CN211466416U - Mobile nursing robot based on SLAM technology - Google Patents
Mobile nursing robot based on SLAM technology Download PDFInfo
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- CN211466416U CN211466416U CN202021646906.8U CN202021646906U CN211466416U CN 211466416 U CN211466416 U CN 211466416U CN 202021646906 U CN202021646906 U CN 202021646906U CN 211466416 U CN211466416 U CN 211466416U
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Abstract
The utility model discloses a mobile nursing robot based on SLAM technology, which comprises a data processor, a wireless communication module, a motor-driven movable chassis, a motor driver, a positioning and drawing building module, a power supply module, a man-machine interaction module, an RFID identity recognition module, a sterilized water spraying module, an appliance sterilizing module, a vital sign detection module, a medicine delivery box and an appliance box, wherein the wireless communication module, the motor driver, the positioning and drawing building module, the power supply module, the man-machine interaction module, the RFID identity recognition module, the sterilized water spraying module, the appliance sterilizing module and the vital sign detection module are respectively connected with the data processor; the movable chassis driven by the motor is connected with the motor driver. Through the utility model discloses, can obtain multi-functional nursing robot.
Description
Technical Field
The utility model belongs to the technical field of medical care robot and specifically relates to a remove nursing robot based on SLAM technique.
Background
Traditional medical care is often accomplished by specialized caregivers, but the cost and risk of using caregivers to attend to a medical condition is significant in situations where caregivers are in short supply or where the subject in need of care has an communicable disease. Many nursing robots have emerged to assist nursing staff. The existing mobile nursing robot can be divided into manual operation and automatic operation according to the moving mode, and the manual operation robot can not effectively reduce the nursing cost because the manual operation robot needs an operator to operate. The moving method of the automatically-operated mobile nursing robot is simple, and the external environment cannot be accurately sensed, so that the robot cannot be well adapted to the complex environment where the personnel, the medical equipment and the robot coexist in the hospital, and is difficult to be applied to practice. In addition, the existing nursing robot can only realize a simple and single nursing function, so that nursing staff are limited in replaced functions, nursing efficiency is not high, and the purpose of reducing nursing cost and risk is still difficult to realize. And current automatic operation's removal nursing robot is after long-time operation, and positioning accuracy can produce huge error, has restricted the robot to realize comparatively accurate nursing work.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provide a mobile nursing robot based on SLAM technology, which comprises a data processor, a wireless communication module, a motor-driven movable chassis, a motor driver, a positioning and mapping module, a power module, a man-machine interaction module, an RFID identity recognition module, a sterilized water spraying module, an appliance sterilizing module, a vital sign detection module, a medicine delivery box and an appliance box;
the movable chassis driven by the motor is connected with the motor driver and used for controlling the robot to move; the positioning and mapping module is connected with the data processor and arranged on a movable chassis driven by a motor; the sterilized water spraying module is connected with the data processor and arranged above the positioning and mapping module; the medicine feeding box is arranged above the disinfectant spraying module; the instrument box is arranged above the medicine feeding box, and the vital sign detection module is placed in the instrument box; the vital sign detection module is connected with the data processor; the instrument disinfection module is connected with the data processor and arranged in the instrument box; the human-computer interaction module is connected with the data processor and arranged above the appliance box; the RFID identity recognition module is connected with the data processor and arranged on the human-computer interaction module; the motor driver, the power supply module and the wireless communication module are respectively connected with the data processor.
Preferably, the vital sign detection module comprises a thermometer, a sphygmomanometer, a pulse instrument and a respiratory measuring instrument, and the thermometer, the sphygmomanometer, the pulse instrument and the respiratory measuring instrument are respectively connected with the data processor.
Preferably, the positioning and mapping module comprises a laser radar, a camera, an ultrasonic sensor and a robot autonomous positioning and navigation module, the laser radar, the camera and the ultrasonic sensor are respectively connected with the robot autonomous positioning and navigation module, and the robot autonomous positioning and navigation module is connected with the data processor.
Preferably, the medicine delivery box comprises an electromagnetic lock and a storage bin; the electromagnetic lock is connected with the data processor and used for locking the storage bin door.
Preferably, the human-computer interaction module comprises a camera, an electric pan-tilt, a display and a voice module; the camera, the electric cradle head, the display and the voice module are respectively connected with the data processor.
Preferably, the instrument disinfection module comprises an ultraviolet sterilizer, and the ultraviolet sterilizer is connected with the data processor.
Preferably, the disinfectant spraying module comprises a disinfectant storage tank, a water pump controller, a water level sensor, an analog-to-digital converter and an atomizing nozzle; the water pump is connected with the water pump controller, and the atomizing nozzle is connected with the water pump through a pipeline; the water level sensor is connected with the analog-to-digital converter, and the water pump controller and the analog-to-digital converter are respectively connected with the data processor.
Preferably, the voice module comprises a microphone, a power amplifier, a voice signal processor and a loudspeaker; the microphone is connected with the voice signal processor, and the loudspeaker is connected with the power amplifier; the power amplifier and the voice signal processor are respectively connected with the data processor.
Preferably, the autonomous robot positioning and navigation module adopts a single modular autonomous robot positioning and navigation system module SLAMWARE.
The utility model has the advantages that: the utility model discloses integrated nursing functions such as storage of sending out the medicine, vital sign are measured, utensil disinfection, hospital space disinfection, tour, and realized environment perception, map construction, automatic navigation's multi-functional removal nursing robot through SLAM technique.
Drawings
FIG. 1 is a schematic diagram of a mobile nursing robot based on SLAM technology;
FIG. 2 is a schematic diagram of a mobile nursing robot based on SLAM technology;
FIG. 3 is a schematic chassis diagram of a mobile nursing robot based on SLAM technology;
fig. 4 is a real object diagram of a mobile nursing robot based on SLAM technology.
Detailed Description
The technical solution of the present invention is described in further detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following description.
As shown in fig. 1, the mobile nursing robot based on SLAM technology provided by the utility model firstly scans, composes and detects the hospital environment through a plurality of sensors such as laser radar, camera and ultrasonic wave carried by the robot; the robot dynamically plans a moving path of the robot according to a scanned hospital map, and the personnel and the obstacles detected in real time to reach the vicinity of a destination point; the RFID module is used for identifying the identity of the patient, and after the identification is passed, the nursing staff observes the state of the patient, the state of the medicine and the like at the computer end through the man-machine interaction module and the video voice module and communicates with the patient and family members; if the medicine needs to be dispensed, opening the electromagnetic lock in the corresponding warehouse according to the identity of the current patient, and prompting the patient to take the medicine; if the vital sign detection is needed, the appliance storage box door is opened, the patient can take out the measuring instrument from the appliance storage box door for measurement, the instrument is put back and the box door is closed after the measurement is finished, and the instrument is disinfected in the box body after the instrument is used; after the bed is finished, the patient can go to the next bed according to the requirement for patrol, or return to a nursing center to wait for the dispensation of a medicine by a nursing staff, and disinfectant in the hospital space can be sprayed according to the requirement during the movement; in the disinfectant spraying process, the robot detects whether people pass around through the robot through the sensor, and if the people pass through the robot, disinfectant spraying is suspended.
Specifically, the mobile nursing robot based on the SLAM technology shown in fig. 2 includes a data processor, a wireless communication module, a motor-driven movable chassis, a motor driver, a positioning and mapping module, a power module, a human-computer interaction module, an RFID identity recognition module, a sterilized water spraying module, an appliance sterilizing module, a vital sign detection module, a medicine delivery box, and an appliance box;
the movable chassis driven by the motor is connected with the motor driver and used for controlling the robot to move; the positioning and map building module is connected with the data processor, arranged on a movable chassis driven by a motor and used for building a map according to the field environment and automatically avoiding obstacles and navigating; the disinfectant spraying module is connected with the data processor, arranged above the positioning and mapping module and used for spraying disinfectant for disinfection; the medicine feeding box is arranged above the disinfectant spraying module and used for storing the delivered medicines; the instrument box is arranged above the medicine feeding box, and the vital sign detection module is placed in the instrument box; the vital sign detection module is connected with the data processor and is used for detecting vital signs of patients; the instrument disinfection module is connected with the data processor, arranged in the instrument box and used for disinfecting the vital sign detection module; the human-computer interaction module is connected with the data processor, is arranged above the appliance box and is used for medical care personnel to communicate with patients and family members; the RFID identity recognition module is connected with the data processor, arranged on the human-computer interaction module and used for recognizing the identity of the patient; the motor driver, the power supply module and the wireless communication module are respectively connected with the data processor.
The vital sign detection module comprises a thermometer, a sphygmomanometer, a pulse instrument and a respiratory measuring instrument, wherein the thermometer, the sphygmomanometer, the pulse instrument and the respiratory measuring instrument are respectively connected with the data processor.
The positioning and mapping module shown in fig. 3 comprises a laser radar, a camera, an ultrasonic sensor and a robot autonomous positioning and navigation module, wherein the laser radar, the camera and the ultrasonic sensor are respectively connected with the robot autonomous positioning and navigation module, and the robot autonomous positioning and navigation module is connected with the data processor; the factory environment is scanned through devices such as a laser radar, a camera and an ultrasonic sensor, the robot autonomous positioning navigation module plans a moving path of the robot according to data obtained through scanning and conducts navigation, and the robot autonomous positioning navigation module adopts a single-modularized robot autonomous positioning navigation system module SLAMWARE.
The medicine delivery box shown in fig. 4 comprises an electromagnetic lock and a storage bin; the electromagnetic lock is connected with the data processor and used for locking the storage bin door.
The human-computer interaction module comprises a camera, an electric pan-tilt, a display and a voice module; the camera, the electric cradle head, the display and the voice module are respectively connected with the data processor. The voice module comprises a microphone, a power amplifier, a voice signal processor and a loudspeaker; the microphone is connected with the voice signal processor, and the loudspeaker is connected with the power amplifier; the power amplifier and the voice signal processor are respectively connected with the data processor
The instrument disinfection module comprises an ultraviolet sterilizer, and the ultraviolet sterilizer is connected with the data processor. The sterilizing water spraying module comprises a sterilizing water storage tank, a water pump controller, a water level sensor, an analog-to-digital converter and an atomizing nozzle; the water pump is connected with the water pump controller, and the atomizing nozzle is connected with the water pump through a pipeline; the water level sensor is connected with the analog-to-digital converter, and the water pump controller and the analog-to-digital converter are respectively connected with the data processor.
The foregoing is illustrative of the preferred embodiments of the present invention, and it is to be understood that the invention is not limited to the precise forms disclosed herein, and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the invention as defined by the appended claims. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.
Claims (9)
1. A mobile nursing robot based on SLAM technology is characterized by comprising a data processor, a wireless communication module, a movable chassis driven by a motor, a motor driver, a positioning and mapping module, a power supply module, a man-machine interaction module, an RFID identity recognition module, a sterilized water spraying module, an appliance sterilizing module, a vital sign detection module, a medicine delivery box and an appliance box;
the movable chassis driven by the motor is connected with the motor driver and used for controlling the robot to move; the positioning and mapping module is connected with the data processor and arranged on a movable chassis driven by a motor; the sterilized water spraying module is connected with the data processor and arranged above the positioning and mapping module; the medicine feeding box is arranged above the disinfectant spraying module; the instrument box is arranged above the medicine feeding box, and the vital sign detection module is placed in the instrument box; the vital sign detection module is connected with the data processor; the instrument disinfection module is connected with the data processor and arranged in the instrument box; the human-computer interaction module is connected with the data processor and arranged above the appliance box; the RFID identity recognition module is connected with the data processor and arranged on the human-computer interaction module; the motor driver, the power supply module and the wireless communication module are respectively connected with the data processor.
2. The SLAM technology-based mobile nursing robot as claimed in claim 1, wherein the vital sign detection module comprises a thermometer, a sphygmomanometer, a pulse rate meter, and a respiratory measuring instrument, and the thermometer, the sphygmomanometer, the pulse rate meter, and the respiratory measuring instrument are respectively connected to the data processor.
3. The SLAM technology-based mobile nursing robot as claimed in claim 1, wherein said positioning and mapping module comprises a laser radar, a camera, an ultrasonic sensor, and a robot autonomous positioning navigation module, said laser radar, camera, and ultrasonic sensor are respectively connected with said robot autonomous positioning navigation module, and said robot autonomous positioning navigation module is connected with said data processor.
4. The SLAM technology-based mobile nursing robot as claimed in claim 1, wherein the medicine delivery box comprises an electromagnetic lock, a storage bin; the electromagnetic lock is connected with the data processor and used for locking the storage bin door.
5. The SLAM technology-based mobile nursing robot as claimed in claim 1, wherein the human-computer interaction module comprises a camera, a motorized pan-tilt, a display, a voice module; the camera, the electric cradle head, the display and the voice module are respectively connected with the data processor.
6. The SLAM technology-based mobile care robot of claim 1, wherein the instrument disinfection module comprises a UV sterilizer, the UV sterilizer being coupled to the data processor.
7. The SLAM technology-based mobile nursing robot as claimed in claim 1, wherein the disinfectant spraying module comprises a disinfectant storage tank, a water pump controller, a water level sensor, an analog-to-digital converter, an atomizer; the water pump is connected with the water pump controller, and the atomizing nozzle is connected with the water pump through a pipeline; the water level sensor is connected with the analog-to-digital converter, and the water pump controller and the analog-to-digital converter are respectively connected with the data processor.
8. The SLAM technology-based mobile care robot of claim 5, wherein the voice module comprises a microphone, a power amplifier, a voice signal processor, a speaker; the microphone is connected with the voice signal processor, and the loudspeaker is connected with the power amplifier; the power amplifier and the voice signal processor are respectively connected with the data processor.
9. The mobile nursing robot based on SLAM technology as claimed in claim 3, wherein the autonomous robot positioning and navigation module is a single modular autonomous robot positioning and navigation system module SLAMWARE.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021646906.8U CN211466416U (en) | 2020-08-10 | 2020-08-10 | Mobile nursing robot based on SLAM technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021646906.8U CN211466416U (en) | 2020-08-10 | 2020-08-10 | Mobile nursing robot based on SLAM technology |
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| CN211466416U true CN211466416U (en) | 2020-09-11 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113084841A (en) * | 2021-04-21 | 2021-07-09 | 上海飒智智能科技有限公司 | Medicine material delivery robot |
| IT202000029279A1 (en) * | 2020-12-01 | 2022-06-01 | Dr Safety S R L | EQUIPMENT AND PROCEDURE FOR SANITIZATION |
| CN114789457A (en) * | 2022-03-25 | 2022-07-26 | 哈尔滨工业大学（威海） | Intelligent ultraviolet disinfection robot |
-
2020
- 2020-08-10 CN CN202021646906.8U patent/CN211466416U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT202000029279A1 (en) * | 2020-12-01 | 2022-06-01 | Dr Safety S R L | EQUIPMENT AND PROCEDURE FOR SANITIZATION |
| CN113084841A (en) * | 2021-04-21 | 2021-07-09 | 上海飒智智能科技有限公司 | Medicine material delivery robot |
| CN114789457A (en) * | 2022-03-25 | 2022-07-26 | 哈尔滨工业大学（威海） | Intelligent ultraviolet disinfection robot |
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| TR01 | Transfer of patent right |
Effective date of registration: 20211025 Address after: 402760 No.92 Donglin Avenue, Biquan street, Bishan District, Chongqing Patentee after: Chongqing yufeite Technology Co.,Ltd. Address before: 610000 No. 37, courtyard 203, No. 31, Jianghan Road, Qingyang District, Chengdu, Sichuan Patentee before: Han Zhenyu |
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| TR01 | Transfer of patent right |