WO2019075926A1 - 触觉自适应按摩机器人及其控制方法 - Google Patents

触觉自适应按摩机器人及其控制方法 Download PDF

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Publication number
WO2019075926A1
WO2019075926A1 PCT/CN2017/120160 CN2017120160W WO2019075926A1 WO 2019075926 A1 WO2019075926 A1 WO 2019075926A1 CN 2017120160 W CN2017120160 W CN 2017120160W WO 2019075926 A1 WO2019075926 A1 WO 2019075926A1
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WO
WIPO (PCT)
Prior art keywords
massage
robot
tactile
adaptive
disabled patient
Prior art date
Application number
PCT/CN2017/120160
Other languages
English (en)
French (fr)
Inventor
张贯京
葛新科
王海荣
高伟明
张红治
Original Assignee
深圳市前海安测信息技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市前海安测信息技术有限公司 filed Critical 深圳市前海安测信息技术有限公司
Publication of WO2019075926A1 publication Critical patent/WO2019075926A1/zh

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H7/00Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A61H7/001Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for without substantial movement between the skin and the device
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H7/00Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A61H7/007Kneading
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/06Control stands, e.g. consoles, switchboards
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1657Movement of interface, i.e. force application means
    • A61H2201/1659Free spatial automatic movement of interface within a working area, e.g. Robot
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • A61H2201/5071Pressure sensors

Definitions

  • the invention relates to the technical field of intelligent robots, in particular to a tactile adaptive massage robot and a control method thereof.
  • the massage robot can complete simple nursing work such as human body massage, and can replace the operation of a masseur who has rich massage experience and passed strict and professional technical training.
  • the massage action of the massage robot can complete the predetermined massage work under the predetermined massage operation procedure, the touch feeling of the massage part and the induction of the pull, the pressure and the touch cannot be provided, so that the robot pair cannot be adaptively adjusted.
  • the touch sensitivity required for the body massage area In response to the above problems, no effective solution has been proposed yet.
  • the object of the present invention is to provide a tactile adaptive massage robot and a control method thereof, aiming at solving the technical problem that the existing massage robot cannot adaptively adjust the tactile strength required by the mechanical arm to the body massage part.
  • the present invention provides a tactile adaptive massage robot including a robot body, a control panel, and a robot arm, the control panel including an input unit, a timer, a motion switch, and a microcontroller, the end of the robot arm There is a massage part, and the massage part of the robot arm is provided with a force sensitive sensor, wherein:
  • the input unit is configured to: the user inputs the monitoring position information of the disabled patient and the body part information of the required timed massage, and sends the monitoring position information and the body part information to the microcontroller;
  • the timer is used for the user to set a time period of timed massage required by the disabled patient, and time the time period of the disabled patient;
  • the microcontroller is configured to plan a walking route of the tactile adaptive massage robot according to the monitoring position information of the disabled patient when the time of the timer reaches the time period of the disabled patient, and start the motion switch to control the tactile adaptive massage robot according to the Planning the walking route to walk;
  • the microcontroller is further configured to: when the tactile adaptive massage robot walks to the monitoring position of the disabled patient, turn off the motion switch to control the tactile adaptive massage robot to stop at the monitoring position of the disabled patient, according to the body part information
  • the massage part of the control robot arm is automatically moved to the body massage part of the disabled patient, and the massage part of the control arm is activated by a preset massage mode to massage the body massage part of the disabled patient;
  • the microcontroller is further configured to collect, by the force sensitive sensor, a tactile signal of a pull, a pressure, a touch, and a magnitude of the massage portion of the massage portion, and adaptively adjust a massage portion of the mechanical arm according to the tactile signal.
  • the tactile strength of the body massage part of the patient can be strong.
  • control panel further has a sounder for playing massage assistance information that promotes a massage effect, and the massage assistance information is preset and stored in the storage unit.
  • control panel further includes an infrared sensor exposed on an outer surface of the robot body and electrically connected to the microcontroller, wherein: the infrared sensor is configured to emit infrared light to sense the touch adaptive Massaging an obstacle around the robot and transmitting a sensed obstacle signal to the microcontroller; the microcontroller is further configured to control the tactile adaptive massage robot to follow the walking route according to the obstacle signal Avoid obstacles.
  • control panel further includes a positioning unit electrically connected to the microcontroller, wherein: the positioning unit is configured to acquire a current position of the tactile adaptive massage robot in real time; the micro control The device is further configured to compare the current position of the tactile adaptive massage robot with the monitoring position of the disabled patient, and generate a walking stop command when the current position of the tactile adaptive massage robot is the same as the monitoring position of the disabled patient Closing the motion switch controls the tactile adaptive massage robot to stop walking to the monitoring position of the disabled patient.
  • the positioning unit is configured to acquire a current position of the tactile adaptive massage robot in real time
  • the micro control The device is further configured to compare the current position of the tactile adaptive massage robot with the monitoring position of the disabled patient, and generate a walking stop command when the current position of the tactile adaptive massage robot is the same as the monitoring position of the disabled patient
  • Closing the motion switch controls the tactile adaptive massage robot to stop walking to the monitoring position of the disabled patient.
  • control panel further includes a power supply device including a rechargeable lithium battery and a charging base connected to the microcontroller for providing work for the tactile adaptive massage robot a power supply; the charging stand is connected to the lithium battery for plugging an external power source to charge the lithium battery.
  • a power supply device including a rechargeable lithium battery and a charging base connected to the microcontroller for providing work for the tactile adaptive massage robot a power supply; the charging stand is connected to the lithium battery for plugging an external power source to charge the lithium battery.
  • the invention also provides a control method of a tactile adaptive massage robot comprising a robot body, a control panel and a mechanical arm, the control panel comprising an input unit, a timer, a motion switch and a microcontroller,
  • the end of the robot arm is provided with a massage portion
  • the massage portion of the robot arm is provided with a force sensitive sensor
  • the control method of the tactile adaptive massage robot comprises the following steps: receiving, from the input unit, a monitoring position set by the user for the disabled patient Information; receiving a time period set by the user for the disabled patient from the timer, and controlling the timer to count; monitoring the time period of the timer to reach the time period of the disabled patient; when the time of the timer reaches the time of the disabled patient
  • the walking route of the tactile adaptive massage robot is planned according to the monitoring position information of the disabled patient, and the motion switch is controlled to control the tactile adaptive massage robot to follow the planned walking route; when the tactile adaptive massage robot walks to the disabled patient When monitoring the location,
  • the closed motion switch controls the tactile
  • the massage part of the control robot arm massages the body massage part of the disabled patient;
  • the force sensitive sensor collects the tactile signal of the massage part on the pulling, pressing, touching and intensity of the body massage part; adaptive according to the tactile signal Adjust the tactile strength of the massage part of the robot arm to the body massage part of the disabled patient.
  • control method of the tactile adaptive massage robot further comprises the steps of: controlling the sound generator on the control panel to play the massage assistance information that promotes the massage effect, and the massage assistance information is preset and stored in the storage unit.
  • control panel further includes an infrared sensor exposed on an outer surface of the robot body
  • control method of the tactile adaptive massage robot further comprises the steps of: controlling the infrared sensor to emit infrared sensing, the tactile adaptive The obstacle around the robot is massaged, and the sensed obstacle signal is received from the infrared sensor; and the haptic adaptive massage robot is controlled to avoid the obstacle when walking according to the walking route according to the obstacle signal.
  • the step of closing the motion switch to control the haptic adaptive massage robot to stop at the monitoring position of the disabled patient comprises the steps of: acquiring the current position of the haptic adaptive massage robot in real time through a positioning unit on the control panel; Comparing the current position of the tactile adaptive massage robot with the monitoring position of the disabled patient; when the current position of the tactile adaptive massage robot is the same as the monitoring position of the disabled patient, generating a walking stop command to close the motion switch control The tactile adaptive massage robot stops walking to the monitoring position of the disabled patient.
  • the monitoring position is a ward location when the disabled patient is treated in the hospital or a room position when the disabled patient receives rehabilitation at home, and the massage mode is preset and stored in the storage unit.
  • the tactile adaptive massage robot and the control method thereof adopt the above technical solution, and achieve the following technical effects:
  • the robot can be used instead of the professional nurse to automatically perform regular health massage on the disabled patient, and the mechanical arm
  • the massage part is equipped with a force sensitive sensor, and the force sensitive sensor senses the tension, pressure and touch force of the body massage part, and automatically adjusts the strength of the massage of the mechanical arm to the body massage part according to the force condition, thereby achieving the robot in the
  • the adaptive adjustment of the tactile intensity required for the body massage part during the massage process increases the effect of the robot on the body part of the patient.
  • FIG. 1 is a schematic structural view of a preferred embodiment of a tactile adaptive massage robot of the present invention
  • FIG. 2 is a schematic diagram of internal circuit connection of a preferred embodiment of the tactile adaptive massage robot of the present invention
  • FIG. 3 is a flow chart of a preferred embodiment of a control method for a tactile adaptive massage robot of the present invention.
  • FIG. 1 is a schematic structural view of a preferred embodiment of a tactile adaptive massage robot of the present invention.
  • the tactile adaptive massage robot 10 includes, but is not limited to, the robot body 1, the control panel 2, and the robot arm 3.
  • the control panel 2 is mounted in the robot body 1.
  • the control panel 2 includes, but is not limited to, an input unit 21, a timer 22, an infrared sensor 23, a motion switch 24, a sounder 25, a microcontroller 26, and a storage unit. 27. Positioning unit 28 and power supply unit 29.
  • the robot body 1 is a general-purpose robot body that can be independently driven in the industry. The robot body 1 is not specifically limited in this embodiment.
  • the number of the robot arms 3 is two, which can be divided into a left robot arm 3 and a right robot arm 3.
  • the end of each robot arm 3 is provided with a massage portion 4, and the massage portion 4 of the robot arm 3 is provided with a force sensitive sensor 5.
  • the force sensor 5 can collect the tactile signals of the magnitude, pressure, touch and strength of the body massage portion.
  • the massage portion 4 is made of a mechanical massage material commonly used in the industry, and the massage portion 4 of the embodiment is not specifically limited.
  • the force sensor 5 employs a high-sensitivity pressure sensing device that is universally sensible for sensing pressure signals.
  • FIG. 2 is a schematic diagram of internal circuit connection of a preferred embodiment of the tactile adaptive massage robot of the present invention.
  • the input unit 21, the timer 22, the infrared sensor 23, the motion switch 24, the sounder 25, the storage unit 27, the positioning unit 28, and the power supply device 29 are electrically connected to the microcontroller 26, respectively.
  • Display screen 3 is electrically coupled to the microcontroller 26.
  • the electrical connection in this embodiment means that each electrical component is connected to the microcontroller 26 through one or more of a conductive line, a signal line, and a control line, thereby enabling the microcontroller 26 to control the above-mentioned various electrical components to be completed. The corresponding function.
  • the input unit 21 is configured to provide a user (such as a guardian or a doctor of the disabled patient) with the monitoring position information of the disabled patient and the body part information of the required timed massage, and the monitoring position information and the body part of the disabled patient.
  • Information is sent to the microcontroller 26.
  • the monitoring position may be the position of the ward when the disabled patient is treated in the hospital, or the position of the disabled patient at the time of receiving rehabilitation at home, and the monitoring position according to the embodiment may be in accordance with the coordinates. Location to set.
  • the body massage part of the disabled patient may be a specific human body part such as a head, a waist, a back, a hand, a leg, and the like that the patient needs to massage.
  • the input unit 21 may be embedded in a small keyboard on the outer surface of the robot body 1, a setting button, or a virtual keyboard and a virtual button displayed on the display screen 3 (for example, a touch screen), and the monitoring position of the disabled patient is also It can be set via the wireless remote control.
  • the timer 22 is used for the user to set the time period of the timed massage required by the disabled patient and time the time period.
  • the timer 22 is an industry-standard timing device with a setting button, and the user can set the time period of the required timing massage of the disabled patient through the setting button of the timer 22.
  • the time period of the disabled patient can be set to perform a healthy massage on the disabled patient every 2 hours or 4 hours.
  • the number of the infrared sensors 23 may be one or more, respectively exposed on the outer surface of the robot body 1 and electrically connected to the microcontroller 26.
  • the infrared sensor 23 is configured to emit infrared rays to sense an obstacle around the tactile adaptive massage robot 10, and send the sensed obstacle signal to the microcontroller 26.
  • the microcontroller 26 controls the tactile adaptive massage robot 10 to avoid obstacles based on the obstacle signal.
  • the infrared sensor 23 is a sensor device of the infrared obstacle avoidance function adopted by the industry, and can enable the tactile adaptive massage robot 10 to avoid obstacles while walking.
  • the motion switch 24 is a universal current conduction switch, and the microcontroller 26 generates a walking start command to turn on the motion switch 24 to cause the tactile adaptive massage robot 10 to start walking.
  • the microcontroller 26 When the tactile adaptive massage robot 10 walks to the loss
  • the microcontroller 26 When the patient's monitoring position is enabled, the microcontroller 26 generates a walking stop command to close the motion switch 24 to stop the tactile adaptive massage robot 10 from walking to the monitoring position of the disabled patient.
  • the positioning unit 28 periodically acquires the current position of the tactile adaptive massage robot 10, and the microcontroller 26 compares the current position of the tactile adaptive massage robot 10 with the monitoring position of the disabled patient, when the tactile adaptive massage robot 10 When the current position is the same as the monitoring position of the disabled patient, it is determined that the tactile adaptive massage robot 10 has walked to the monitoring position of the disabled patient, and at this time, the microcontroller 26 generates a walking stop command to close the motion switch 24 to make the tactile adaptive. The massage robot 10 stops walking to the monitoring position of the disabled patient.
  • the sound generator 25 is a sounding device commonly used in the industry, such as a speaker, a woofer, and the like.
  • the sounder 25 is used to play massage assist information that promotes the massage effect (pre-stored in the storage unit 27), for example, to guide the disability to a deep breathing action or to move the body.
  • the massage part is combined with the robot 10 to massage the disabled patient, thereby enhancing the massage effect.
  • the microcontroller 26 is configured to plan the walking route of the tactile adaptive massage robot 10 according to the monitoring position information of the disabled patient.
  • the microcontroller The start motion switch 24 controls the tactile adaptive massage robot 10 to follow the planned walking path.
  • the microcontroller 26 is further configured to turn on the infrared sensor 23 and sense the obstacle signal through the infrared sensor 23 to control the tactile adaptive massage robot. 10 Avoid obstacles while walking.
  • the microcontroller 26 turns off the motion switch 24 to control the tactile adaptive massage robot 10 to stop at the monitoring position of the disabled patient, and control the robot arm according to the body part information.
  • the massage part 4 of 3 automatically moves to the body massage part of the disabled patient's massage, and activates the preset massage mode control robot 3 to massage the body massage part of the disabled patient.
  • different body massage portions correspond to different massage modes, and the massage modes of the different body massage portions are preset and stored in the storage unit 27 according to the medical massage principle.
  • the microcontroller 26 collects the tactile signals of the pull, pressure, touch and strength of the body massage part through the force sensitive sensor 5 disposed in the massage part 4. And according to the tactile signal, the massage part 4 of the robot arm 3 is adaptively adjusted to massage the body massage part of the disabled patient.
  • the invention adds the force sensitive sensor 5 to the massage part 4 of the robot arm 3, and the force sensitive sensor 5 senses the tension, pressure and touch force of the body massage part, and automatically adjusts the mechanical arm 3 to the body massage according to the force situation.
  • the intensity of the part massage so that the robot can adaptively adjust the touch intensity and the strength of the pull, pressure and touch required for the body massage part during the massage process.
  • the microcontroller 26 can be a central processing unit (CPU), a microprocessor, a micro control unit chip (MCU), a data processing chip, or a control unit having data processing functions.
  • the storage unit 27 can be a read only memory unit ROM, an electrically erasable memory unit EEPROM or a flash memory unit FLASH.
  • the storage unit 27 is configured to store a massage mode corresponding to different body massage parts set in advance, massage assistance information preset for promoting a massage effect, and store pre-programmed computer program instructions, which can be micro-controlled
  • the device 26 is loaded and executed so that the massage robot 10 completes the tactile adaptive massage of the body massage site of the disabled patient.
  • the positioning unit 28 is a commonly used GPS positioning unit in the industry, and can periodically acquire the current position of the tactile adaptive massage robot 10 and transmit the current position information of the massage robot 10 to the microcontroller 26 .
  • the power supply unit 29 includes a rechargeable lithium battery 30 and a charging base 31 connected to the microcontroller 26 for providing operating power to the tactile adaptive massage robot 10.
  • the charging stand 31 is connected to the lithium battery 30 for plugging an external power source to charge the lithium battery 30.
  • Fig. 3 is a flow chart showing a preferred embodiment of the control method of the tactile adaptive massage robot of the present invention.
  • the control method steps of the tactile adaptive massage robot 10 are implemented by a computer software program in the form of computer program instructions and stored in a computer readable storage medium (eg, storage unit 27).
  • the storage medium may include a read only memory, a random access memory, a magnetic disk or an optical disk, etc., and the computer program instructions can be loaded by the processor and perform the following steps S30 to S40.
  • step S30 the monitoring position information set by the user for the disabled patient and the body part information of the desired timing massage are received from the input unit 21.
  • the user the guardian or doctor of the disabled patient
  • the microcontroller 26 receives the monitoring position information of the disabled patient and the body part information of the desired timed massage from the input unit 21.
  • the monitoring position may be the position of the ward when the disabled patient hospital is treated, or the position of the disabled patient when receiving rehabilitation at home, etc., and the monitoring position according to the embodiment may be according to the coordinate position.
  • the body massage part of the disabled patient may be a specific human body part such as a head, a waist, a back, a hand, a leg, and the like that the patient needs to massage.
  • step S31 the time period during which the user is required to have a timed massage for the disabled patient is received from the timer 22.
  • the time period of the disabled patient can be set to perform a healthy massage on the disabled patient every 2 hours or 4 hours.
  • step S32 the timer 22 is controlled to perform timing. Specifically, the microcontroller 26 controls the timer 22 to perform time counting.
  • step S33 it is monitored whether the time counted by the timer 22 reaches the time period of the disabled patient; specifically, when the timer 22 starts counting, the microcontroller 26 monitors whether the time counted by the timer 22 reaches the time period of the disabled patient.
  • step S34 is performed; when the time counted by the timer 22 has not reached the time period of the disabled patient, step S32 is continued.
  • Step S34 planning the walking route of the haptic adaptive massage robot 10 according to the monitoring position information of the disabled patient; specifically, the microcontroller 26 generates the haptic self according to the monitoring position information of the disabled patient and the position information of the haptic adaptive massage robot 10
  • the walking route that the massage robot 10 walks to the monitoring position is adapted.
  • step S35 the motion switch 23 and the infrared sensor 24 are activated, and the tactile adaptive massage robot 10 is controlled to automatically travel to the monitoring position of the disabled patient according to the walking route.
  • the microcontroller 26 generates a walking command to open the motion switch 24 to cause the tactile adaptive massage robot 10 to start walking, and controls the tactile adaptive massage robot 10 to automatically walk to the monitoring position of the disabled patient according to the walking route.
  • the microcontroller 26 senses the obstacle signal through the infrared sensor 23 to control the tactile adaptive massage robot 10 to avoid the obstacle when walking according to the walking route. .
  • step S36 the motion switch 23 is turned off to stop the tactile adaptive massage robot 10 from being in the monitoring position of the disabled patient.
  • the positioning unit 28 periodically acquires the current position of the tactile adaptive massage robot 10, and the microcontroller 26 compares the current position of the tactile adaptive massage robot 10 with the monitoring position of the disabled patient, when the tactile adaptive massage robot 10 When the current position is the same as the monitoring position of the disabled patient, the microcontroller 26 determines that the tactile adaptive massage robot 10 has walked to the monitoring position of the disabled patient.
  • the microcontroller 26 When the tactile adaptive massage robot 10 walks to the monitoring position of the disabled patient, the microcontroller 26 generates a walking stop command to close the motion switch 24 to stop the tactile adaptive massage robot 10 from stopping and stop monitoring the disabled patient. position.
  • step S37 the massage portion 4 of the robot arm 3 is automatically moved to the body massage portion of the disabled patient's desired massage based on the body part information.
  • the microcontroller 26 controls the massage portion 4 of the robot arm 3 to automatically move to the body massage portion of the disabled patient's desired massage based on the body part information of the disabled patient's desired massage.
  • Step S38 the massage portion 4 of the preset massage mode control robot 3 is activated to massage the body massage portion of the disabled patient.
  • different body massage portions correspond to different massage modes, and the massage modes of the different body massage portions are preset and stored in the storage unit 27 according to the medical massage principle.
  • the massage mode is a standard massage program that is modeled after the masseur's technique.
  • the massage portion 4 of the control robot 3 controls the massage mode of pulling, pressing, and touching the waist.
  • step S39 the force sensor 5 collects the tactile signals of the massage part 4 of the robot arm 4 on the pull, pressure, touch and strength of the body massage part. Specifically, during the massage of the body massage portion of the disabled patient by the mechanical arm 3, the force sensitive sensor 5 disposed in the massage portion 4 collects a tactile signal of the magnitude of the tension, pressure, touch, and intensity of the body massage portion, and The acquired haptic signals are sent to the microcontroller 26.
  • Step S40 adaptively adjusting the tactile intensity of the massage portion 4 of the robot arm 3 to massage the body massage portion of the disabled patient according to the tactile signal.
  • the microcontroller 26 adaptively adjusts the tactile strength of the massage portion 4 of the robot arm 3 to massage the body massage portion of the disabled patient based on the tactile signal.
  • the invention adds the force sensitive sensor 5 to the massage part 4 of the robot arm 3, and the force sensitive sensor 5 senses the tension, pressure and touch force of the body massage part, and automatically adjusts the mechanical arm 3 to the body massage according to the force situation.
  • the intensity of the part massage so that the robot can adaptively adjust the tactile strength and the strength of the pulling, pressing and touching on the body massage part during the massage process, and increase the effect of the robot on the body part of the patient.
  • control method of the tactile adaptive massage robot further includes the steps of: the microcontroller 26 controls the infrared sensor 24 to emit infrared rays to sense an obstacle around the tactile adaptive massage robot 10, and from the infrared sensor 24 The sensed obstacle signal is received; the microcontroller 26 controls the haptic adaptive massage robot 10 to avoid an obstacle while walking according to the walking route according to the obstacle signal.
  • control method of the tactile adaptive massage robot further includes the step of: when the tactile adaptive massage robot 10 performs massage for the disabled patient, the microcontroller 26 controls the sound generator 25 to play the massage assist that promotes the massage effect.
  • the information for example, instructing the disability to take a deep breathing action or moving the body massage site to cooperate with the robot 10 to massage the disabled patient, thereby enhancing the massage effect.
  • the tactile adaptive massage robot and the control method thereof adopt the above technical solution, and achieve the following technical effects:
  • the robot can be used instead of the professional nurse to automatically perform regular health massage on the disabled patient, and the mechanical arm
  • the massage part is equipped with a force sensitive sensor, and the force sensitive sensor senses the tension, pressure and touch force of the body massage part, and automatically adjusts the strength of the massage of the mechanical arm to the body massage part according to the force condition, thereby achieving the robot in the
  • the adaptive adjustment of the tactile intensity required for the body massage part during the massage process increases the effect of the robot on the body part of the patient.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Dermatology (AREA)
  • Pain & Pain Management (AREA)
  • Mechanical Engineering (AREA)
  • Epidemiology (AREA)
  • Robotics (AREA)
  • Physical Education & Sports Medicine (AREA)
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Abstract

一种触觉自适应按摩机器人及其控制方法,该方法包括步骤:从输入单元接收失能患者的监护位置信息和身体部位信息(S30);控制计时器进行计时(S32);当计时时间到达时间周期时,根据监护位置信息规划机器人的行走路线(S34),并启动运动开关控制机器人按照规划的行走路线行走(S35);当机器人行走至监护位置时,关闭运动开关控制机器人停止在失能患者的监护位置(S36),启动按摩模式控制机械手臂对失能患者的身体按摩部位进行按摩(S38);通过力敏传感器采集机械手臂对身体按摩部位的触觉信号(S39),根据触觉信号自适应调节机械手臂对失能患者的身体按摩部位的触觉强弱(S40)。利用机器人对患者按摩时能够自适应调节对身体按摩部位的触觉强弱,增加了按摩效果。

Description

触觉自适应按摩机器人及其控制方法 技术领域
本发明涉及智能机器人的技术领域,尤其涉及一种触觉自适应按摩机器人及其控制方法。
背景技术
针对长期卧床、完全不能自理的患者或失能老年人,普遍存在着看护难的问题。失能患者在医院接受治疗或者在家中进行康复时,通常需要对失能患者的身体病灶部位进行健康按摩,以便能够增加治疗效果从而加快患者康复。然而,目前对患者的身体病灶部位进行按摩的操作,通常需要专业的护士或者按摩师为患者手动按摩,这种人工按摩护理的方式需要大量的专业的护士或者按摩师,需要耗费大量的人力成本,越来越无法满足中国老龄化越来越多的需求。
目前,按摩机器人可以完成人体按摩等简单的护理工作,能够代替既具备丰富按摩经验又经过严格且专业技术培训合格的按摩师的操作。虽然按摩机器人的按摩动作是在预定的按摩操作程序下才能完成预定的按摩工作,但无法提供按摩过程的对按摩部位的触觉以及对拉、压、触的感应,从而不能自适应地调节机器人对身体按摩部位所需的触觉强弱。针对上述问题,目前尚未提出有效的解决方案。
技术问题
本发明的目的在于提供一种触觉自适应按摩机器人及其控制方法,旨在解决现有按摩机器人不能自适应地调节机械手臂对身体按摩部位所需的触觉强弱的技术问题。
技术解决方案
为实现上述目的,本发明提供一种触觉自适应按摩机器人,包括机器人本体、控制面板以及机械手臂,所述控制面板包括输入单元、计时器、运动开关以及微控制器,所述机械手臂的末端设有按摩部分,该机械手臂的按摩部分设置有力敏传感器,其中:
所述输入单元用于供用户输入失能患者的监护位置信息以及所需定时按摩的身体部位信息,并将所述监护位置信息和身体部位信息发送至微控制器;
所述计时器用于供用户设置失能患者所需定时按摩的时间周期,并对失能患者的时间周期进行计时;
所述微控制器用于当计时器的计时时间到达失能患者的时间周期时,根据失能患者的监护位置信息规划触觉自适应按摩机器人的行走路线,以及启动运动开关控制触觉自适应按摩机器人按照规划的行走路线行走;
所述微控制器还用于当触觉自适应按摩机器人行走至失能患者的监护位置时,关闭运动开关控制所述触觉自适应按摩机器人停止在失能患者的监护位置,根据所述身体部位信息控制机械手臂的按摩部分自动移动到失能患者所需按摩的身体按摩部位,以及启动预先设置的按摩模式控制机械手臂的按摩部分对失能患者的身体按摩部位进行按摩;
所述微控制器还用于通过所述力敏传感器采集按摩部分对所述身体按摩部位的拉、压、触及其力度大小的触觉信号,以及根据触觉信号自适应调节机械手臂的按摩部分对失能患者的身体按摩部位的触觉强弱。
优选的,所述控制面板还发声器,该发声器用于播放促进按摩效果的按摩辅助信息,所述按摩辅助信息预先设置并存储在存储单元中。
优选的,所述控制面板还包括红外传感器,该红外传感器外露于机器人本体的外表面并电连接至所述微控制器上,其中:所述红外传感器用于发射红外线感测所述触觉自适应按摩机器人周边的障碍物,并将感测到障碍物信号发送至所述微控制器;所述微控制器还用于根据所述障碍物信号控制所述触觉自适应按摩机器人按照行走路线行走时避开障碍物。
优选的,所述控制面板还包括定位单元,该定位单元电连接至所述微控制器上,其中:所述定位单元用于实时获取所述触觉自适应按摩机器人的当前位置;所述微控制器还用于将所述触觉自适应按摩机器人的当前位置与失能患者的监护位置进行比较,当所述触觉自适应按摩机器人的当前位置与失能患者的监护位置相同时,产生行走停止指令关闭运动开关控制所述触觉自适应按摩机器人停止行走至失能患者的监护位置。
优选的,所述控制面板还包括电源装置,该电源装置包括可充电的锂电池以及充电座,所述锂电池连接至所述微控制器上,用于为所述触觉自适应按摩机器人提供工作电源;所述充电座连接至所述锂电池上,用于接插外部电源为所述锂电池进行充电。
本发明还提供一种触觉自适应按摩机器人的控制方法,该触觉自适应按摩机器人包括机器人本体、控制面板以及机械手臂,所述控制面板包括输入单元、计时器、运动开关以及微控制器,所述机械手臂的末端设有按摩部分,该机械手臂的按摩部分设置有力敏传感器,其中,所述触觉自适应按摩机器人的控制方法包括如下步骤:从输入单元接收用户为失能患者设置的监护位置信息;从计时器接收用户为失能患者设置的时间周期,并控制计时器进行计时;监控计时器的计时时间是否到达失能患者的时间周期;当计时器的计时时间到达失能患者的时间周期时,根据失能患者的监护位置信息规划触觉自适应按摩机器人的行走路线,并启动运动开关控制触觉自适应按摩机器人按照规划的行走路线行走;当触觉自适应按摩机器人行走至失能患者的监护位置时,关闭运动开关控制触觉自适应按摩机器人停止在失能患者的监护位置;根据所述身体部位信息控制机械手臂的按摩部分自动移动到失能患者所需按摩的身体按摩部位;启动预先设置的按摩模式控制机械手臂的按摩部分对失能患者的身体按摩部位进行按摩;通过所述力敏传感器采集按摩部分对所述身体按摩部位的拉、压、触及其力度大小的触觉信号;根据触觉信号自适应调节机械手臂的按摩部分对失能患者的身体按摩部位的触觉强弱。
优选的,所述的触觉自适应按摩机器人的控制方法还包括步骤:控制所述控制面板上的发声器播放促进按摩效果的按摩辅助信息,所述按摩辅助信息预先设置并存储在存储单元中。
优选的,所述控制面板还包括红外传感器,该红外传感器外露于机器人本体的外表面,所述的触觉自适应按摩机器人的控制方法还包括步骤:控制红外传感器发射红外线感测所述触觉自适应按摩机器人周边的障碍物,并从红外传感器接收感测到的障碍物信号;根据所述障碍物信号控制所述触觉自适应按摩机器人按照行走路线行走时避开障碍物。
优选的,所述关闭运动开关控制触觉自适应按摩机器人停止在失能患者的监护位置的步骤包括如下步骤:通过所述控制面板上的定位单元实时获取所述触觉自适应按摩机器人的当前位置;将所述触觉自适应按摩机器人的当前位置与失能患者的监护位置进行比较;当所述触觉自适应按摩机器人的当前位置与失能患者的监护位置相同时,产生行走停止指令关闭运动开关控制所述触觉自适应按摩机器人停止行走至失能患者的监护位置。
优选的,所述监护位置是失能患者在医院接受治疗时的病房位置或者是失能患者在家里接受康复时的房间位置,所述按摩模式预先设置并存储在存储单元中。
有益效果
相较于现有技术,本发明所述触觉自适应按摩机器人及其控制方法采用上述技术方案,达到了如下技术效果:能够利用机器人代替专业护士自动对失能患者定时进行健康按摩,并机械手臂的按摩部分增配力敏传感器,通过力敏传感器感知身体按摩部位的拉、压、触的受力情况,并根据受力情况自动调节机械手臂对身体按摩部位按摩的力度大小,从而达到机器人在按摩过程中自适应调节对身体按摩部位所需的触觉强弱,增加了机器人对患者身体部位按摩的效果。
附图说明
图1为本发明触觉自适应按摩机器人较佳实施例的结构示意图;
图2为本发明触觉自适应按摩机器人较佳实施例的内部电路连接示意图;
图3是本发明触觉自适应按摩机器人的控制方法优选实施例的流程图。
本发明目的实现、功能特点及优点将结合实施例,参照附图做进一步说明。
本发明的最佳实施方式
参考图1所示,图1为本发明触觉自适应按摩机器人较佳实施例的结构示意图。在本实施例中,所述触觉自适应按摩机器人10包括,但不仅限于,机器人本体1、控制面板2以及机械手臂3。所述控制面板2安装在机器人本体1内,所述控制面板2包括,但不仅限于,输入单元21、计时器22、红外传感器23、运动开关24、发声器25、微控制器26、存储单元27、定位单元28以及电源装置29。所述机器人本体1为业界现有的能够独立行走的通用机器人本体,本实施例对机器人本体1并不作具体的限定。
在本实施例中,所述机械手臂3的数量为两个,可以分为左机械手臂3和右机械手臂3。每一个机械手臂3的末端设有按摩部分4,该机械手臂3的按摩部分4设置有力敏传感器5。当机械手臂3的按摩部分4为失能患者的身体按摩部位进行按摩时,力敏传感器5能够采集身体按摩部位的拉、压、触及其力度大小的触觉信号。所述按摩部分4采用业界通用的机械按摩材料制成,本实施例按摩部分4不作具体的限定。所述力敏传感器5采用业界通用的能够感测压力信号的高灵敏度的压力传感装置。
一并参考图2所示,图2为本发明触觉自适应按摩机器人较佳实施例的内部电路连接示意图。在本实施例中,所述输入单元21、计时器22、红外传感器23、运动开关24、发声器25、存储单元27、定位单元28和电源装置29分别电连接至微控制器26,所述显示屏3电连接至所述微控制器26。本实施例所述电连接是指各个电气元器件通过导电线、信号线、控制线的一种或多种连接至微控制器26,从而使得微控制器26能够控制上述各个电气元器件能够完成相应的功能。
所述输入单元21用于供用户(例如失能患者的监护人或者医生)设置失能患者所在的监护位置信息以及所需定时按摩的身体部位信息,并将失能患者的监护位置信息和身体部位信息发送至微控制器26。在本实施例中,所述监护位置可以是失能患者在医院接受治疗时的病房位置,也可以是失能患者在家里接受康复时的房间位置等,本实施例所述监护位置可以按照坐标位置来设定。所述失能患者的身体按摩部位可以为患者所需按摩的头部、腰部、背部、手部、腿部等具体的人体部位。所述输入单元21可以镶嵌在机器人本体1外表面的小型键盘、设置按键,也可以是显示屏3(例如触摸显示屏)显示的虚拟键盘和虚拟按键等,所述失能患者的监护位置也可通过无线遥控器来设置。
所述计时器22用于供用户设置失能患者所需定时按摩的时间周期,并对时间周期进行计时。在本实施例中,所述计时器22为业界通用的带有设置键的计时装置,用户可以通过计时器22的设置键设置失能患者的所需定时按摩的时间周期。例如,所述失能患者的时间周期可以设置为每隔2个小时或4个小时对失能患者进行一次健康按摩。
所述红外传感器23的数量可以为一个或多个,分别外露于机器人本体1的外表面并电连接至所述微控制器26上。所述红外传感器23用于发射红外线感测所述触觉自适应按摩机器人10周边的障碍物,并将感测到障碍物信号发送至所述微控制器26。所述微控制器26根据所述障碍物信号控制所述触觉自适应按摩机器人10避开障碍物。在本实施例中,所述红外传感器23为业界通过的红外避障功能的传感器装置,能够使所述触觉自适应按摩机器人10行走时避开障碍物。
所述运动开关24为业界通用的电流导通开关,微控制器26产生行走开始指令开启运动开关24使所述触觉自适应按摩机器人10开始行走,当所述触觉自适应按摩机器人10行走至失能患者的监护位置时,微控制器26产生行走停止指令关闭运动开关24使所述触觉自适应按摩机器人10停止行走至失能患者的监护位置。具体地,定位单元28定时获取触觉自适应按摩机器人10的当前位置,微控制器26将触觉自适应按摩机器人10的当前位置与失能患者的监护位置进行比较,当触觉自适应按摩机器人10的当前位置与失能患者的监护位置相同时,则确定触觉自适应按摩机器人10已行走至失能患者的监护位置,此时微控制器26产生行走停止指令关闭运动开关24使所述触觉自适应按摩机器人10停止行走至失能患者的监护位置。
所述发声器25为业界通用的发声装置,例如扬声器、低音喇叭等。在触觉自适应按摩机器人10为失能患者进行按摩时,所述发声器25用于播放促进按摩效果的按摩辅助信息(预先存储在存储单元27中),例如指导失能患深呼吸动作或者移动身体按摩部位来配合机器人10为失能患者进行按摩,从而增强按摩效果。
所述微控制器26用于根据失能患者的监护位置信息规划触觉自适应按摩机器人10的行走路线,当计时器22的计时时间到达失能患者所需定时按摩的时间周期时,微控制器26启动运动开关24控制触觉自适应按摩机器人10按照规划的行走路线行走。在触觉自适应按摩机器人10按照行走路线行走至失能患者的监护位置过程中,所述微控制器26还用于开启红外传感器23并通过红外传感器23感测障碍物信号控制触觉自适应按摩机器人10行走时避开障碍物。
当触觉自适应按摩机器人10行走至失能患者的监护位置时,微控制器26关闭运动开关24控制触觉自适应按摩机器人10停止在失能患者的监护位置,根据所述身体部位信息控制机械手臂3的按摩部分4自动移动到失能患者所需按摩的身体按摩部位,并启动预先设置的按摩模式控制机械手臂3对失能患者的身体按摩部位进行按摩。在本实施例中,不同身体按摩部位对应有不同的按摩模式,所述不同身体按摩部位的按摩模式根据医学按摩原理预先设置并存储在存储单元27中。在机械手臂3对失能患者的身体按摩部位进行按摩过程中,微控制器26通过设置在按摩部分4的力敏传感器5采集对身体按摩部位的拉、压、触及其力度大小的触觉信号,并根据触觉信号自适应调节机械手臂3的按摩部分4对失能患者的身体按摩部位进行按摩的触觉强弱。本发明对机械手臂3的按摩部分4增配力敏传感器5,通过力敏传感器5感知身体按摩部位的拉、压、触的受力情况,并根据受力情况自动调节机械手臂3对身体按摩部位按摩的力度大小,从而达到机器人在按摩过程中自适应调节对身体按摩部位所需的触觉强弱和拉、压、触的力度大小。
在本实施例中,所述微控制器26可以为一种中央处理器(CPU)、微处理器、微控制单元芯片(MCU)、数据处理芯片、或者具有数据处理功能的控制单元。所述存储单元27可以为一种只读存储单元ROM,电可擦写存储单元EEPROM或快闪存储单元FLASH等存储器。所述存储单元27用于存储预先设置的不同身体按摩部位对应的按摩模式、预先设置的用于促进按摩效果的按摩辅助信息、以及存储预先编制的计算机程序指令,该计算机程序指令能够被微控制器26加载并执行以便按摩机器人10完成对失能患者身体按摩部位的触觉自适应按摩。所述定位单元28为业界常用的GPS定位单元,能够定时获取触觉自适应按摩机器人10的当前位置,并将按摩机器人10的当前位置信息发送给微控制器26。
所述电源装置29包括可充电的锂电池30以及充电座31,所述锂电池30连接至所述微控制器26上,用于为所述触觉自适应按摩机器人10提供工作电源。所述充电座31连接至所述锂电池30上,用于接插外部电源为所述锂电池30进行充电。
如图3所示,图3是本发明触觉自适应按摩机器人的控制方法优选实施例的流程图。在本实施例中,所述触觉自适应按摩机器人10的控制方法步骤通过计算机软件程序来实现,该计算机软件程序以计算机程序指令的形式并存储于计算机可读存储介质(例如存储单元27)中,存储介质可以包括:只读存储器、随机存储器、磁盘或光盘等,所述计算机程序指令能够被处理器加载并执行如下步骤S30至步骤S40。
步骤S30,从输入单元21接收用户为失能患者设置的监护位置信息和所需定时按摩的身体部位信息。具体地,在触觉自适应按摩机器人10为失能患者进行定时按摩之前,用户(失能患者的监护人或医生)可以通过输入单元21设置失能患者所在的监护位置信息以及所需定时按摩的身体部位信息,微控制器26从输入单元21接收失能患者的监护位置信息和所需定时按摩的身体部位信息。在本实施例中,所述监护位置可以是失能患者医院接受治疗时的病房位置,也可以是失能患者在家里接受康复时的房间位置等,本实施例所述监护位置可以按照坐标位置来设定。所述失能患者的身体按摩部位可以为患者所需按摩的头部、腰部、背部、手部、腿部等具体的人体部位。
步骤S31,从计时器22接收用户为失能患者所需定时按摩的时间周期。在本实施例中,所述失能患者的时间周期可以设置为每隔2个小时或4个小时对失能患者进行一次健康按摩。
步骤S32,控制计时器22进行计时,具体地,微控制器26控制计时器22进行时间计时。
步骤S33,监控计时器22的计时时间是否到达失能患者的时间周期;具体地,当计时器22开始计时后,微控制器26监控计时器22的计时时间是否达到失能患者的时间周期。当计时器22的计时时间到达失能患者的时间周期时,执行步骤S34;当计时器22的计时时间没有到达失能患者的时间周期时,继续执行步骤S32。
步骤S34,根据失能患者的监护位置信息规划触觉自适应按摩机器人10的行走路线;具体地,微控制器26根据失能患者的监护位置信息以及触觉自适应按摩机器人10的位置信息产生触觉自适应按摩机器人10行走至监护位置的行走路线。
步骤S35,启动运动开关23和红外传感器24,并控制触觉自适应按摩机器人10按照行走路线自动行走至失能患者的监护位置。具体地,微控制器26产生行走指令开启运动开关24使所述触觉自适应按摩机器人10开始行走,并控制触觉自适应按摩机器人10按照行走路线自动行走至失能患者的监护位置。在触觉自适应按摩机器人10按照行走路线行走至失能患者的监护位置过程中,微控制器26通过红外传感器23感测障碍物信号控制触觉自适应按摩机器人10按照行走路线行走时避开障碍物。
步骤S36,关闭运动开关23使触觉自适应按摩机器人10停止在失能患者的监护位置。具体地,定位单元28定时获取触觉自适应按摩机器人10的当前位置,微控制器26将触觉自适应按摩机器人10的当前位置与失能患者的监护位置进行比较,当触觉自适应按摩机器人10的当前位置与失能患者的监护位置相同时,则微控制器26判定触觉自适应按摩机器人10已行走至失能患者的监护位置。当所述触觉自适应按摩机器人10行走至失能患者的监护位置时,微控制器26产生行走停止指令关闭运动开关24使所述触觉自适应按摩机器人10停止行走并停止在失能患者的监护位置。
步骤S37,根据身体部位信息控制机械手臂3的按摩部分4自动移动到失能患者所需按摩的身体按摩部位。具体地,微控制器26根据失能患者所需按摩的身体部位信息控制机械手臂3的按摩部分4自动移动到失能患者所需按摩的身体按摩部位。
步骤S38,启动预先设置的按摩模式控制机械手臂3的按摩部分4对失能患者的身体按摩部位进行按摩。在本实施例中,不同身体按摩部位对应有不同的按摩模式,所述不同身体按摩部位的按摩模式根据医学按摩原理预先设置并存储在存储单元27中。所述按摩模式是模仿按摩师的手法设定的标准按摩程序,例如,控制机械手臂3的按摩部分4对腰部进行拉、压、触等按摩方式。
步骤S39,通过力敏传感器5采集机械手臂4的按摩部分4对身体按摩部位的拉、压、触及其力度大小的触觉信号。具体地,在机械手臂3对失能患者的身体按摩部位进行按摩过程中,设置在按摩部分4的力敏传感器5采集对身体按摩部位的拉、压、触及其力度大小的触觉信号,并将采集的触觉信号发送至微控制器26。
步骤S40,根据触觉信号自适应调节机械手臂3的按摩部分4对失能患者的身体按摩部位进行按摩的触觉强弱。具体地,微控制器26根据触觉信号自适应调节机械手臂3的按摩部分4对失能患者的身体按摩部位进行按摩的触觉强弱。本发明对机械手臂3的按摩部分4增配力敏传感器5,通过力敏传感器5感知身体按摩部位的拉、压、触的受力情况,并根据受力情况自动调节机械手臂3对身体按摩部位按摩的力度大小,从而达到机器人在按摩过程中自适应调节对身体按摩部位所需的触觉强弱和拉、压、触的力度大小,增加了机器人对患者身体部位按摩的效果。
在本实施例中,所述触觉自适应按摩机器人的控制方法还包括步骤:微控制器26控制红外传感器24发射红外线感测所述触觉自适应按摩机器人10周边的障碍物,并从红外传感器24接收感测到的障碍物信号;微控制器26根据所述障碍物信号控制所述触觉自适应按摩机器人10按照行走路线行走时避开障碍物。
在本实施例中,所述触觉自适应按摩机器人的控制方法还包括步骤:在触觉自适应按摩机器人10为失能患者进行按摩时,微控制器26控制发声器25播放促进按摩效果的按摩辅助信息,例如指导失能患深呼吸动作或者移动身体按摩部位来配合机器人10为失能患者进行按摩,从而增强按摩效果。
本领域技术人员可以理解,上述实施方式中各种方法的全部或部分步骤可以通过相关程序指令完成,该程序可以存储于计算机可读存储介质中,存储介质可以包括:只读存储器、随机存储器、磁盘或光盘等。
以上仅为本发明的优选实施例,并非因此限制本发明的专利范围,凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换,均同理包括在本发明的专利保护范围内。
工业实用性
相较于现有技术,本发明所述触觉自适应按摩机器人及其控制方法采用上述技术方案,达到了如下技术效果:能够利用机器人代替专业护士自动对失能患者定时进行健康按摩,并机械手臂的按摩部分增配力敏传感器,通过力敏传感器感知身体按摩部位的拉、压、触的受力情况,并根据受力情况自动调节机械手臂对身体按摩部位按摩的力度大小,从而达到机器人在按摩过程中自适应调节对身体按摩部位所需的触觉强弱,增加了机器人对患者身体部位按摩的效果。

Claims (10)

  1. 一种触觉自适应按摩机器人,包括机器人本体、控制面板以及机械手臂,其特征在于,所述控制面板包括输入单元、计时器、运动开关以及微控制器,所述机械手臂的末端设有按摩部分,该机械手臂的按摩部分设置有力敏传感器,其中:所述输入单元用于供用户输入失能患者的监护位置信息以及所需定时按摩的身体部位信息,并将所述监护位置信息和身体部位信息发送至微控制器;所述计时器用于供用户设置失能患者所需定时按摩的时间周期,并对失能患者的时间周期进行计时;所述微控制器用于当计时器的计时时间到达失能患者的时间周期时,根据失能患者的监护位置信息规划触觉自适应按摩机器人的行走路线,以及启动运动开关控制触觉自适应按摩机器人按照规划的行走路线行走;所述微控制器还用于当触觉自适应按摩机器人行走至失能患者的监护位置时,关闭运动开关控制所述触觉自适应按摩机器人停止在失能患者的监护位置,根据所述身体部位信息控制机械手臂的按摩部分自动移动到失能患者所需按摩的身体按摩部位,以及启动预先设置的按摩模式控制机械手臂的按摩部分对失能患者的身体按摩部位进行按摩;所述微控制器还用于通过所述力敏传感器采集按摩部分对所述身体按摩部位的拉、压、触及其力度大小的触觉信号,以及根据触觉信号自适应调节机械手臂的按摩部分对失能患者的身体按摩部位的触觉强弱。
  2. 如权利要求1所述的触觉自适应按摩机器人,其特征在于,所述控制面板还发声器,该发声器用于播放促进按摩效果的按摩辅助信息,所述按摩辅助信息预先设置并存储在存储单元中。
  3. 如权利要求1所述的触觉自适应按摩机器人,其特征在于,所述控制面板还包括红外传感器,该红外传感器外露于机器人本体的外表面并电连接至所述微控制器上,其中:所述红外传感器用于发射红外线感测所述触觉自适应按摩机器人周边的障碍物,并将感测到障碍物信号发送至所述微控制器;所述微控制器还用于根据所述障碍物信号控制所述触觉自适应按摩机器人按照行走路线行走时避开障碍物。
  4. 如权利要求1所述的触觉自适应按摩机器人,其特征在于,所述控制面板还包括定位单元,该定位单元电连接至所述微控制器上,其中:所述定位单元用于实时获取所述触觉自适应按摩机器人的当前位置;所述微控制器还用于将所述触觉自适应按摩机器人的当前位置与失能患者的监护位置进行比较,当所述触觉自适应按摩机器人的当前位置与失能患者的监护位置相同时,产生行走停止指令关闭运动开关控制所述触觉自适应按摩机器人停止行走至失能患者的监护位置。
  5. 如权利要求1至4任一项所述的触觉自适应按摩机器人,其特征在于,所述控制面板还包括电源装置,该电源装置包括可充电的锂电池以及充电座,所述锂电池连接至所述微控制器上,用于为所述触觉自适应按摩机器人提供工作电源;所述充电座连接至所述锂电池上,用于接插外部电源为所述锂电池进行充电。
  6. 一种触觉自适应按摩机器人的控制方法,该触觉自适应按摩机器人包括机器人本体、控制面板以及机械手臂,其特征在于,所述控制面板包括输入单元、计时器、运动开关以及微控制器,所述机械手臂的末端设有按摩部分,该机械手臂的按摩部分设置有力敏传感器,其中,所述触觉自适应按摩机器人的控制方法包括如下步骤:从输入单元接收用户为失能患者设置的监护位置信息以及所需定时按摩的身体部位信息;从计时器接收用户为失能患者设置的时间周期,并控制计时器进行计时;监控计时器的计时时间是否到达失能患者的时间周期;当计时器的计时时间到达失能患者的时间周期时,根据失能患者的监护位置信息规划触觉自适应按摩机器人的行走路线,并启动运动开关控制触觉自适应按摩机器人按照规划的行走路线行走;当触觉自适应按摩机器人行走至失能患者的监护位置时,关闭运动开关控制触觉自适应按摩机器人停止在失能患者的监护位置;根据所述身体部位信息控制机械手臂的按摩部分自动移动到失能患者所需按摩的身体按摩部位;启动预先设置的按摩模式控制机械手臂的按摩部分对失能患者的身体按摩部位进行按摩;通过所述力敏传感器采集按摩部分对所述身体按摩部位的拉、压、触及其力度大小的触觉信号;根据触觉信号自适应调节机械手臂的按摩部分对失能患者的身体按摩部位的触觉强弱。
  7. 如权利要求6所述的触觉自适应按摩机器人的控制方法,其特征在于,该方法还包括步骤:控制所述控制面板上的发声器播放促进按摩效果的按摩辅助信息,所述按摩辅助信息预先设置并存储在存储单元中。
  8. 如权利要求6所述的触觉自适应按摩机器人的控制方法,其特征在于,所述控制面板还包括红外传感器,该红外传感器外露于机器人本体的外表面,所述的触觉自适应按摩机器人的控制方法还包括步骤:控制红外传感器发射红外线感测所述触觉自适应按摩机器人周边的障碍物,并从红外传感器接收感测到的障碍物信号;根据所述障碍物信号控制所述触觉自适应按摩机器人按照行走路线行走时避开障碍物。
  9. 如权利要求6所述的触觉自适应按摩机器人的控制方法,其特征在于,所述关闭运动开关控制触觉自适应按摩机器人停止在失能患者的监护位置的步骤包括如下步骤:通过所述控制面板上的定位单元实时获取所述触觉自适应按摩机器人的当前位置;将所述触觉自适应按摩机器人的当前位置与失能患者的监护位置进行比较;当所述触觉自适应按摩机器人的当前位置与失能患者的监护位置相同时,产生行走停止指令关闭运动开关控制所述触觉自适应按摩机器人停止行走至失能患者的监护位置。
  10. 如权利要求6至9任一项所述的触觉自适应按摩机器人的控制方法,其特征在于,所述监护位置是失能患者在医院接受治疗时的病房位置或者是失能患者在家里接受康复时的房间位置,所述按摩模式预先设置并存储在存储单元中。
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CN204819530U (zh) * 2015-05-22 2015-12-02 欧阳锡伟 仿生家政服务机器人
CN105835069A (zh) * 2016-06-06 2016-08-10 李志华 智能家用保健机器人
CN206455673U (zh) * 2016-12-30 2017-09-01 西安智道科技有限责任公司 老人看护机器人

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CN206455673U (zh) * 2016-12-30 2017-09-01 西安智道科技有限责任公司 老人看护机器人

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