CN207326997U - Robot and robot service management system - Google Patents
Robot and robot service management system Download PDFInfo
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- CN207326997U CN207326997U CN201721019079.8U CN201721019079U CN207326997U CN 207326997 U CN207326997 U CN 207326997U CN 201721019079 U CN201721019079 U CN 201721019079U CN 207326997 U CN207326997 U CN 207326997U
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- 238000001514 detection method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 238000007689 inspection Methods 0.000 description 3
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- 230000008569 process Effects 0.000 description 2
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Abstract
Professional technique service field is the utility model is related to, discloses a kind of robot and robot service management system.Robot includes：Bottom section body and the moving device being arranged in bottom section body, moving device are used for mobile robot；Control unit, communicates to connect with moving device, for planning the mobile route of moving device；The first ultrasonic sensor being arranged in bottom section body, the first ultrasonic sensor are communicated to connect with control unit, for detecting barrier, and for feeding back the first range information of barrier；The laser radar being arranged in bottom section body；Laser radar is communicated to connect with control unit, for detecting barrier, and for feeding back the second distance information of barrier；Control unit is used for according to the first range information and the mobile route of second distance information real-time update moving device fed back.The utility model has more preferable avoidance and route planning ability.
Description
Technical field
The utility model is related to professional technique service field, such as medical treatment, education, public affair etc., the utility model with
The scene of medical industry refers to, and gives a kind of robot and robot service management system.
Background technology
The utility model is described as follows its background value using medical industry as case：In traditional medical services
Cheng Zhong, be essentially all in a manner of manual service based on.In addition to general patient, also there is high number of row within the hospital
The patient or patient with severe symptoms of inconvenience are moved, can only long-term bed mastery.When being nursed using traditional approach, it is necessary to substantial amounts of manpower and
Material resources.Therefore, under the premise of increased to demand for medical service, medical staff will be more and more in short supply, and healthcare will be difficult to
For after.
In the prior art, there is the skill that the part of the work to medical staff replacement is realized by robot
Art.For example, in the Chinese patent literature of Application No. CN201610447877.4, a kind of robot is had been disclosed for, it is wrapped
Include：Control cabinet, voice device, camera, manipulator, robot front end tracking module, robot rear end tracking module, host computer
Display, robot chassis, wheel etc. component.Wherein, its front end tracking module includes several gray-scale sensors, and utilizes
The mode of track drafting in ward so that robot can follow default track to move, and make an inspection tour and make the rounds of the wards instead of medical staff.
Using robot, medical staff can not only be assisted to carry out intelligence and made the rounds of the wards, and doctor can be helped to carry out remote medical consultation with specialists,
The inconvenience of the physical distance between doctor and patient is eliminated, improves work efficiency.And the characteristic of the opening and interconnecting of internet is borrowed,
Hospital can be helped to break away from territory restriction, allow between different hospitals, between hospital and patient, can between patient and patient
Erect the bridge of communication.
But this robot of the prior art, it is to be moved by gray-scale sensor plus the form of guide line to realize
Dynamic.It is merely capable of, according to the program pre-set and track movement, not realizing contexture by self track route, Er Qie
During avoiding barrier, the interference to place and light is more sensitive.In public place as hospital, unforeseen barrier
A lot of, therefore, it is difficult to realize stable avoidance ability.
Utility model content
The purpose of this utility model is to provide a kind of robot, it make use of the service system and robot of the robot
Control method for movement.The utility model has more preferable avoidance and route planning ability.
Specifically, the utility model provides a kind of robot, including：
Bottom section body and the moving device being arranged in bottom section body, moving device are used for mobile robot；
Control unit, communicates to connect with moving device, for planning the mobile route of moving device；
Wherein, robot further includes：
The first ultrasonic sensor being arranged in bottom section body, the first ultrasonic sensor and control unit communication link
Connect, for detecting barrier, and for feeding back the first range information of barrier；
The laser radar being arranged in bottom section body；Laser radar is communicated to connect with control unit, for detecting barrier,
And for feeding back the second distance information of barrier；
Control unit is used for according to the first range information and second distance information real-time update moving device fed back
Mobile route.
The utility model additionally provides a kind of control method for movement of robot, includes the following steps：
Planning step：Control unit cooks up the mobile route of the moving device of robot according to destination information；
Moving step：Moving device is moved according to the mobile route planned；
Correct step:The barrier that control unit is fed back according to the ultrasonic sensor and laser radar installed in robot
Hinder the range information of thing, real-time update mobile route, and feed back to moving device.
In terms of existing technologies, the utility model feeds back obstacle by the first ultrasonic sensor and laser radar
Thing information, can be to the real-time update of route of travel.Interference of the used sensor to place and light is simultaneously insensitive, therefore
The avoidance ability stablized with good.
Preferably, robot further includes the supporting rod being connected in bottom section body, and it is arranged on taking the photograph on supporting rod
As head；
The communication of camera and remote terminal connects, for by the image transmitting gathered in real time to remote terminal.
It by camera, can be moved with remote control robot, the moving operation of auxiliary is provided when needing manpower intervention,
So that the movement of robot is more flexible.Meanwhile camera can be also used for observation patient's states, it is more suitable for answering for medical services
With.
Preferably, being provided with the second ultrasonic sensor on supporting rod, the second ultrasonic sensor leads to control unit
Letter connection, for detecting barrier, and for feeding back the 3rd range information of barrier.Using positioned at the second of relatively eminence
Ultrasonic sensor, can obtain the information of the barrier positioned at higher position, improve the avoidance ability of robot.
Further, preferably, supporting rod includes：
Lower support section, is fixedly connected with bottom section body；
Upper support section, section connection is supported with fixed, and can opposing lower portions support section stretch along its length；
Wherein, the second ultrasonic sensor is arranged on lower support section, and close to lower support section and upper support section
Link position；
Camera is arranged on upper support section.
Saved using telescopic support, can realize the height adjustment of the equipment positioned at support bar top.Moreover, by second
Ultrasonic sensor is arranged on lower support section, can to avoid upper support section stretching motion to the second ultrasonic sensor
The influence that may bring of sensing detection.
Equally further, preferably, upper support section further includes：Pars contractilis and the fixation for being arranged at pars contractilis top
Part, camera are arranged on fixing piece；
Fixing piece can relative telescopic portion using own axes as rotation axis rotate.
By rotatable fixing piece, the angle of camera can be easily adjusted, it is all easy to preferably observer robot
Collarette border.
In addition, preferably,
In planning step, the mobile route planned includes several path points；
In moving step, moving device is moved by these path points successively according to the mobile route planned；
In moving step, following sub-step is further included：
Angle set-up procedure：When robot often reaches a path point, pause is mobile and adjusts the direction of robot
For next path point in face mobile route, then move on.
The walking angle of robot is adjusted using angle set-up procedure, can be allowed the robot to preferably along straight
Line is walked.
Further, preferably, before planning step, following steps are further included：
Destination selects step：By Cloud Server, the destination to be gone to of robot is selected；
Invocation step：Cloud Server is believed to the robot sending destination near destination and in idle state
Breath.
After the moving step, following steps are further included：
Work step：After robot arrives at, start medical services work；
Playback step：Robot is after medical services work is completed, automatic homing.
The destination of robot is assigned by Cloud Server, compared to for every robot Stand-alone distribution order,
The distribution of robot can be planned.Allow the robot to preferably be evenly distributed in coverage, avoid flocking together
Phenomenon.
Moreover, set automatic homing to act for robot, can be possible to the patient of lesion and family members institute to avoid robot
The obstruction of generation.
Further, preferably, in work step,
Medical services work includes following sub-step：
Confirm patient identity；
Make the rounds of the wards or hold a consultation.
Service of making the rounds of the wards and hold a consultation is provided by robot, can significantly mitigate doctor's burden, improves efficiency.
The utility model additionally provides a kind of robot service management system, including Cloud Server and several foregoing machines
Device people；
The control unit of Cloud Server and each robot communicates to connect；
Cloud Server is used to instruct to the control unit sending destination of robot, and control unit is instructed according to destination and advised
Mobile route is drawn, and according to the first range information and second distance information real-time update mobile route fed back.
In the robot service management system of the utility model, communication and connection by Cloud Server and each robot
It is dynamic, most suitable robot can be called for the purpose of, therefore there is more preferable flexibility.
Brief description of the drawings
Fig. 1 is the schematic perspective view of the utility model first embodiment robot；
Fig. 2 is the schematic perspective view of the utility model second embodiment robot；
Fig. 3 is the schematic perspective view of the 3rd embodiment robot of the utility model；
Fig. 4 is the schematic perspective view of the 4th embodiment robot of the utility model；
Fig. 5 is the module frame chart of the 5th embodiment robot service management system of the utility model；
Fig. 6 is the flow chart of the control method for movement of the utility model sixth embodiment robot.
Description of reference numerals：
1- bottom section bodies；2- moving devices；The first ultrasonic sensors of 3-；4- laser radars；5- supporting rods；5a- lower parts
Support section；5b- upper support sections；5b1- pars contractilis；5b2- fixing pieces；6- tablet computers；7- cameras；The second ultrasonic waves of 8- pass
Sensor.
Embodiment
With reference to Figure of description, the utility model is described in further detail.It is schematically simple in attached drawing
Change the structure for showing robot.
Embodiment one
The first embodiment of the utility model provides a kind of robot, shown in Figure 1, including：
Bottom section body 1 and the moving device 2 being arranged in bottom section body 1, moving device 2 are used for mobile robot.This reality
Particular/special requirement is had no with the new specific composition to moving device 2.Can be the moving device 2 of multi-foot walking type, can also
It is Mecanum wheel.In comprehensive cost, economy and hospital's scene and the demand of uncomplicated landform considers, selects such as Fig. 1 institutes
The conventional tyre shown is also possible.
Control unit, communicates to connect with moving device 2, for planning the mobile route of moving device 2.In present embodiment
In, control unit can be various computing chips of the prior art.
In addition, robot further includes：
The first ultrasonic sensor 3 being arranged in bottom section body 1, the first ultrasonic sensor 3 communicate with control unit
Connection, for detecting barrier, and for feeding back the first range information of barrier；
The laser radar 4 being arranged in bottom section body 1；Laser radar 4 is communicated to connect with control unit, for detecting obstacle
Thing, and for feeding back the second distance information of barrier；
Control unit is used for according to the first range information and second distance information real-time update moving device 2 fed back
Mobile route.
Laser radar 4 mentioned by present embodiment, it is substantially the laser ranging system of a high frequency.Laser radar
4 can carry out the environmental scannings of thousands of time or even up to ten thousand times within each second, wherein measurement range farthest up to 16m even more
Far, can by laser radar 4 in one's power in the range of barrier and its distance drawn out in the form of profile information.
Laser radar 4 is compared with the prior art for the middle scheme for adding guide line to navigate come tracking using gray-scale sensor,
In addition to the precision for possessing higher, additionally it is possible to resist the interference of place and light well.Therefore it is more suitable for hospital, learns
The public place of personnel environment's complexity as school.
Laser radar 4 selected by present embodiment can possess quite high precision.And further, present embodiment
It is proposed with supporting that (simultaneous localization and mapping, translator of Chinese position SLAM algorithms to be synchronous
With building figure) and the high laser radar 4 per second more than 4000 times of sample frequency, and suggest that laser radar 4 can possess 360 ° and sweep
Retouch scope.
By laser radar 4, distance and remote barrier situation in can detecting.But rely only on a laser radar
4, it may e insufficient to fully prevent robot from encountering barrier.This is because in order to enable laser radar 4 possesses bigger
Scanning range, it will usually laser radar 4 is installed on and is higher than bottom section body 1, especially greater than the position of moving device 2.This can
Causing position of the scanning range of laser radar 4 near the bottom section body 1 close to robot, there are dead angle.And set multiple
During laser radar 4, cost again may be excessively high.
Therefore, in the present embodiment, the first ultrasonic sensor 3 is provided with also in bottom section body 1, it is near for detecting
The barrier of distance, and feed back the first range information of barrier.
Those of ordinary skill in the art understand that for ultrasonic sensor mainly using directly reflective detection pattern, it is former
Reason is generally placed upon, and the ultrasonic wave launched partly reflects the receiver of passback sensor when running into barrier, so that sensing
Device detects barrier.For laser radar 4, ultrasonic sensor is more insensitive to the transparency of barrier, can
The detection of obstacles being well adapted in investigative range, and it is of low cost.But equally for laser radar 4, ultrasound
The detection field angle of wave sensor is smaller, and the scope being able to detect that is also smaller.
In the present embodiment, in order to further increase investigative range, as shown in Figure 1, can be in the front of robot
Set two the first ultrasonic sensors 3, and using the two first ultrasonic sensors 3 separately detect positioned at robot just before
The barrier of square both sides.
Certainly, as further improving, when the moving device 2 of robot is arranged to multi-foot walking type, Huo Zhemai
During the such type without obvious directionality of Ke Namu wheels, retreat in order to facilitate robot or moved towards both sides, can also be
The rear of robot or sidepiece add the first ultrasonic sensor 3, so as to obtain more wide investigative range.
Summary is considered, and the utility model is used cooperatively by 4 and first ultrasonic sensor 3 of laser radar, together
When realize the obstacle detection of far and near distance.The robot of the utility model can be a variety of in hospital ward, administrative hall etc.
Contexture by self is played under complicated Public space Environment and implements the function of corrigendum navigation way, possess very outstanding movement and
Avoidance ability.
The robot that present embodiment is provided is mainly used for field of medical service, therefore the medical treatment to patient for convenience
Service in face of patient, it is necessary to show image or text information.As the preferred of the utility model, can be set in robot
Display device, such as screen and projection arrangement, and matched broadcasting device, such as loudspeaker, sound equipment.Even, Ke Yi
The tablet computer 6 for having gathered various functions is set in robot.
And in order to enable patient can cosily watch shown content, it can make by adjusting the structure of robot
The content obtained shown by display device is concordant with the sight of patient.
Therefore shown in Figure 1, in the present embodiment, robot further includes the supporting rod being connected in bottom section body 1
5。
Display device and playing device etc. can be all disposed within supporting rod 5, such as shown in Fig. 1, on supporting rod 5
Just it is provided with multi-functional tablet computer 6.
In the present embodiment, robot further includes the camera 7 being arranged on supporting rod 5.
The communication of camera 7 and remote terminal connects, for by the image transmitting gathered in real time to remote terminal.
It by camera 7, can be moved with remote control robot, the mobile behaviour of auxiliary is provided when needing manpower intervention
Make so that the movement of robot is more flexible.Meanwhile camera 7 can be also used for observation patient's states, be more suitable for medical services
Application.In addition camera 7 can also be communicated to connect with control unit, using existing video identification technology, unit in order to control
The 4th range information of barrier is provided, to help control unit preferably to provide navigation way.
It is noted that the camera 7 can be integrated on tablet computer 6, can also independently go out as illustrated in fig. 1
Come, this has no effect on the actual use of the utility model.
In addition, in the present embodiment, peripheral module carry card slot can also be set on supporting rod, for transporting thing
Product, such as medicine, cutlery box, instrument.
It is noted that the robot mentioned by the utility model can also be applied other in addition to medical services
Field.
Present embodiment further discloses a kind of robot for operating the utility model and realizes the general step of independent navigation
And method：
Planning step：Control unit cooks up the mobile route of the moving device 2 of robot according to destination information.
In above-mentioned planning step, it can be made to be moved to desired position by directly issuing orders to robot, can also be by remote
Process control carrys out operation robot.Furthermore, it is understood that microphone can be set in robot, coordinate speech recognition technology, can be with
Enable medical staff by the voice of set form come the action of the order under robot command completion, such as make an inspection tour disease
Room, be moved to before some bed etc..By the direct operation robot of voice, there is operation facility, intelligentized advantage, additionally it is possible to
Effectively mitigate the operating pressure of medical staff, improve the work efficiency of medical staff.
Moving step：Moving device 2 is moved according to the mobile route planned.Wherein, the mobile route planned can be with
It is one preliminary, the route of departure place and destination relation can be given expression to.This mobile route can be according to the prior art
In the algorithms of various navigation ways determine.For example, closest route can be cooked up, can also be according in route
The parametric programmings such as elevator quantity, the degree of crowding go out the route for spending the time minimum.
Correct step:The distance letter for the barrier that control unit is fed back according to each sensor installed in robot
Breath, real-time update mobile route, and feed back to moving device 2.Obviously, mobile route needs to adjust in real time, this is by public affairs
The complicated case in place is determined altogether.For example, when robot passes through, may drop suddenly object from sick bed at one's side, this
When, the robot of real-time update mobile route can avoid the thing according to the range information of the object fed back naturally
Body.
In terms of existing technologies, the utility model feeds back barrier by the first ultrasonic sensor 3 and laser radar 4
Hinder thing information, can be to the real-time update of route of travel.Interference of the used sensor to place and light is simultaneously insensitive, because
This has avoidance ability that is good and stablizing.
Embodiment two
The second embodiment of the utility model provides a kind of robot, and second embodiment is first embodiment
Further improve, mainly the improvement is that, shown in Figure 2 in the second embodiment of the utility model, supporting rod 5
On be provided with the second ultrasonic sensor 8, the second ultrasonic sensor 8 is communicated to connect with control unit, for detecting barrier,
And for feeding back the 3rd range information of barrier.
Since in the environment of hospital, there are substantial amounts of movable sickbed.Similar to cart as movable sickbed
In structure, hanging part is often had.When the overhanging portion of such barrier is located at certain altitude, if relying only on first
Ultrasonic sensor 3 and laser sensor, it is possible to omit.
Therefore, in the present embodiment, using the second ultrasonic sensor 8 positioned at relatively eminence, position can be obtained
In the information of the barrier of higher position, the avoidance ability of robot is improved.
Embodiment three
3rd embodiment of the utility model provides a kind of robot, and the 3rd embodiment is second embodiment
Further improve, mainly the improvement is that, shown in Figure 3 in the 3rd embodiment of the utility model, supporting rod 5
Including：
Lower support section 5a, is fixedly connected with bottom section body 1；
Upper support section 5b, section connection is supported with fixed, and can opposing lower portions support section 5a stretch along its length；
Wherein, the second ultrasonic sensor 8 is arranged on lower support section 5a, and close to lower support section 5a and top branch
The link position of support section 5b；
Camera 7 is arranged on upper support section 5b.
Saved using telescopic support, can realize the height adjustment positioned at the equipment at the top of supporting rod 5.Moreover, by
Two ultrasonic sensors 8 are arranged on lower support section 5a, can be ultrasonic to second to avoid the stretching motion of upper support section 5b
The influence that the sensing detection of wave sensor 8 may be brought.
Embodiment four
4th embodiment of the utility model provides a kind of robot, and the 4th embodiment is the 3rd embodiment
Further improve, mainly the improvement is that, in the 4th embodiment of the utility model, shown in Figure 4, upper support
Section 5b is further included：The pars contractilis 5b1 and fixing piece 5b2 for being arranged at pars contractilis 5b1 tops, camera 7 are arranged on fixing piece 5b2
On；
Fixing piece 5b2 can relative telescopic portion 5b1 using own axes as rotation axis rotate.
By rotatable fixing piece 5b2, the angle of camera 7 can be easily adjusted, easy to better by shooting
First 7 carry out observer robot surrounding environment.
For further, camera 7 can use autotracking video camera, ensure that camera 7 follows specified trouble automatically
Person, is conducive to distal end doctor and observes vital sign patient.
In addition, the manual navigation of robot movement can also be realized by the camera 7 for being arranged on higher position,
In especially complex environment, robot is moved using manual operation, robot can be helped to extricate oneself from a predicament.
Embodiment five
5th embodiment of the utility model provides a kind of robot service management system, shown in Figure 5, including
Cloud Server and several foregoing robots；
The control unit of Cloud Server and each robot communicates to connect；
Cloud Server is used to instruct to the control unit sending destination of robot, and control unit is instructed according to destination and advised
Mobile route is drawn, and according to the first range information and second distance information real-time update mobile route fed back.
In the robot service management system of the utility model, communication and connection by Cloud Server and each robot
It is dynamic, most suitable robot can be called for the purpose of, therefore there is more preferable flexibility.
Present embodiments provide for a kind of operational process of robot service management system, exemplified by medical services to be provided,
It is specific as follows：
1st, in the system platform of Cloud Server, the purpose of selecting residing medical institutions, lesion, bed ground information.
2nd, it is idle machines people that the program in Cloud Server calls in region and system state automatically, its called side
Formula can be drawn using various algorithms of the prior art, can also select what is specified with the nearest robot of chosen distance
Robot.
3rd, Cloud Server is instructed to the control unit sending destination of robot.According to this purpose instruct, Ke Yigui
Mark the mobile route of the moving device 2 of robot.It is noted that this planning step can be such as first embodiment institute
Address, completed by the control unit of robot itself, and the barrier fed back by control unit according to each sensor
Information carrys out real-time update.It can certainly be completed by Cloud Server.
When selecting Cloud Server as core is calculated, the structure and cost of robot can be simplified, it is the disadvantage is that, believing
It is number bad when can not connect to network, the navigation of robot may be influenced.And when selecting robot autonomous calculating, then need machine
People possesses enough computing capabilitys.
As the optimal selection of the utility model, navigation and cartographic information first can be generated in Cloud Server, and
It is transferred to target robot.Then map and completion navigation are updated come autonomous by target robot.
In addition, Cloud Server can also obtain control authority to the control unit of robot, and user can pass through control
Control equipment, is moved using manual mode remote control robot.
4th, after robot arrives at, patient identity is confirmed by various methods.For example, can be by various energy
Enough identify the identification card of identity, confirm patient identity such as identity card or medical card.Accurately arrive at destination and identification patient
Identity can prevent mistaken diagnosis, improve efficiency.
When that can not find patient, robot can mark mission failure, and nurse call station.Can be slightly so that making the rounds of the wards
Afterwards by manually carrying out, avoid omitting patient.
5th, after identity validation is errorless, medical staff can by the various multimedia equipments that are set in robot, into
Row video, audio are made the rounds of the wards, or even the work such as expert consultation.
Using robot remote medical services, the limitation in space is broken, has been brought for traditional medical and health care new
Vigor, greatly facilitates doctor and patient；In long-range make the rounds of the wards, the consultation of doctors software in Cloud Server can be combined, consults EMR
(Electronic Medical Record, computerized medical record system), CPOE (Computerized Prescriber
Order entry, computerization doctor's advice system) data.Utilize the robot service management system of the utility model, Yi Shengwu
By when and where each item data and information of the patient with real-time update needed for it can be obtained by various mobile terminals,
And therapeutic scheme is adjusted at any time.
6th, after completing medical care task, robot can return to playback.Can by backtracking and real-time update route,
The route of return can be planned again.
Certainly, in the field such as education and public affair, corresponding tune can also be made according to the service content of every field
It is whole.
The platform of the Cloud Server of the utility model can be based on various cloud computing operating systems of the prior art, such as
Holding load as Microsoft Azure is balanced, the cloud computing system of the automatic dilatation of database, so as to possess real-time number
According to seeing clearly ability.
Furthermore, it is understood that in the utility model, the medical treatment of the utility model can be further improved by big data
Service level.For example, the data, case history and inspection result of patient can be stored on Cloud Server, and it is interrelated, and
Introduce artificial intelligence to analyze the data of patient, so that assist personnel makes diagnosis.
Embodiment six
The sixth embodiment of the utility model provides a kind of control method for movement of robot, shown in Figure 6, bag
Include following steps：
Planning step：Control unit cooks up the mobile route of the moving device 2 of robot according to destination information；
Moving step：Moving device 2 is moved according to the mobile route planned；
Correct step:The distance letter for the barrier that control unit is fed back according to each sensor installed in robot
Breath, real-time update mobile route, and feed back to moving device 2.
In the present embodiment, signified " each sensor " generally includes any one in the above-mentioned first to the 5th embodiment
" the first ultrasonic sensor 3 ", laser radar 4, " second ultrasonic sensor 8 " etc. that embodiment once referred to.By sharp
The combination of optical radar 4 and ultrasonic sensor, can obtain accurately obstacle information.
In above-mentioned planning step, it can be made to be moved to desired position by directly issuing orders to robot,
Can be by remote control come operation robot.Furthermore, it is understood that microphone can be set in robot, coordinate speech recognition
Technology, can enable medical staff by the voice of set form come robot command complete under order action,
Such as making ward, it is moved to before some bed etc..It is convenient, intelligentized with operation by the direct operation robot of voice
Advantage, additionally it is possible to effectively mitigate the operating pressure of medical staff, improve the work efficiency of medical staff.
In the case where being combined with the robot service management system of Cloud Server, in planning step, can be connect using robot
Receive the instruction for including destination information from Cloud Server.According to this purpose information, to cook up the row of robot
Into the mobile route of device 2.
It is noted that this planning step can as described in the first embodiment and, pass through robot itself
Control unit is completed, and the obstacle information fed back by control unit according to each sensor is come real-time update.Certainly also may be used
To be completed by Cloud Server.When selecting Cloud Server as core is calculated, the structure and cost of robot can be simplified, its
The disadvantage is that, when poor signal can not connect to network, the navigation of robot may be influenced.And select robot autonomous calculating
When, then need the enough computing capabilitys of robot.As the optimal selection of the utility model, can be given birth in Cloud Server
Into navigation first and cartographic information, and it is transferred to target robot.Then by target robot come it is autonomous update map and
Complete navigation.
In planning step, the mobile route planned can be one preliminary, can give expression to departure place and purpose
The route of ground relation.This mobile route can be determined according to the algorithm of various navigation ways of the prior art.For example, can
, can also be according to the elevator quantity in route, the degree of crowding when parametric programming goes out and spends to cook up closest route
Between minimum route.
In moving step, robot is moved according to the route planned.Obviously, mobile route is to need adjustment in real time
, this is determined by the complicated case of public place.For example, when robot passes through, may be suddenly from sick bed at one's side
Drop object, and at this time, the robot of real-time update mobile route can believe according to the distance of the object fed back naturally
Cease to avoid the object.
Therefore, in step is corrected, control unit passes through the barrier that is fed back according to each sensor installed in robot
Hinder the range information of thing, real-time update mobile route, and feed back to moving device 2.Under the premise of herein, as long as sensor is fed back
Barrier range information it is accurate enough, it is possible to realize good navigation effect.
Embodiment seven
The utility model people of the utility model has found, in the process of the robot autonomous navigation and avoidance walking of long range
In, it is possible to can be because causing the run trace of robot to show snakelike appearance in a manner of navigation only by destination for target
State.The robot of serpentine-like track movement is not only easier triggering barrier, and needs to occupy the mobile space of bigger.
In view of this, the 7th embodiment of the utility model provides a kind of control method for movement of robot, and the 7th
Embodiment is the further improvement of sixth embodiment, is mainly theed improvement is that, in the 7th embodiment party of the utility model
In formula：
In planning step, the mobile route planned includes several path points；
In moving step, moving device 2 is moved by these path points successively according to the mobile route planned；
In moving step, following sub-step is further included：
Angle set-up procedure：When robot often reaches a path point, pause is mobile and adjusts the direction of robot
For next path point in face mobile route, then move on.
Wherein, the setting of path point can be equidistant, such as every 10 meters of path points, can also be according to mobile road
The total length of line carrys out equal proportion distribution.Suspending mobile required time can be set according to being actually needed, typically not greater than two seconds.
The walking angle of robot is adjusted using angle set-up procedure, can be allowed the robot to preferably along straight
Line is walked.Thus, it is possible to reduce shared public space when mobile, improves the avoidance ability of robot.
Embodiment eight
8th embodiment of the utility model provides a kind of control method for movement of robot, and the 8th embodiment is
The further improvement of 6th or the 7th embodiment, mainly thes improvement is that, in the 8th embodiment of the utility model：
Before planning step, following steps are further included：
Destination selects step：By Cloud Server, the destination to be gone to of robot is selected；
Invocation step：Cloud Server is believed to the robot sending destination near destination and in idle state
Breath.
After the moving step, following steps are further included：
Work step：After robot arrives at, start medical services work；
Playback step：Robot is after medical services work is completed, automatic homing.
The destination of robot is assigned by Cloud Server, compared to for every robot Stand-alone distribution order,
The distribution of robot can be planned.Allow the robot to preferably be evenly distributed in coverage, avoid flocking together
Phenomenon.
Moreover, set automatic homing to act for robot, can be possible to the patient of lesion and family members institute to avoid robot
The obstruction of generation.
In the work step of present embodiment,
Medical services work includes following sub-step：
Confirm patient identity；
Make the rounds of the wards or hold a consultation.
Service of making the rounds of the wards and hold a consultation is provided by robot, can significantly mitigate doctor's burden, improves efficiency.
It will be understood by those skilled in the art that in above-mentioned each embodiment, in order to make reader more preferably geographical
Solve the application and propose many ins and outs.But even if without these ins and outs and based on the respective embodiments described above
Many variations and modification, can also realize each claim of the application technical solution claimed substantially.Therefore, in reality
In, can to the above embodiment, various changes can be made in the form and details, without departing from the spirit of the utility model
And scope.
Claims (6)
1. a kind of robot, including：
Bottom section body (1) and the moving device (2) being arranged in bottom section body (1), the moving device (2) are used for described in movement
Robot；
Control unit, communicates to connect with the moving device (2), for planning the mobile route of the moving device (2)；
It is characterized in that, the robot further includes：
The first ultrasonic sensor (3) being arranged in the bottom section body (1), first ultrasonic sensor (3) and institute
Control unit communication connection is stated, for detecting barrier, and for feeding back the first range information of the barrier；
The laser radar (4) being arranged in the bottom section body (1)；The laser radar (4) and described control unit communication link
Connect, for detecting barrier, and for feeding back the second distance information of the barrier；
Described control unit is used for dress of advancing according to the first range information and second distance information real-time update that are fed back
Put the mobile route of (2).
2. robot according to claim 1, it is characterised in that the robot, which further includes, is connected to the bottom section body
(1) supporting rod (5) on, and the camera (7) being arranged on the supporting rod (5)；
The communication of the camera (7) and remote terminal connects, for by the image transmitting gathered in real time to remote terminal.
3. robot according to claim 2, it is characterised in that the second ultrasonic wave biography is provided with the supporting rod (5)
Sensor (8), second ultrasonic sensor (8) communicate to connect with described control unit, for detecting barrier, and for anti-
Present the 3rd range information of the barrier.
4. robot according to claim 3, it is characterised in that the supporting rod (5) includes：
Lower support section (5a), is fixedly connected with the bottom section body (1)；
Upper support section (5b), and the fixed support section connection, and can relatively described lower support section (5a) along length side
To flexible；
Wherein, second ultrasonic sensor (8) is arranged on the lower support section (5a), and close to the lower support
Save the link position of (5a) and the upper support section (5b)；
The camera (7) is arranged on the upper support section (5b).
5. robot according to claim 4, it is characterised in that the upper support section (5b) further includes：Pars contractilis
(5b1) and the fixing piece (5b2) for being arranged at the pars contractilis (5b1) top, the camera (7) are arranged on the fixing piece
On (5b2)；
The fixing piece (5b2) can rotate relative to the pars contractilis (5b1) by rotation axis of own axes.
6. robot service management system, it is characterised in that including any one in Cloud Server and several claims 1 to 5
Robot described in；
The control unit of the Cloud Server and each robot communicates to connect；
The Cloud Server is used to instruct to the control unit sending destination of the robot, and described control unit is according to
Destination instruction planning mobile route, and the shifting according to the first range information and second distance information real-time update that are fed back
Dynamic route.
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|---|---|---|---|
| CN201721019079.8U CN207326997U (en) | 2017-08-15 | 2017-08-15 | Robot and robot service management system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721019079.8U CN207326997U (en) | 2017-08-15 | 2017-08-15 | Robot and robot service management system |
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| CN207326997U true CN207326997U (en) | 2018-05-08 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108654062A (en) * | 2018-05-16 | 2018-10-16 | 重庆文理学院 | A kind of movable football field sideline is planned and display system |
| CN109291066A (en) * | 2018-11-20 | 2019-02-01 | 佛山市第人民医院（中山大学附属佛山医院） | Control method and device for medical interactive robot |
| CN110666790A (en) * | 2019-08-23 | 2020-01-10 | 北京农业信息技术研究中心 | Orchard live broadcast robot and orchard live broadcast system |
| CN115443793A (en) * | 2022-08-18 | 2022-12-09 | 深圳拓邦股份有限公司 | Mower and mower path planning method |
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2017
- 2017-08-15 CN CN201721019079.8U patent/CN207326997U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108654062A (en) * | 2018-05-16 | 2018-10-16 | 重庆文理学院 | A kind of movable football field sideline is planned and display system |
| CN108654062B (en) * | 2018-05-16 | 2020-06-16 | 重庆文理学院 | Portable football court sideline planning and display system |
| CN109291066A (en) * | 2018-11-20 | 2019-02-01 | 佛山市第人民医院（中山大学附属佛山医院） | Control method and device for medical interactive robot |
| CN110666790A (en) * | 2019-08-23 | 2020-01-10 | 北京农业信息技术研究中心 | Orchard live broadcast robot and orchard live broadcast system |
| CN110666790B (en) * | 2019-08-23 | 2021-05-07 | 北京农业信息技术研究中心 | Orchard live broadcast robot and orchard live broadcast system |
| CN115443793A (en) * | 2022-08-18 | 2022-12-09 | 深圳拓邦股份有限公司 | Mower and mower path planning method |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Robots and Robot Service Management System Effective date of registration: 20231115 Granted publication date: 20180508 Pledgee: The Bank of Shanghai branch Caohejing Limited by Share Ltd. Pledgor: SHANGHAI FITGREAT NETWORK TECHNOLOGY CO.,LTD. Registration number: Y2023980065798 |
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