelligent and multi-functional of health care equipment by Bluetooth technology and robot mobile technology, thus to user bring more intelligentized, more accurately, more humane medical treatment experiences.
Accompanying drawing explanation
Fig. 1 is the composition structured flowchart of health service robot of the present utility model.
Fig. 2 is the schematic diagram of the function of motion control unit of the present utility model.
Fig. 3 is the composition structured flowchart of multifunctional intellectual electronic medicine box of the present utility model.
Fig. 4 is stereo rotating medicine storage cabinet modular structure schematic diagram of the present utility model.
Fig. 5 is the composition structured flowchart of bluetooth module in multifunctional intellectual electronic medicine box of the present utility model.
Fig. 6 is multifunctional intellectual electronic medicine box workflow diagram of the present utility model.
Embodiment
Embodiment 1:
Below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail, but embodiment of the present utility model is not limited thereto.
As shown in Figure 1, the health service robot of the present embodiment comprises robot body, main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, Power supply unit and multifunctional intellectual electronic medicine box; Described main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit and environment sensing sensor unit are arranged on robot body; Described multifunctional intellectual electronic medicine box is placed in the thorax abdomen of robot body; Described main control unit is connected with multifunctional intellectual electronic medicine box with motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit with serial communication protocol respectively by bus communication protocol; Wherein, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and multifunctional intellectual electronic medicine box are the functional unit of top layer.
The underlying operating system (software processing platform) of described robot body adopts the robot operating system (RobotOperatingSystem that increases income, ROS), it comprise that hardware abstraction describes, bsp driver management, the execution of common functions, Message Transmission between program, program distribution package management, distributed process framework and support code storehouse system combined; Under robot operating system of increasing income is mounted in ubuntu (Wu Bantu) system of linux kernel, communicated with main control unit by serial ports, and then the working method of controlled motion control module, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and multifunctional intellectual electronic medicine box.
Described main control unit comprises central processing unit (CPU), universal peripheral interface module, memory module, communication interface modules, described central processing unit is received from motion control unit by universal peripheral interface module or communication interface modules, binocular vision capture unit, man-machine interaction unit, the data message of environment sensing sensor unit and multifunctional intellectual electronic medicine box, integration process is carried out to data, described Data Integration process comprises filtering algorithm, neural network algorithm, FUZZY ALGORITHMS FOR CONTROL, then carry out judgement decision-making and store data in memory module, described central processing unit carries out the transmitting-receiving of instruction by communication interface modules, and then controlled motion control module, binocular vision capture unit, man-machine interaction unit, the working method of environment sensing sensor unit and multifunctional intellectual electronic medicine box, described communication interface modules comprises I
2c (Inter-IntegratedCircuit), CAN (ControllerAreaNetwork, controller local area network) bus and UART (UniversalAsynchronousReceiver/Transmitter, universal asynchronous receiving-transmitting transmitter) and SPI (SerialPeripheralInterface, Serial Peripheral Interface (SPI)) serial communication modular, to meet the communication interface requirement between different function units, described central processing unit can communicate with operating system, completes the functional requirement of motion control, navigation and localization, man-machine interaction, data communication.
As shown in Figure 2, described motion control unit comprises motor drive module, light-coupled isolation module, group of motors and speed measuring coder; PWM (the PulseWidthModulation that described motor drive module sends for receiving main control unit, pulse-length modulation) control signal, drive motor group is rotated, and isolated by light-coupled isolation module between described motor drive module and main control unit, protection main control unit is not by the impact of electric moter voltage fluctuation; Described speed measuring coder is connected with group of motors, for positional information and the rotary speed information of Real-time Feedback group of motors, realizes the closed-loop control of group of motors position and rotating speed; Described group of motors can be made up of servomotor, direct current generator, stepper motor, high-torque steering wheel, rotates, mechanical arm action and bobbin movement for the head rotation of control machine human body, waist.
Described binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, this Kinect somatosensory sensor is used for setting up 3D steric environment by three cameras, and pass through image identifying and processing, realize the navigation and localization function of robot, and the planning of optimal path, thus improve the decision-making judgement of main control unit.
Described man-machine interaction unit comprises touch control display module and voice interaction module, described touch control display module is panel computer, this panel computer is placed in the front of robot body, for video interactive and motion control unit, binocular vision capture unit, the state display of environment sensing sensor unit and multifunctional intellectual electronic medicine box, the selection service that it is personalized for user provides, user is undertaken alternately by touch control display module and robot, and interaction results is fed back to touch control display module, touch control display module is also connected with outside mobile terminal by wireless signal (data channel can select cellular network/WLAN (wireless local area network)/bluetooth), described voice interaction module comprises voice recognition unit, phonetic synthesis unit, voice alerting unit, and described voice recognition unit is for identifying the phonetic order from user, the speech data that described phonetic synthesis unit is used for identifying processes, and synthesis machine code (can by each functional unit identification of top layer), sends to main control unit to carry out decision-making, described voice alerting unit can adopt voice prompting device, for receiving the steering order that main control unit sends over, carrying out voice message to user, realizing the interactive function between user and robot, visible, user and can utilize outside mobile terminal transmission guidance command to complete the operation of control by phonetic order, panel computer operation interface.
Described touch control display module provides visualization interface, be convenient to user and carry out interactive interface control, be the interactive interface that user and medical worker set up tele-medicine by the camera function of touch control display module, there is provided simultaneously and take pictures, make a video recording, make video recording and audio-visual broadcasting entertainment service, and can keep with outside mobile terminal that high in the clouds is synchronous and personalized function is self-defined, and the transmission-receiving function of note, mail can be provided, be convenient to for user provides good interactive experience; The report of physiologic information can be taken medicine, be carried out to described voice alerting unit by reminding user, and carry out the voice broadcast of the prompting of the suggestion after data analysis, MP3 amusement function can be provided for user simultaneously, described voice recognition unit can identify user speech, controls correlation function provide service function by voice processing technology.
Described environment sensing sensor unit comprises optoelectronic switch, gyro sensor, touch sensor, infrared sensor and ultrasonic sensor; Described optoelectronic switch, touch sensor, infrared sensor, ultrasonic sensor collaborative work, carry out the identification of barrier and hide; Described gyro sensor carries out attitude deciphering to robot body; Described environment sensing sensor unit adopts multi-sensor information fusion technology to process the data that perception is returned, and carries out FEEDBACK CONTROL by main control unit.
Described Power supply unit is used for powering for main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and multifunctional intellectual electronic medicine box, and it comprises charging base, charge in batteries interface, accumulator, voltage transformation module; Described charge in batteries interface, accumulator and voltage transformation module integration are in robot body, and described charging base is fixed on indoor; At machine man-hour, the voltage transitions that accumulator provides by described voltage transformation module becomes main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and the voltage required for multifunctional intellectual electronic medicine box, when accumulator electric-quantity is lower than the threshold value set, namely, when accumulator electric-quantity is too low, robot automatically returns to charging base place by environment sensing sensor unit and charges.
As shown in Figure 3, described multifunctional intellectual electronic medicine box comprises stereo rotating medicine storage cabinet module, motor-driven module, electromagnetic relay module, microprocessor, Temperature Humidity Sensor module, bluetooth module, indicating lamp module, alarm module and power module, described stereo rotating medicine storage cabinet module is connected with electromagnetic relay module with motor-driven module respectively, described microprocessor respectively with motor-driven module, electromagnetic relay module, Temperature Humidity Sensor module, bluetooth module, indicating lamp module is connected with alarm module, the ambient temperature and humidity situation of stereo rotating medicine storage cabinet module can be detected by Temperature Humidity Sensor module, by bluetooth module, data are sent to the touch control display module (i.e. the panel computer of robot body front) of man-machine interaction unit and outside mobile terminal, the synchronizing information of visualization interface is provided, and control the start and stop of indicating lamp module and alarm module, microprocessor is also connected with main control unit by communication device interface, the working method of microprocessor is controlled by main control unit, described power module is used for powering for stereo rotating medicine storage cabinet module, motor-driven module, microprocessor, bluetooth module, indicating lamp module and alarm module.
As shown in Figure 4, described stereo rotating medicine storage cabinet module is by upper, in, lower three-decker composition, each Rotating fields by seven medicine storage cabinets around forming, in advance to upper, in, each medicine storage cabinet of lower three layers carries out geocoding, each medicine storage cabinet can be extracted accurately by the accurate addressing of microprocessor, the volume of stereo rotating medicine storage cabinet module and the thorax abdomen size of robot body close, be equivalent to the thorax abdomen size of human body, therefore conditional electronic medicine-chest is compared larger, the dose of next month can be held, and can directly the medicine box used for a long time be put into wherein.
Described motor-driven module comprises vertical rotary gear train and horizontal drive mechanism, described vertical rotary gear train is made up of three stepper motors (gear set of three stepper motors 1,2 and 3 has been shown in Fig. 4) and spring reduction gear, three stepper motors are connected with upper, middle and lower-ranking medicine storage cabinet respectively, and the angle that Microprocessor S3C44B0X stepper motor rotates at every turn can realize the switching between different medicine storage cabinet; Described horizontal drive mechanism is made up of stepper motor module spring reduction gear, and Microprocessor S3C44B0X horizontal drive mechanism can carry out horizontal transmission to the medicine storage cabinet carrying out rotating location, exports the front of robot body to, extracts medicine for user.
The described electromagnetic relay module relay of upper, middle and lower-ranking structure (in the Fig. 4) is connected with motor-driven module, for the adhesive that controls medicine storage cabinet and vertical rotary gear train with flick; When user gets it filled, microprocessor sends instruction control electromagnetic relay module and flicks medicine storage cabinet, then by motor-driven module, medicine storage cabinet is sent in face of user, after user has got it filled, by man-machine interaction unit input control order, medicine storage cabinet gets back to the old place, and by the adhesive of electromagnetic relay module.
Described Temperature Humidity Sensor module, for detecting the ambient temperature and humidity of stereo rotating medicine storage cabinet, prevents medicine storage ambient temperature and humidity too high, thus damages drug quality, is connected with alarm module by microprocessor, can realize the function of overload alarm prompting.
As shown in Figure 5, described bluetooth module adopts low-power consumption bluetooth standard V4.0 equipment, and can ensure high-speed transfer, can solve again the excessive problem of power consumption, it comprises main control module, RF core module, universal peripheral interface module and sensor interface module; The signal that described main control module transmits for receiving, storing mixed signal microcontroller, and when signal demand outwards transmits, signal is imported into RF core module; Described RF core module is used for when signal demand outwards transmits, and receives the signal that main control module imports into, and is outwards transmitted by antenna by signal; Described universal peripheral interface module comprises the I that wire is connected
2c, UART and SPI; Described main control module is connected with sensor interface module with RF core module, universal peripheral interface module respectively by wire; Send data to the touch control display module of man-machine interaction unit and the virtual electronic medicine-chest of outside mobile terminal by bluetooth module, the actual situation synchronizing information of multifunctional intellectual electronic medicine box can be realized.
As shown in Figure 6, the multifunctional intellectual electronic medicine box workflow of the present embodiment is as follows:
Microprocessor is in advance to upper, in, each medicine storage cabinet of lower three layers carries out geocoding, whether detect user by man-machine interaction unit has steering order to input, when user gets it filled demand, the stepper motor that microprocessor then controls vertical transmission mechanism rotates a certain angle and switches to required medicine storage cabinet, then control electromagnetic relay and flick required medicine storage cabinet, horizontal drive mechanism carries out horizontal transmission to the medicine storage cabinet carrying out rotating location, export the front of robot body to, medicine is extracted for user, guarantee to extract each medicine storage cabinet accurately, after user has got it filled, by man-machine interaction unit input control order, medicine storage cabinet gets back to the old place, and by the adhesive of electromagnetic relay module, Temperature Humidity Sensor module adopts timesharing detected state, thus reduction power consumption, detect the ambient temperature and humidity of stereo rotating medicine storage cabinet module, prevent medicine storage ambient temperature and humidity too high, thus damage drug quality, be connected with alarm module, the then sound and light alarm prompting when ambient temperature and humidity transfinites, status data in whole multifunctional intellectual electronic medicine box is sent on the panel computer of robot body front and the virtual electronic medicine-chest of outside mobile terminal and shows by bluetooth module, is the situation of user's Real-time Feedback multifunctional intellectual electronic medicine box.When user without get it filled demand time, microprocessor reads the data of peripheral hardware timing chip module always, and when the time is taken medicine in arrival, then reminding user is taken medicine on time, and carries out alternately with user, other times are then in Low-power-consumptiodormancy dormancy state, and now whole system ends task.
Mobile terminal in above-described embodiment can be smart mobile phone, PDA handheld terminal etc.
In sum, health service robot of the present utility model, in conjunction with robot mobile technology and intelligent medical technology, can largely improve and enrich the intelligent and multi-functional of electronic medicine box, facilitate and simplify the operating process of user, friendly interactive interface is that user brings better medical services and easier operating experience, makes electronic medicine box have more hommization, more easily by users colony is accepted.
The above; be only the utility model patent preferred embodiment; but the protection domain of the utility model patent is not limited thereto; anyly be familiar with those skilled in the art in the scope disclosed in the utility model patent; be equal to according to the technical scheme of the utility model patent and utility model design thereof and replaced or change, all belonged to the protection domain of the utility model patent.
Claims (10)
1. the health service robot based on multifunctional intellectual electronic medicine box, comprise robot body, it is characterized in that: also comprise main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit, Power supply unit and multifunctional intellectual electronic medicine box;
Described main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit and environment sensing sensor unit are on robot body; Described multifunctional intellectual electronic medicine box is placed in the thorax abdomen of robot body;
Described main control unit is connected with multifunctional intellectual electronic medicine box with motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit with serial communication protocol respectively by bus communication protocol;
Described Power supply unit is used for powering for main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit, environment sensing sensor unit and multifunctional intellectual electronic medicine box.
2. a kind of health service robot based on multifunctional intellectual electronic medicine box according to claim 1, is characterized in that: described main control unit comprises central processing unit, universal peripheral interface module, memory module, communication interface modules, described central processing unit is received from motion control unit by universal peripheral interface module or communication interface modules, binocular vision capture unit, man-machine interaction unit, the data message of environment sensing sensor unit and multifunctional intellectual electronic medicine box, integration process is carried out to data, then carry out judgement decision-making and store data in memory module, described central processing unit carries out the transmitting-receiving of instruction by communication interface modules, and then controlled motion control module, binocular vision capture unit, man-machine interaction unit, the working method of environment sensing sensor unit and multifunctional intellectual electronic medicine box.
3. a kind of health service robot based on multifunctional intellectual electronic medicine box according to claim 1, is characterized in that: described motion control unit comprises motor drive module, light-coupled isolation module, group of motors and speed measuring coder; The pwm control signal that described motor drive module sends for receiving main control unit, drive motor group is rotated, and is isolated by light-coupled isolation module between described motor drive module and main control unit; Described speed measuring coder is connected with group of motors, for positional information and the rotary speed information of Real-time Feedback group of motors, realizes the closed-loop control of group of motors position and rotating speed; Described group of motors is used for the head rotation of control machine human body, waist rotates, mechanical arm action and bobbin movement.
4. a kind of health service robot based on multifunctional intellectual electronic medicine box according to claim 1, it is characterized in that: described binocular vision capture unit selects the Kinect somatosensory sensor of Microsoft, for realizing the navigation and localization function of robot, and the planning of optimal path.
5. a kind of health service robot based on multifunctional intellectual electronic medicine box according to claim 1, it is characterized in that: described man-machine interaction unit comprises touch control display module and voice interaction module, described touch control display module is used for the state display of video interactive and motion control unit, binocular vision capture unit, environment sensing sensor unit and multifunctional intellectual electronic medicine box, is also connected with outside mobile terminal by wireless signal; Described voice interaction module comprises voice recognition unit, phonetic synthesis unit, voice alerting unit, and described voice recognition unit is for identifying the phonetic order from user; The speech data that described phonetic synthesis unit is used for identifying processes, and synthesis machine code, sends to main control unit to carry out decision-making; The steering order that described voice alerting unit sends over for receiving main control unit, carries out voice message to user, realizes the interactive function between user and robot.
6. a kind of health service robot based on multifunctional intellectual electronic medicine box according to claim 1, is characterized in that: described environment sensing sensor unit comprises optoelectronic switch, gyro sensor, touch sensor, infrared sensor and ultrasonic sensor; Described optoelectronic switch, touch sensor, infrared sensor, ultrasonic sensor collaborative work, carry out the identification of barrier and hide; Described gyro sensor carries out attitude deciphering to robot body; Described environment sensing sensor unit adopts multi-sensor information fusion technology to process the data that perception is returned, and carries out FEEDBACK CONTROL by main control unit.
7. a kind of health service robot based on multifunctional intellectual electronic medicine box according to claim 1, is characterized in that: described Power supply unit comprises charging base, charge in batteries interface, accumulator, voltage transformation module; Described charge in batteries interface, accumulator and voltage transformation module integration are in robot body, and described charging base is fixed on indoor; At machine man-hour, the voltage transitions that accumulator provides by described voltage transformation module becomes main control unit, motion control unit, binocular vision capture unit, man-machine interaction unit and the voltage required for environment sensing sensor unit, when accumulator electric-quantity is lower than the threshold value set, robot automatically returns to charging base place by environment sensing sensor unit and charges.
8. a kind of health service robot based on multifunctional intellectual electronic medicine box according to claim 1, is characterized in that: described multifunctional intellectual electronic medicine box comprises stereo rotating medicine storage cabinet module, motor-driven module, electromagnetic relay module, microprocessor, Temperature Humidity Sensor module, bluetooth module, indicating lamp module, alarm module and power module; Described stereo rotating medicine storage cabinet module is connected with electromagnetic relay module with motor-driven module respectively; Described microprocessor is connected with alarm module with motor-driven module, electromagnetic relay module, Temperature Humidity Sensor module, bluetooth module, indicating lamp module respectively, and microprocessor is also connected with main control unit by communication device interface; Described power module is used for powering for stereo rotating medicine storage cabinet module, motor-driven module, microprocessor, bluetooth module, indicating lamp module and alarm module.
9. a kind of health service robot based on multifunctional intellectual electronic medicine box according to claim 8, it is characterized in that: described stereo rotating medicine storage cabinet module is made up of upper, middle and lower-ranking structure, each Rotating fields is by seven medicine storage cabinets around forming, and each medicine storage cabinet of upper, middle and lower-ranking has corresponding geocoding;
Described motor-driven module comprises vertical rotary gear train and horizontal drive mechanism, and described vertical rotary gear train is for realizing the switching between different medicine storage cabinet, and the medicine storage cabinet that described horizontal drive mechanism is used for carrying out rotating location carries out horizontal transmission;
Described electromagnetic relay module is connected with motor-driven module, for controlling the adhesive of medicine storage cabinet and vertical rotary gear train and flicking.
10. a kind of health service robot based on multifunctional intellectual electronic medicine box according to claim 8, it is characterized in that: described bluetooth module is used for being connected with external unit, comprises main control module, RF core module, universal peripheral interface module and sensor interface module; The signal that described main control module transmits for receiving, storing mixed signal microcontroller, and when signal demand outwards transmits, signal is imported into RF core module; Described RF core module is used for when signal demand outwards transmits, and receives the signal that main control module imports into, and is outwards transmitted by antenna by signal; Described universal peripheral interface module comprises the I that wire is connected
2c, UART and SPI; Described main control module is connected with sensor interface module with RF core module, universal peripheral interface module respectively by wire.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105094133A (en) * | 2015-08-24 | 2015-11-25 | 华南理工大学 | Health service robot based on multifunctional intelligent electronic medicine kit |
| CN105500381A (en) * | 2016-02-05 | 2016-04-20 | 中国科学院自动化研究所 | Universal modularized two-arm service robot platform and system |
| CN106108863A (en) * | 2016-08-12 | 2016-11-16 | 李乾 | A kind of monitoring robot system |
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- 2015-08-24 CN CN201520641334.7U patent/CN204945795U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105094133A (en) * | 2015-08-24 | 2015-11-25 | 华南理工大学 | Health service robot based on multifunctional intelligent electronic medicine kit |
| CN105500381A (en) * | 2016-02-05 | 2016-04-20 | 中国科学院自动化研究所 | Universal modularized two-arm service robot platform and system |
| CN106108863A (en) * | 2016-08-12 | 2016-11-16 | 李乾 | A kind of monitoring robot system |
| US10448762B2 (en) | 2017-09-15 | 2019-10-22 | Kohler Co. | Mirror |
| US10663938B2 (en) | 2017-09-15 | 2020-05-26 | Kohler Co. | Power operation of intelligent devices |
| US10887125B2 (en) | 2017-09-15 | 2021-01-05 | Kohler Co. | Bathroom speaker |
| US11099540B2 (en) | 2017-09-15 | 2021-08-24 | Kohler Co. | User identity in household appliances |
| US11314214B2 (en) | 2017-09-15 | 2022-04-26 | Kohler Co. | Geographic analysis of water conditions |
| US11314215B2 (en) | 2017-09-15 | 2022-04-26 | Kohler Co. | Apparatus controlling bathroom appliance lighting based on user identity |
| US11892811B2 (en) | 2017-09-15 | 2024-02-06 | Kohler Co. | Geographic analysis of water conditions |
| US11921794B2 (en) | 2017-09-15 | 2024-03-05 | Kohler Co. | Feedback for water consuming appliance |
| US11949533B2 (en) | 2017-09-15 | 2024-04-02 | Kohler Co. | Sink device |
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