CN209880168U - Myocardial infarction first aid medicine feeding robot - Google Patents

Abstract

The utility model relates to a heart stalk first aid medicine feed robot, including the robot fuselage, locate the central processing unit of robot fuselage, medical kit, arm, pulley, the bracelet check out test set, two mesh degree of depth cameras, infrared radar, step motor, the joint servo motor of being connected with central processing unit. The bracelet detection equipment monitors an electrocardiogram signal of a patient in real time and sends the electrocardiogram signal and the position information of the patient to the central processor; after the central processing unit judges that the electrocardiogram signal is abnormal, the central processing unit controls the stepping motor to drive the pulley to reach the position of a patient; the binocular depth camera accurately identifies the posture of the patient and the mouth and nose of the face, and the mechanical arm is driven by the joint servo motor to assist the patient in taking medicine according to the state of the patient. The utility model aims to monitor the daily electrocardiogram of the myocardial infarction independent patient, can help the patient to take the medicine in time when the sudden myocardial infarction of the patient, and can greatly reduce the possibility of serious consequences of the patient caused by the sudden myocardial infarction.

Description

Myocardial infarction first aid medicine feeding robot

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to myocardial infarction first aid medicine feeding robot.

Background

50 ten thousand cases of new myocardial infarction occur in China every year, and the number of the existing patients exceeds 200 ten thousand. If the patient is not timely and effectively cured within one hour after the myocardial infarction happens, the patient may have heart failure and even die. Particularly for solitary patients, there is a great need for an intelligent home caregiver capable of administering emergency medication and signaling emergency treatment. After investigation, a domestic robot capable of carrying out emergency rescue in the market is blank. With the continuous progress of science and technology, the robot starts to move to thousands of households, and the robot can quickly rescue, rescue and deliver patients when the patients get ill through the myocardial infarction emergency medicine feeding robot, so that tragedies of tens of thousands of families are avoided.

SUMMERY OF THE UTILITY MODEL

The utility model provides a myocardial infarction first aid medicine feed robot aims at can't saving oneself when the morbidity to the myocardial infarction patient, and the robot is for it provides first aid medicine feed, because take medicine untimely or can not in time send the death risk that first aid signal and lead to the hospital when reducing the patient and morbidity.

A myocardial infarction emergency medicine feeding robot comprises a robot body, a central processing unit arranged on the robot body, a medical kit, mechanical arms, pulleys, bracelet detection equipment connected with the central processing unit, a binocular depth camera, an infrared radar, a stepping motor and a joint servo motor, wherein the pulleys are driven by the stepping motor, and the mechanical arms are driven by the joint servo motor;

the bracelet detection equipment is worn on the hand of a patient and is used for monitoring the electrocardiogram signal and the position information of the patient in real time and transmitting the electrocardiogram signal and the position information of the patient to the central processor;

the central processing unit is used for judging that the electrocardiogram signals are abnormal, combining a scene model established by an infrared radar scanning map, controlling a stepping motor according to the patient position information and the generated path planning and obstacle avoidance strategy, and driving a pulley to reach the position of the patient by the stepping motor;

binocular degree of depth camera is used for discerning patient's gesture and face, after discerning patient's gesture and facial feature, the arm selects to pick up the nitroglycerin tablet or the nitroglycerin spraying in the medical kit according to patient's state under joint servo motor drive, and the supplementary patient takes medicine.

Further, bracelet check out test set includes heart electrograph monitoring devices, Wi-Fi emission module and location label, heart electrograph monitoring devices is used for real-time supervision patient's heart electrograph signal, the location label through with indoor a plurality of UWB location basic station communication confirm patient's position, send patient's heart electrograph signal and positional information to central processing unit through Wi-Fi emission module in real time.

Further, bracelet check out test set still includes alarm unit, and central processing unit carries out preliminary treatment, filtering to the heart electrograph signal, if monitoring signal is unusual, then central processing unit feeds back alarm signal to bracelet check out test set's Wi-Fi emission module, and drive alarm unit sends out the police dispatch newspaper.

Furthermore, the bracelet detection device further comprises a mechanical key connected with the alarm unit and a touch screen operation unit connected with the Wi-Fi emission module, the mechanical key and the touch screen operation unit are arranged on the shell of the bracelet detection device, and the touch screen operation unit is used for the patient to independently operate the robot in daily life; after the alarm unit generates alarm information, the patient selects to manually release the alarm state through the mechanical key according to the self condition, and the robot cancels the execution of subsequent actions.

Furthermore, the emergency treatment device also comprises a wireless communication module connected with the central processing unit and used for sending emergency treatment signals to a fixed-point hospital after the central processing unit judges that the electrocardiogram signals are abnormal.

Furthermore, the infrared radar is used for imaging scene information, transmitting continuously acquired space images to the central processing unit, generating a map and an obstacle cloud picture, continuously correcting the map scene information through new images, continuously correcting a path planning and obstacle avoidance strategy, and sending a control instruction to the stepping motor to realize intelligent navigation of the pulley.

Further, the arm includes 7 arm left arms and 7 arm left arms, locates the robot body both sides separately, and first joint passes through rotary joint and is connected with the robot body, and the interlude contains five forearm, and the front end is three-jaw manipulator.

Furthermore, the three-jaw manipulator comprises a three-jaw manipulator wrist part, a first joint servo motor of the three-jaw manipulator, a first section of the three-jaw manipulator, a second joint servo motor of the three-jaw manipulator and a second section of the three-jaw manipulator, the mechanical fingers adopt a double-joint finger design, and joint servo motors are respectively installed at each joint.

The utility model discloses can be real-time effectual monitoring myocardial infarction patient's health and the feedback gives the doctor of some hospital, simultaneously in the unable autonomic medicine of taking medicine of patient's morbidity, the robot can help the patient in time to take medicine, in time sends distress signal and gives some hospital doctors, lowers the patient because the death risk that the morbidity can't save oneself.

Drawings

Fig. 1 is a front view of the myocardial infarction emergency medicine feeding robot of the utility model;

fig. 2 is a side view of the myocardial infarction emergency medicine feeding robot of the utility model;

fig. 3 is a schematic structural view of one of the mechanical arms of the myocardial infarction emergency medicine feeding robot of the utility model;

fig. 4 is a schematic structural view of a three-jaw manipulator in the myocardial infarction emergency medicine feeding robot of the utility model;

fig. 5 is a schematic block diagram of an internal circuit module of the myocardial infarction emergency medicine feeding robot of the utility model;

fig. 6 is a block diagram of a bracelet detecting device according to the present invention;

in the figure: 1-binocular depth camera; 2-infrared radar; a right arm of a 3-7-axis mechanical arm; a 4-7 shaft mechanical arm left arm; 5-a central processing unit; 6-medical kit; 7, a storage battery; 8-a mobile device; a first section of a 9-7-axis mechanical arm; a second section of the 10-7-axis mechanical arm; a third section of the 11-7-axis mechanical arm; a fourth section of the 12-7-axis mechanical arm; a fifth section of the 13-7-shaft mechanical arm; the sixth section of the mechanical arm with 14-7 shafts; 15-a three-jaw manipulator; 16-three-jaw mechanical wrist; 17-a first joint servo motor of the three-jaw manipulator; 18-a first section of a three-jaw manipulator; 19-a second joint servo motor of the three-jaw manipulator; 20-a second section of the three-jaw manipulator, 21-a bracelet detection device, 22-a wireless communication module, 23-a stepping motor, 24-a pulley, 25-a joint servo motor, 26-a mechanical arm, 211-an electrocardiogram monitoring device, 212-a Wi-Fi transmission module, 213-a positioning tag, 214-an alarm unit, 215-a mechanical key and 216-a touch screen operation unit.

Detailed Description

The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings.

Referring to fig. 1-6, one embodiment of the first-aid medicine feeding robot for cardiac infarction of the present invention includes a robot body, a central processing unit 5 disposed on the robot body, a medical kit 6, a mechanical arm 26, a pulley 24, a bracelet detection device 21 connected to the central processing unit 5, a wireless communication module 22, a binocular depth camera 1, an infrared radar 2, a stepping motor 23, and a joint servo motor 25, wherein the pulley 24 is driven by the stepping motor 23, and the mechanical arm 26 is driven by the joint servo motor 25. The stepping motor 23 and the pulley 24 driven by the stepping motor form a moving device 8, wherein the pulley 24 can be an omnidirectional wheel and is symmetrically arranged for supporting the robot body. A nitroglycerin tablet or a nitroglycerin spray is placed in the medical kit 6 for treating myocardial infarction diseases.

Binocular degree of depth camera 1 is located sees the robot head, and infrared radar 2 is located robot head below, and arm 26 is located the robot left and right sides, and mobile device 8 is located the robot bottom. The medical box 6 can be a self-opening medical box and is positioned at the upper part of the robot base.

Referring to fig. 6, the bracelet detecting device 21 is worn on the hand of the patient and includes an electrocardiogram monitoring device 211, a Wi-Fi transmitting module 212 and a positioning tag 213, wherein the electrocardiogram monitoring device 211 is used for monitoring electrocardiogram signals of the patient in real time, the positioning tag 213 determines the position of the patient by communicating with a plurality of indoor UWB positioning base stations, and transmits the electrocardiogram signals and the position information of the patient to the central processing unit 5 in real time through the Wi-Fi transmitting module 212.

The bracelet detection device 21 further comprises an alarm unit 214, a mechanical key 215 and a touch screen operation unit 216, the bracelet detection device 21 transmits the electrocardiogram signal to the central processor 5 through the Wi-Fi transmission module 212, the central processor 5 preprocesses and filters the electrocardiogram signal, if the monitoring signal is abnormal, the central processor 5 feeds back the alarm signal to the Wi-Fi transmission module 212 of the bracelet detection device 21, and drives the alarm unit 214 to send out an alarm (such as an audible and visual alarm); the robot is now in an emergency standby state. The mechanical key 215 and the touch screen operation unit 216 are arranged on the shell of the bracelet detection device 21, and the touch screen operation unit 216 is electrically connected with the Wi-Fi transmission module 212 and is used for the patient to operate the robot daily and autonomously; after alarm information appears in the bracelet, the patient can select to manually remove the alarm state through mechanical button 215 according to self situation, and the robot cancels and carries out follow-up action.

After manually disarming the alarm through the mechanical keys 215, the bracelet detection device 21 may enter a bracelet language control or a ring key control mode. The central processing unit 5 is further provided with a language recognition module, when the patient sends a corresponding voice instruction to the bracelet detection device 21, the bracelet detection device 21 transmits the voice instruction to the central processing unit 5 through the Wi-Fi transmission module 212, and the central processing unit 5 executes subsequent operations by interpreting the content of the language signal; the bracelet keys are controlled by the patient to actively press the related keys, and the robot executes corresponding operation after receiving the calling signal.

After the central processing unit 5 judges that the electrocardiogram signal is abnormal, when sending an alarm signal, the wireless communication module 22 (for example, the GSM module) sends an emergency signal (including patient electrocardiogram signal, patient position information and the like) to a fixed-point hospital so that the hospital can dispatch medical care personnel timely to arrive at the site for treatment.

The central processing unit 5 controls the stepping motor 23 according to the generated path planning and obstacle avoidance strategy by combining the received patient position information and a scene model established by the infrared radar 2 scanning map, and the stepping motor 23 drives the pulley 24 to reach the position of the patient. Then, binocular depth camera 1 images patient's gesture and facial feature, transmits central processing unit 5 for, and central processing unit 5 judges patient's state, and medical kit 6 opens automatically, and arm 26 selects pellet or the supplementary patient of spraying to take medicine according to patient's state under the effect of joint servo motor 25.

The infrared radar 2 generates a map and an obstacle cloud picture by imaging scene information and transmitting continuously acquired space images to the central processing unit 5, the central processing unit 5 continuously corrects the map scene information through new images, continuously corrects a path planning and obstacle avoidance strategy, and sends a control instruction to the stepping motor 23 to realize intelligent navigation of the pulley 24.

Binocular degree of depth camera 1 discerns patient's gesture and face, through the discernment of multistage series connection classifier, ensures the accuracy of feature identification, judges after discerning patient's gesture and facial feature and chooses what kind of medicine feed mode, after accomplishing the facial feature of patient and judging, discerns five sense organ characteristics such as patient's mouth nose again on facial regional basis.

Specifically, Haar-like features are obtained by extracting an image, the Haar-like features slide on the image, the sum of pixel values corresponding to a white area is calculated at each position, the sum of pixel values corresponding to a black area is subtracted, so that the features of the position are extracted, the feature values extracted from a face area are different from those extracted from a non-face area, so that the face area and the non-face area are distinguished, the face recognition adopts a control logic mode of multistage series coincidence, the accuracy of the face recognition is ensured, and the positions of organs such as the mouth, the nose and the like of a patient are recognized by adopting the same multistage series coincidence and sliding algorithm on the basis of the face recognition.

Referring to fig. 3 and 4, the robot arm 26 includes a right arm 3 of a 7-axis robot arm and a left arm 4 of the 7-axis robot arm, which are respectively disposed on two sides of the robot body, and adopts a seven-axis design, wherein a first joint (a first section 9 of the 7-axis robot arm) is connected with the robot body through a rotary joint, the middle section includes five small arms (a second section 10 of the 7-axis robot arm, a third section 11 of the 7-axis robot arm, a fourth section 12 of the 7-axis robot arm, a fifth section 13 of the 7-axis robot arm, and a sixth section 14 of the 7-axis robot arm), and the front end is a three-jaw.

The three-jaw manipulator 15 comprises a three-jaw manipulator wrist part 16, a three-jaw manipulator first joint servo motor 17, a three-jaw manipulator first section 18, a three-jaw manipulator second joint servo motor 19 and a three-jaw manipulator second section 20, the mechanical fingers adopt a double-joint finger design, and joint servo motors are respectively installed at each joint.

The reverse solution of the 7-axis mechanical arm is obtained through the distance and direction information of the target position provided by the binocular depth camera 1 by the 7-axis mechanical arm right arm 3 and the 7-axis mechanical arm left arm 4, the mechanical arm carries out movement path planning, and corresponding medicine taking and feeding actions are completed.

The utility model discloses still include the battery 7 that provides the power for the robot, adopt domestic 220V alternating current charging technique to through with electric quantity signal and the 5 intercommunications of central processing unit, realize the automatic function of charging. The automatic charging control is that when the electric quantity of the storage battery 7 is lower than 30%, the robot automatically recharges, when the electric quantity reaches 100%, the charging state is released, and when the automatic monitoring signal is abnormal or a language or a key call is received, the robot releases charging to implement subsequent emergency actions.

The utility model discloses the theory of operation as follows:

the bracelet detection device 21 monitors electrocardiogram signals of patients in real time and sends the electrocardiogram signals and the position information of the patients to the central processing unit 5, and the central processing unit 5 sends first-aid signals to a fixed-point hospital after judging that the electrocardiogram signals are abnormal;

after the central processing unit 5 judges that the electrocardiogram signal is abnormal, combining a scene model established by scanning a map by the infrared radar 2, controlling the stepping motor 23 according to the patient position information and the generated path planning and obstacle avoidance strategy, and driving the pulley 24 to reach the position of the patient by the stepping motor 23;

binocular degree of depth camera 1 is to patient's gesture and facial oral-nasal accurate discernment, and arm 26 selects to pick up the nitroglycerin tablet or the nitroglycerin spraying in medical kit 6 according to patient's state under the drive of joint servo motor 25, and the supplementary patient takes medicine. Specifically, according to the judgment of the state of the patient, if the patient is not unconscious, the mechanical arm 26 opens the medicine box cover 6 to pick up nitroglycerin tablets, and the mechanical arm 4 opens to keep the oral cavity of the patient slightly open to feed the medicine; otherwise, nitroglycerin is selected for spraying, and the medicine is taken in a nasal mode.

Claims (5)

1. The utility model provides a myocardial infarction first aid medicine feed robot which characterized in that: the robot comprises a robot body, a central processing unit (5) arranged on the robot body, a medical kit (6), a mechanical arm (26), a pulley (24), a bracelet detection device (21) connected with the central processing unit (5), a binocular depth camera (1), an infrared radar (2), a stepping motor (23) and a joint servo motor (25), wherein the pulley (24) is driven by the stepping motor (23), and the mechanical arm (26) is driven by the joint servo motor (25);

the bracelet detection device (21) comprises an electrocardiogram monitoring device (211), a Wi-Fi emission module (212) and a positioning tag (213), wherein the electrocardiogram monitoring device (211) is used for monitoring electrocardiogram signals of patients in real time, the positioning tag (213) is communicated with a plurality of indoor UWB positioning base stations to determine the positions of the patients, and the electrocardiogram signals and position information of the patients are sent to the central processing unit (5) in real time through the Wi-Fi emission module (212); bracelet check out test set (21) still includes alarm unit (214), and central processing unit (5) carry out preliminary treatment, filtering to the electrocardio picture signal, if monitoring signal is unusual, then central processing unit (5) feeds back alarm signal to Wi-Fi emission module (212) of bracelet check out test set (21), and drive alarm unit (214) send out the police dispatch newspaper.

2. The myocardial infarction emergency drug-feeding robot of claim 1, wherein: the method comprises the following steps: the bracelet detection device (21) further comprises a mechanical key (215) connected with the alarm unit (214) and a touch screen operation unit (216) connected with the Wi-Fi transmission module (212), the mechanical key (215) and the touch screen operation unit (216) are arranged on the shell of the bracelet detection device (21), and the touch screen operation unit (216) is used for the patient to operate the robot in a daily and autonomous mode; after the alarm unit (214) generates alarm information, the patient selects to manually release the alarm state through the mechanical key (215) according to the self condition, and the robot cancels the execution of subsequent actions.

3. The myocardial infarction emergency drug-feeding robot of claim 1, wherein: the method comprises the following steps: the emergency treatment system also comprises a wireless communication module (22) connected with the central processing unit (5) and used for sending emergency treatment signals to a fixed-point hospital after the central processing unit (5) judges that the electrocardiogram signals are abnormal.

4. The myocardial infarction emergency drug-feeding robot of claim 1, wherein: the method comprises the following steps: the mechanical arm (26) comprises a right arm (3) with 7 shafts and a left arm (4) with 7 shafts, the two sides of the robot body are respectively arranged, the first joint is connected with the robot body through a rotary joint, the middle section comprises five small arms, and the front end is a three-jaw mechanical arm (15).

5. The myocardial infarction emergency drug-feeding robot of claim 4, wherein: the method comprises the following steps: the three-jaw manipulator (15) comprises a three-jaw manipulator wrist part (16), a first joint servo motor (17) of the three-jaw manipulator, a first section (18) of the three-jaw manipulator, a second joint servo motor (19) of the three-jaw manipulator and a second section (20) of the three-jaw manipulator, the mechanical fingers adopt a double-joint finger design, and joint servo motors are respectively installed at each joint.