KR20100025446A - Nurse aiding robot and measurement method of vital signal by using the same - Google Patents

Abstract

PURPOSE: A nursing assist robot which measures and manages a vital signal and a vital signal measurement method are provided to secure the high reliability and stability using an identification number for compartmentalizing patients. CONSTITUTION: A nursing assist robot comprises an input unit(200), a drive unit(520), and a first controller(300). The information about one or more measuring organism signal unit(100) is inputted in the input unit. The drive unit moves to a position capable of receiving a measuring organism signal result by wireless, through an optimal path. The first controller controls the movement of the drive unit by calculating the optimal path. The first controller manages the measuring organism signal result transmitted from the measuring organism signal unit.

Description

Nursing assistant robot and measurement method of vital signal by using the same}

The present invention relates to a nursing assistant robot and a control method thereof, and more particularly, a nursing assistant robot and a control method thereof capable of automatically moving to a corresponding room as well as automatically distinguishing and measuring and managing a living body signal. To provide.

In general, the nursing assistant robot is a robot that assists the nurse's work or duties, and the necessity thereof is increasing day by day in order to reduce the burden on the nurse.

Specifically, the increase in manpower for caring for or nursing the elderly or patients is insignificant compared to the speed of transition to an aging society due to the increase in the average age of the human and the decrease in fertility rate. In particular, the quality of service for patients is greatly deteriorated due to the shortage of nurses in small-sized city hospitals or geriatric hospitals. In addition, the lack of nurses causes nurses to spend more time in the office work than for the care of patients, which is a vicious cycle that causes the nurses to leave again. Accordingly, there is a need for a robot to replace or assist such nursing personnel. The conventional care robot device proposed according to this need, as shown in the Republic of Korea (Publication No .: 10-2004-0034164), measures the patient's biosignal, and risk that the measured biosignal is in a stable range It is a technique that tells a doctor by comparing and determining whether it is in a range.

However, the conventional robotic device does not include a patient identification mechanism for distinguishing each patient. Therefore, when there are a plurality of patients in the room, there is a problem that can not distinguish between the first patient and the second patient. In addition, the conventional robot device is a system that is moved by the manual operation of the nurse, there was a limitation that the task of assisting the nurse is limited.

The present invention is to solve the problems of the prior art, the technical problem of the present invention is to provide a nursing assistant robot and its control method that can measure and manage the bio-signal by separating a plurality of patients, respectively.

Another technical problem of the present invention is to provide a nursing assistant robot and a control method thereof, which automatically move to a place where a set patient is located, measure and store a bio signal of a patient, and then automatically move to a designated place.

In order to achieve the above object, a nursing assistant robot of one embodiment of the present invention includes an input unit for inputting information on at least one biosignal measurement unit to be measured, and wirelessly transmitting a biosignal measurement result from the biosignal measurement unit. And a first controller configured to control the movement of the driver by calculating the optimum path and managing the biosignal measurement result wirelessly transmitted from the biosignal measuring unit. .

On the other hand, a method for measuring a biosignal using a nursing assistant robot of one embodiment of the present invention includes an identification number of the biosignal measuring unit and a biosignal measured by the biosignal measuring unit from a biosignal measuring unit. Receiving a response signal, determining whether an identification number of the biosignal measurement unit matches an identification number of a designated patient, and matching the identification number of the biosignal measurement unit with an identification number of a specified patient And storing the biosignal included in the response signal as a biosignal of a designated patient.

As described above, the nursing assistant robot and its control method according to an embodiment of the present invention may have the following effects.

According to the exemplary embodiment of the present invention, the designated patient may be automatically classified by using an identification number, and the like, and the biosignal of the designated patient may be measured and managed. In addition, since the identification number is used to distinguish patients, higher reliability and stability than biometric methods can be ensured. In addition, since the patient can be identified wirelessly without contact, the patient identification speed can be increased because the robot body does not have to be adjacent to the patient. In particular, it can be usefully applied to an emergency hospital environment.

In addition, according to an embodiment of the present invention, it is possible to automatically move to the corresponding room through the floor display line and the ceiling display.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention.

1 is a block diagram showing the configuration of the nursing assistant robot according to an embodiment of the present invention, Figure 2 is a block diagram showing the configuration of a biological signal measuring unit of the nursing assistant robot according to an embodiment of the present invention.

As shown in FIG. 1, the nursing assistant robot according to an embodiment of the present invention includes an input unit 200, a first control unit 300, a first transceiver 400, a detection unit 500, and a driver 520. ), And transmit / receive with at least one biosignal measuring unit 100. Hereinafter, each component will be described.

First, the biosignal measuring unit 100 will be described in detail with reference to FIGS. 1 and 2.

The biosignal measuring unit 100 is attached to the patient to measure the biosignal of the patient, and includes an identification number (ID) 101 for identifying the patient. The identification number 101 may be a unique number of each biological signal measuring unit, such as a manufacturing number or serial number, and is provided to enable wireless recognition. Therefore, as the patient can be wirelessly identified without contact, the robot body 10 has the advantage of being able to identify the patient and measure the biological signal only if the robot body 10 is located in an area where a wireless connection is possible without accessing the patient.

In addition, as shown in FIG. 2, the biosignal measurement unit 100 may include a biosignal measuring unit 130 for measuring a biosignal from a patient, and a second transceiver (transmitting / receiving data with the first transceiver 400). 140, and a second controller 150 for controlling the overall operation of the biosignal measuring unit 100.

Here, the bio-signal measuring unit 130 is composed of at least one sensor for measuring the bio-signal, EEG, electrocardiogram, electrocardiogram, skin resistance, skin conductivity, blood pressure, blood flow, respiration, body temperature, blood pressure, or pulse Measure the biological signal. For example, the biosignal measuring unit 130 may be configured as a body temperature measuring sensor when measuring the body temperature of the patient, and may be configured in various ways according to the biosignal to be measured, such as adding a pulse measuring sensor when measuring the pulse of the patient further. Can be.

The second transceiver 140 receives the request signal transmitted from the first transceiver 400, and transmits the biosignal and the identification number measured by the biosignal measuring unit 130 to the first transceiver 400.

When the biometric signal measurement request is received from the second transceiver 140, the second controller 150 instructs the biosignal measurement unit 130 to measure the biosignal in response thereto, and measures the biosignal measured by the biosignal measurement unit. To transmit to the first transceiver 400 through the second transceiver (140).

In addition, the biosignal measuring unit 100 may further include a galvanic skin response (GSR) 160 that detects whether the biosignal measuring unit 100 is in contact with the skin of the patient. The skin contact detecting unit 160 detects whether the measuring body 110 is in contact with the skin of the patient, and notifies the second control unit 150 if it is not in contact with the skin of the patient. The second transceiver 140 transmits an error signal of the skin contact detector to the first transceiver 400.

In addition, the biosignal measurement unit 100 may further include an indoor temperature sensor 170 measuring an indoor temperature and an indoor humidity sensor 180 measuring an indoor humidity in order to accurately determine the measurement of the biosignal.

In addition, communication between the first transceiver 400 and the second transceiver 140 may be performed using a medical short-range radio frequency method of an ultra-low power on-off keying (OOK) modulation method. This short-range radio frequency method can minimize the effect of electromagnetic waves on medical equipment installed in the intensive care unit and emergency room of the hospital has the advantage that the safe communication compared to other wireless communication methods. In addition, when the nursing assistant robot is used in a welfare facility such as a nursing home, the communication between the first transceiver 400 and the second transceiver 140 may use a remote wireless communication technology, in which case the measured bio-signal is remotely There is an advantage to transmit.

Hereinafter, the input unit 200 will be described in detail with reference to FIGS. 3 and 4.

3 is a perspective view illustrating a nursing assistant robot according to an embodiment of the present invention, and FIG. 4 is a view for explaining an input unit of the nursing assistant robot of FIG. 3.

As shown in FIG. 3, the input unit is used to designate a room or designate a patient (or a biosignal measuring unit) requiring care. As shown in FIG. 4, the display device may be provided in a touch screen manner. That is, the nurse designates the patient or the biosignal measuring unit requiring biosignal measurement by searching by the patient's name as shown in the right screen of FIG. 4 through the display device (see FIG. 4) mounted on the robot body 10. Or, if you want to measure all the patients of the desired room irrespective of the specific patient, as shown in the left screen of Figure 4 by pressing the button directly representing the room can be assigned to the room. In addition, the biosignal to be measured may be separately designated.

Hereinafter, referring to FIG. 1 again, the first control unit 300 will be described.

The first control unit 300 controls the overall operation of the movement and performance of the robot. Specifically, after confirming the current position, calculating the hamming distance using the first ceiling display between the identified current position and the movement position, tracking the shortest path, and confirming the movement path, then controlling the movement of the robot. Further, the biosignal measurement unit is requested to measure the biosignal, and the biosignal information transmitted from the biosignal measuring unit is managed.

The first transceiver 400 transmits the biosignal request of the first controller 300 to the biosignal measuring unit 100 through wireless communication with the second transceiver 140 of the biosignal measuring unit 100, and sends the biosignal signal. The biological signal measured by the measuring unit 100 is received.

On the other hand, the nursing assistant robot according to an embodiment of the present invention, as shown in Figure 1, may further include a notification unit 900 to notify the outside when the transmitted bio-signal is outside the preset range.

 Hereinafter, the sensing unit 500 will be described in detail with reference to FIGS. 1, 3, and 5 to 8.

5 is a plan view of a ward for explaining the movement of the nursing assistant robot according to an embodiment of the present invention, Figure 6 is a perspective view showing the interior of the ward with the floor display line and the first ceiling display. In addition, Figure 7 is a schematic perspective view showing a floor detection unit of the nursing assistant robot according to an embodiment of the present invention, Figure 8 is a bottom view of FIG.

The detector 500 includes a floor detector 501 for detecting the floor display line 610, and includes at least one ceiling indicator of the first ceiling indicator 620 and the second ceiling indicator 630. It may further include a ceiling detector 502 for detecting the. In addition, the sensing unit 503 may further include an obstacle detecting unit.

The floor detecting unit 501 is positioned at both sides of the central sensor 1511 and the central sensing sensor 1511 for checking the presence of the floor display line 610, and detects an area for detecting an area without the floor display line 610. A sensing sensor 1512 is included.

The floor display line 610 is installed in the form of a belt on the floor of a building, such as a hospital floor or a welfare facility, and serves as a guide for guiding a robot's movement path, and displays a movement path of the robot to collide with a pedestrian. Or to prevent accidents.

Accordingly, the floor detector 501 detects the floor display line 610 using the central sensor 1511 while the robot moves, and the robot displays the floor display line 610 using the ambient sensor 1512. Detect whether or not to leave.

To this end, the central sensor 1511 and the ambient sensor 1512 include guide light emitting units TC1 and TC2 (TS1 and TS2) and guide light receiving unit RC (RS), respectively.

In addition, the central sensor 1511 and the peripheral sensor 1512 may further include a directional lens 1513 provided in the shape of a cap on the guide light receiving unit (RC) (RS). The directional lens 1513 allows the light receiving area of the guide light receiving unit RC (RS) to be narrowed so as to accurately detect whether the robot leaves the floor display line 610.

In addition, the floor detection unit 501 may further include a curtain 1510 for blocking external light from flowing into the central sensor 1511 and the peripheral sensor 1512. The curtain 1510 may be formed in the shape of a brush to prevent foreign foreign matter from entering, and the cross section may be formed in a hexagonal shape (see FIG. 8) or an ellipse so that foreign matter does not easily enter the bottom sensing unit 501. .

Accordingly, the curtain 1510 blocks the inflow of external light to minimize noise from the external light.

The ceiling monitoring unit 502 includes a detection sensor for identifying at least one ceiling display of the first ceiling display 620 and the second ceiling display 630.

The first ceiling display 620 is installed on the ceiling of the building, such as the ceiling of the hospital or the welfare facility serves to confirm the location of the robot. The first ceiling indicator 620 is installed at a specific position so as to check the position of the robot, and the ceiling detector 502 detects the first ceiling indicator 620 to determine where the robot is located. The robot stops the movement when the ceiling monitoring unit 502 detects the first ceiling indication of the movement position.

The second ceiling display 630 is installed on the ceiling of the building corresponding to the corner of the floor display line 610, and serves to confirm in advance the corner to be rotated by the robot. When the robot detects the second ceiling display 630 at the ceiling monitoring unit 502, the robot reduces the moving speed and performs rotation.

The obstacle detecting unit 503 corresponds to an upper member 810 provided on an upper portion of the robot, a bumper light emitting unit 820 provided on a bottom surface of the upper member 810, and a bumper light emitting unit 820. A bumper light receiving unit 830 is provided, and if the light of the bumper light emitting unit 820 is not transmitted to the bumper light receiving unit 830, it detects that there is an obstacle or collision.

In addition, the bumper light emitting unit 820 may include a plurality of infrared light emitting lamps provided on the bottom surface of the upper member 810 such that infrared rays cover the front and both sides of the robot, and the bumper light receiving unit 830 May include a plurality of infrared light receiving sensors provided in a plane of the bumper 650 to correspond to the plurality of infrared light emitting lamps. That is, as shown in FIG. 10, the infrared ray L may be configured to flow down like a waterfall. Therefore, when no signal is detected by any one of the infrared light receiving sensors of the light receiving unit 830 for bumper, it is configured to recognize as an operation disorder, thereby minimizing an operation disorder of a nursing assistant robot that may cause a big problem even with a minute situation change. do.

As an example, the obstacle detecting unit 503 may be formed such that the front and both sides of the robot are surrounded by an infrared ray (L) waterfall.

10 is a perspective view illustrating a state in which a bumper is installed in a nursing assistant robot and an installation state of a plurality of infrared light emitting lamps and a plurality of infrared light receiving sensors according to an embodiment of the present invention, and FIG. In the nursing assistant robot according to an embodiment of the present invention, a bumper is a perspective view illustrating a state in which a bumper is supported by a bumper support of a robot bottom part.

On the other hand, the nursing assistant robot according to an embodiment of the present invention, as shown in Figure 10, may further include a bumper 650 consisting of a single body to absorb the impact with the external object. In addition, the bumper 650 may be supported by the bumper support 700 as shown in FIG. 11.

Hereinafter, the bumper support 700 will be described in detail with reference to FIGS. 12 and 13.

12 is a perspective view showing the configuration of the bumper support, and FIG. 13 is a longitudinal sectional view showing the configuration of the bumper support.

The bumper support 700 includes a robot fixing part 710 fixed to the bottom surface of the robot, a bumper fixing part 720 fixed to the bumper 650, and a robot fixing part 710 and a bumper fixing part 720. It includes an elastic body 730 provided between). Therefore, since the bumper 650 composed of a single body is mounted in a floating form due to the elastic body 730 on the bottom surface of the robot, even though an external impact is applied to the bumper, most of the bumper 650 is absorbed by the elastic body 730 and then transferred to the robot. Reduce external shock as much as possible. In addition, the bumper support 700 may further include a case-shaped limit 740 surrounding the elastic body 730 to limit the degree of bending of the elastic body 730.

In addition, in order to improve the disassembly and assembly of the robot body 10 and the robot fixing part 710 and the disassembling and assembly of the bumper 650 and the bumper fixing part 720, the opening for disassembly and assembly in the limit 740. 741 may be formed.

In addition, the bumper 650 may further include a wheel 850 rotatably provided at an edge thereof. The wheel 850 serves as a buffer to prevent the robot from directly damaging the surface of the bumper 650 when the robot collides with a wall or the like.

Hereinafter, the driving unit 520 will be described in detail with reference to FIG. 9.

9 is a plan view showing a driving unit of the nursing assistant robot according to an embodiment of the present invention.

The driving unit 520 includes a first power generator 521a, a first wheel 522a rotated by the power of the first power generator 521a, a first power generator 521a, and a first wheel 522a. And a first clutch 523a provided between the first power generator 521a and the first wheel 522a to engage or disengage the second power generator 521b. It is provided between the second wheel 522b rotated by the power of the power generator 521b, and between the second power generator 521b and the second wheel 522b, and the second power generator 521b and the second wheel 522b. A second clutch 523b may be included to engage or disengage between the wheels 522b. For reference, reference numeral 524 of FIG. 9 is an auxiliary wheel for balancing the robot so as not to fall.

In particular, the power supplied to the first wheels 522a and the second wheels 522b can be individually controlled by the first power generator 521a and the second power generator 521b, thereby smoothly rotating at the corners. This becomes possible. That is, if the speed ratio of the first wheel 522a and the second wheel 522b is properly adjusted, the desired rotation is possible.

 The first and second clutches 523a and 523b release the power transmission so that the robot can move in the manual mode. For example, if the robot wants to move to a position that cannot be moved, or if the robot cannot be automatically moved, the manual mode can be selected to easily move the robot to a desired position. When the water mode is selected, the engagement of the first and second clutches 523a and 523b is released, and the first wheel 522a and the first power generator 521a and the second wheel 522b and the second power are released. The generator 521b is physically separated and can be moved by the force of a human to move the robot.

 On the other hand, the above-described first control unit 300 may be implemented with one or more microprocessors operating by the set program, the set program is included in the control method of the nursing assistant robot according to an embodiment of the present invention to be described later Contains a series of instructions to perform a step.

14 is a flowchart illustrating a method of measuring a biosignal of a nursing assistant robot according to an embodiment of the present invention, and focuses on measuring a biosignal.

In the biosignal measuring method of the nursing assistant robot according to an embodiment of the present invention, as shown in FIG. 14, the following processes are performed.

First, the robot wirelessly transmits a signal for requesting the measurement of the biosignal to the biosignal measuring unit (S110). The biosignal measurement request signal may be transmitted to a plurality of biosignal measuring units in a broadcast manner, and may include an identification number for a designated biosignal measuring unit to be measured.

Subsequently, the biosignal measuring unit measures the biosignal of the patient in response to the request signal and wirelessly transmits the biosignal to the robot, and the robot measures the identification number of the biosignal measuring unit and the biosignal from the biosignal measuring unit. Receive a response signal containing the bio-signal measured by the unit (S120). If the response signal is not received, the step S110 is performed again.

Subsequently, the robot determines whether the identification number of the biosignal measurement unit matches the identification number of the specified patient (S130), and if the identification number of the biosignal measurement unit does not match the identification number of the specified patient, performing the step S110. Rerun

In addition, when the identification number of the biosignal measuring unit matches the identification number of the designated patient, the robot determines whether the measured biosignal is included in a preset range (S140).

The robot stores the biosignal included in the response signal as a biosignal of a designated patient when the measured biosignal is included in a preset range (S150), and if the measured biosignal is not included in a preset range, Check the reception frequency (N) of the response signal. When the response frequency N of the response signal is less than the predetermined number N1, the operation S110 is performed again. If the response signal N is greater than the predetermined number N1, an abnormal signal is generated (S170). The reception frequency (N) may be set to one time in the case of an emergency patient, and may be set to two to five times in consideration of a communication environment in case of an emergency patient. When the biosignal measuring unit periodically transmits its identification number and the biosignal measurement result through a broadcasting method, step S110 may be omitted.

FIG. 15 illustrates a method for measuring a biosignal of a nursing assistant robot according to another embodiment of the present invention, which is a flowchart focusing on movement of the robot body. 16 is a flowchart illustrating the position tracking mode of FIG. 15.

In the biosignal measuring method of the nursing assistant robot according to another embodiment of the present invention, as shown in FIGS. 15 and 16, the following processes are performed.

First, when information on a task, a movement position, a movement mode (return mode or one-way mode) is input, the robot checks the current position using the first ceiling display 620 (S210).

In step S210, if the current position is not confirmed, the robot body 10 is moved to be parallel to the floor display line 610, and then step S210 is performed again.

The movement position may be set by directly inputting information such as ward information, patient information, or biosignal measurement unit information, and may be set by inputting unique information (identification number, etc.) corresponding to the ward or biosignal measurement unit. have.

Subsequently, a hamming distance to the moving position is calculated using the first ceiling display (S220). The hamming distance is calculated as the shortest distance to the moving position using the number of first ceiling indications between the moving position and the current position.

Subsequently, the direction of movement is determined using the hamming distance, and the target is moved along the floor display line. The moving direction is calculated by comparing the number of first ceiling displays when moving in the current direction of the robot with the number of first ceiling displays when moving in the opposite direction (S230). Direction is determined. In detail, when the number of the first ceiling displays when moving in the current direction of the robot is less than the number of the first ceiling displays when moving in the opposite direction, the robot moves in the current direction (S240) and moves in the current direction of the robot. If the number of the first ceiling display when the number of the first ceiling display is moved in the opposite direction when the rotation is in the opposite direction (S250), and moves (S240). Therefore, the robot may move in the current progress direction according to the number of first ceiling marks, or may rotate in the opposite direction to progress.

In addition, periodically checking whether the vehicle is traveling in parallel with the floor display line 610 while moving in the step S240, and when the robot body 10 is not traveling in parallel to the floor display line 610, the robot body 10 may display the floor display line ( Move while controlling to be parallel to 610.

Upon arrival at the movement position, the task is checked and wireless communication with the biosignal measuring unit is performed to measure the biosignal of the patient (S260). Since the method of measuring the biosignal has been described above with reference to FIG. 14, the description thereof is omitted.

When a plurality of movement positions are set, the movement to the corresponding movement positions is performed according to the above-described method, and when the plurality of movement positions are set, the movement to the starting position is performed according to the same method.

Once the obstacle is detected while moving in the step S240, once stopped, if the obstacle is continuously detected for a predetermined time, the obstacle is avoided, and the step S210 is performed again. If the second ceiling display is confirmed during the movement in the step S240, after rotating the moving direction, the operation S210 is performed again.

Although the preferred embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concepts of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

1 is a block diagram showing the configuration of a nursing assistant robot according to an embodiment of the present invention.

Figure 2 is a block diagram showing the configuration of a biological signal measuring unit of the nursing assistant robot according to an embodiment of the present invention.

Figure 3 is a perspective view showing the robot body of the nursing assistant robot according to an embodiment of the present invention.

4 is a view for explaining an input unit of the nursing assistant robot of FIG. 3.

5 is a plan view of a hospital ward showing a floor display line, a first ceiling display, and a second ceiling display for guiding a nursing assistant robot according to an embodiment of the present invention.

6 is a perspective view showing the interior of a hospital ward where a floor display line and a first ceiling display are installed.

FIG. 7 is a schematic perspective view illustrating a floor detection sensor unit provided on a bottom of a robot body and a floor display line installed on a hospital floor among nursing assistant robots according to an embodiment of the present invention.

8 is a bottom view sensor unit, which is a bottom view of FIG.

9 is a plan view showing a driving unit of the nursing assistant robot according to an embodiment of the present invention.

10 is a perspective view illustrating a state in which a bumper is installed in a nursing assistant robot and an installation state of a plurality of infrared light emitting lamps and a plurality of infrared light receiving sensors according to an embodiment of the present invention.

11 is a perspective view illustrating a state in which a bumper is supported by a bumper support on a bottom portion of a robot body in a nursing assistant robot according to an embodiment of the present invention.

It is a perspective view which shows the structure of a bumper support stand.

It is a longitudinal cross-sectional view which shows the structure of a bumper support stand.

14 is a flowchart illustrating a method of measuring a biosignal of a nursing assistant robot according to an embodiment of the present invention, and focuses on measuring a biosignal.

FIG. 15 is a flowchart illustrating a method of measuring a biosignal of a nursing assistant robot according to another embodiment of the present invention, and focuses on movement of the robot body.

Claims (26)

In the nursing assistant robot which assists with nursing duties, An input unit to which information about at least one biosignal measuring unit to be measured is input; A driver for moving the biosignal measurement result from the biosignal measuring unit through an optimal path to a position where the biosignal measurement result can be wirelessly transmitted; And And a first controller configured to control the movement of the driving unit by calculating the optimum path and to manage a biosignal measurement result wirelessly transmitted from the biosignal measuring unit. The method of claim 1, The information on the bio-signal measuring unit includes nursing assistant robot, characterized in that the identification number information of the bio-signal measuring unit and the position information for receiving the transmission result of the bio-signal measurement. The method of claim 1, wherein the bio-signal measuring unit A biosignal measuring unit attached to the patient to measure a biosignal, a touch sensing unit sensing whether the biosignal measuring unit is attached to the patient, and detecting a temperature of an environment measured by the biosignal measuring unit And at least one of a temperature sensor and a humidity sensor that senses humidity of an environment measured by the biosignal measuring unit. The method of claim 1, The nursing assistant robot and the biosignal measuring unit wirelessly transmit the nursing assistant robot using any one of a medical short range radio frequency band and a medical long range radio frequency band. The method of claim 1, A floor detector detecting a floor display line displayed on the floor of the building; And And a ceiling detector configured to detect at least one of the first and second ceiling displays displayed on the ceiling of the building. The method of claim 5, The floor detecting unit includes a central sensing sensor for sensing the floor display line, and a peripheral sensing sensor for detecting whether the floor display line is separated. The method of claim 6, The central monitoring sensor and the periphery sensor each includes a guide light emitting unit and a guide light receiving unit, and each of the nursing assistant robot further comprises a directional lens provided in the guide light receiving unit. The method of claim 6, The floor detecting unit may further include a curtain for blocking external light from being introduced. The method of claim 1, Nursing assistant robot further comprises an obstacle detecting unit for detecting an external obstacle by using a plurality of bumper light emitting unit and a plurality of bumper light receiving unit corresponding to the plurality of bumper light emitting unit. The method of claim 6, The driving unit includes a power generating unit, a wheel that is rotated by the power of the power generating unit, and a clutch for engaging or releasing the power generating unit and the wheel, And the clutch is operable in an automatic mode and a manual mode. The method of claim 1, A bumper that absorbs an impact with an external object; And a bumper support for supporting the bumper, The bumper support is, A robot fixing part fixing the body of the robot; A bumper fixing part fixing the bumper; And Nursing assistant robot, characterized in that it comprises an elastic body provided between the robot fixing portion and the bumper fixing portion. The method of claim 11, The bumper further includes a wheel rotatably provided at an edge thereof, and the bumper support further includes a limit surrounding the elastic body and having a disassembly opening. The method of claim 1,  And a notification unit for generating an abnormal signal when the bio signal measurement result is out of a predetermined range and a response frequency. As a method of measuring a bio-signal using a nursing assistant robot, Receiving a response signal including an identification number of the biosignal measuring unit and a biosignal measured by the biosignal measuring unit from a biosignal measuring unit; Determining whether an identification number of the biosignal measuring unit matches an identification number of a designated patient; And And, if the identification number of the biosignal measuring unit matches the identification number of the designated patient, storing the biosignal included in the response signal as the biosignal of the designated patient. Method of measuring the bio-signal of the. The method of claim 14, The response signal transmitted by the biosignal measuring unit is a biosignal measuring method of a nursing assistant robot, characterized in that the broadcasting signal. The method of claim 14, Before the step of receiving the response signal, And transmitting a request signal to the biosignal measuring unit, wherein the response signal is a response signal corresponding to the request signal. The method of claim 14, wherein the storing step, As a result of the determination, when the identification number of the biosignal measuring unit matches the identification number of the specified patient, if the biosignal is within a preset range, the biosignal included in the response signal is stored as the biosignal of the designated patient, The biosignal measuring method of the nursing assistant robot, characterized in that the biosignal measurement is performed again if the signal is out of a preset range. The method of claim 17, And regenerating an abnormal signal when the biological signal is again out of the predetermined range as a result of performing the biological signal measurement. The method of claim 17, And if the response signal is not received or if the identification number of the biosignal measurement unit does not match the identification number of the designated patient, the biosignal measurement method of the nursing assistance robot, wherein the biosignal measurement is performed again. The method of claim 14, Before the step of receiving the response signal, Checking the current location; Calculating a hamming distance to the moving position using the current position and the moving position; And And determining a moving direction of the robot by using the calculated hamming distance, and moving to the movement position. The method of claim 20, The hamming distance is calculated as an optimal path to the moving position using the number of first ceiling markings between the current position and the moving position, and the first ceiling marking is displayed on the ceiling of the building. Method for measuring bio signals of robots. The method of claim 20, The advancing direction is determined in the current direction when the number of the first ceiling displays when moving in the current direction of the robot is less than the number of first ceiling displays when it moves in the opposite direction, and moves in the current traveling direction of the robot. The method of measuring the bio-signal of the nursing assistant robot when the number of the first ceiling indications at the time of movement is greater than the number of the first ceiling indications at the time of movement in the opposite direction. The method of claim 20, wherein in the moving step, And detecting the floor display line displayed on the floor of the building, and detecting the moving position by detecting the first ceiling display displayed on the ceiling of the building. The method of claim 20, wherein in the moving step, And detecting and rotating a second ceiling display displayed on the ceiling of a corner of a building. The method of claim 20, wherein in the moving step, When the obstacle is detected during the movement, the obstacle avoiding the obstacle, the method of measuring the bio-signal of the nursing assistant robot, characterized in that to perform again from the step of checking the current position. The method of claim 20, wherein in any one of the step of checking the current position and the moving step, Periodically check whether the driving is parallel to the floor display line formed on the floor of the building, and if the driving is not parallel to the floor display line and adjust the robot to be parallel to the floor display line Signal measurement method.

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