Nursing robot

Abstract

The nursing robot comprises a head, a body, arms and a base, the head comprises a screen and a camera and can interact with a nurse through an operation interface on the screen, the camera can conduct face identification or object identification, and the arms have seven degrees of freedom and can complete object clamping, dinner plate supporting and conveying and door handle opening and closing. Wherein the body is provided with a containing space capable of containing various medical supplies, the base comprises a plurality of sensing modules and can smoothly move in a hospital, the nursing robot can cooperate with nursing personnel, physical strength and time of the nursing personnel are saved, the high-repeatability and monotonous work content is relieved, and the working efficiency is improved. The nursing staff can make more time to care the health of the patient, and the problem that medical care manpower is scarce is solved.

Description

Technical Field

[0001] This application belongs to the field of robotics, and in particular relates to a robot that assists medical staff. Background Technology

[0002] In the work of nursing staff, medical staff's work includes health education, medication distribution, food delivery, material supply, and other physically demanding and repetitive tasks. These tasks require constant movement between nursing stations and wards, which is not only physically exhausting but also time-consuming.

[0003] In view of the shortage of medical staff in recent years and the continuous increase in the working hours of medical staff, how to reduce the burden on medical staff has become a major issue for hospitals. In the past, some people have proposed the solution of medical robots, but the current medical robots are not versatile and are designed only for single application scenarios, making it difficult to popularize them in hospitals. Summary of the Invention

[0004] In view of the above, it is necessary to provide a nursing robot with good versatility, which can assist medical staff in completing a variety of physically demanding and repetitive tasks, reduce the burden on medical staff, improve work efficiency, and solve the problem of shortage of medical human resources.

[0005] In some embodiments, the nursing robot of this application includes a head, a torso, an arm, and a base. The head also includes a head shell, which is a hollow semi-ellipsoid forming a head space and a screen opening. The head space contains a screen and a camera unit, with the screen completely covering the screen opening, and the camera unit protruding from the camera opening on the head shell.

[0006] In some embodiments, the body also includes a main body, a lifting unit, and a neck. The main body has a storage space in the middle for storing medical supplies. Below the main body is a lifting unit that can lift the main body upwards, allowing the arms to reach higher places and improving the nursing robot's ability to pick up items from high places. The neck serves as a connection component between the main body and the head. The neck can rotate 180 degrees horizontally to drive the horizontal rotation of the entire head. The neck can also rotate vertically to drive the pitching motion of the entire head.

[0007] In some embodiments, the arm includes an upper arm, an elbow, a lower arm, and accessories. The upper arm is connected to the main body and has two mutually perpendicular pivots, giving it two degrees of freedom. The lower arm is connected to the upper arm and also has two mutually perpendicular pivots, giving the upper arm two degrees of freedom as well. The elbow is clamped between the upper and lower arms and has three pivots, providing three degrees of freedom. The lower arm has an accessory interface at its end, allowing accessories to be movably connected to the lower arm.

[0008] In some embodiments, the accessory may be one or a combination of two or more of the following: a three-finger module, a two-finger module, a suction cup module, a brush head module, and a barcode scanning module. The central processing unit of the nursing robot can control the arm to change different accessories according to different tasks.

[0009] In some embodiments, the three-finger module is used to complete the task of extracting large objects.

[0010] In some embodiments, the two-finger module is used to complete tasks such as moving a handcart or extracting door lock switches.

[0011] In some embodiments, the suction cup finger module is used to complete the task of extracting small objects.

[0012] In some embodiments, there is also a housing above the base, in which accessories such as the three-finger module, two-finger module, suction cup module, brush head module, and barcode scanning module can be placed. The central processing unit can control the arm to move to the housing to replace the accessories.

[0013] In some embodiments, the base is located below the body and serves as a component that drives the nursing robot to move. The base includes a base shell forming a base space, and the base space contains a drive module, an infrared sensing module, an ultrasonic sensing module, a base depth sensing module, a light sensor module, and a central processing unit.

[0014] In some embodiments, the drive module includes a motor and wheels for moving the care robot.

[0015] In some embodiments, the infrared sensing module is located at the corner of the base and is connected to the central processing unit, which detects the edge of the roadside and steps based on the infrared sensing module.

[0016] In some embodiments, the ultrasonic sensing module is located at the corner of the base and slightly higher than the infrared sensing module. The ultrasonic sensing module is connected to the central processing unit, which detects the transparent glass based on the ultrasonic sensing module.

[0017] In some embodiments, a base depth sensing module is disposed on the side of the base and is connected to a central processing unit, which detects dynamic obstacles based on the base depth sensing module.

[0018] In some embodiments, the LiDAR sensing module is located on the side of the base and slightly higher than the base depth sensing module, wherein the LiDAR sensing module is connected to the central processing unit, and the central processing unit constructs a map based on the LiDAR sensing module.

[0019] In some embodiments, the base also has a weighing unit on top, which is connected to the central processing unit, and the weighing unit can measure the combined weight of the torso, arms and head.

[0020] In some embodiments, the base also includes a communication unit that connects the central processing unit to the hospital's HIS (Hospital Information System) computer.

[0021] In some embodiments, this application further includes three recording units: a first recording unit located in the main body, a second recording unit located in the head space, and a third recording unit located in the base space. The three recording units respectively acquire a first ambient sound, a second ambient sound, and a third ambient sound from three different locations. The central processing unit then uses independent components analysis or an AI-type neural network to separate the conversations of medical staff, mobile phone conversations, patient groans, telephone ringing, patient call ringing, and printer printing sounds from the environment based on the three ambient sound signals.

[0022] This application also provides a drug safety procedure that can be controlled by a central processing unit, the drug safety procedure including: The hospital's HIS system transmits a drug retrieval instruction and a drug weight to the central processing unit. Use your arm to pick up the medicine and place it in the storage space; Weighing medicines using weighing units; The difference between the weighed amount and the weight of the medicine is calculated to determine whether an error has occurred in the administration of the medication.

[0023] This application also provides a dietary assessment step, which can be controlled by a central processing unit. The dietary assessment step includes: Use your arms to pick up uneaten food; Using a weighing unit, the net weight of the uneaten food is obtained, thus yielding the net weight before consumption; Using his arm, he picked up a piece of food that he had already eaten; Using a weighing unit, the net weight of the consumed food is obtained, thus yielding the net weight after consumption; Calculate the difference between the net weight before and after consumption to obtain a serving size.

[0024] This application also provides an object moving step, which can be controlled by a central processing unit, the object moving step including: The base is rotated using the drive module to make the scanning range of the light-emitting sensor module avoid an object; The head is rotated using the neck to orient the camera unit toward the object; Using an arm to control the accessory to secure it to the object; The nursing robot and the object are moved using the drive module, and obstacles are detected based on the light sensor module and the base depth sensor module; The camera unit captures images of the surrounding area around the trolley and detects obstacles based on these images. The control and drive module avoids obstacles.

[0025] Through the dietary assessment steps in this application, the patient's dietary status can be automatically recorded, allowing doctors and dietitians to make further treatment improvements based on the patient's dietary status.

[0026] By means of the object moving steps described in this application, objects can be moved without hitting obstacles or people in hospitals with many corners and a large number of patients.

[0027] By utilizing the dietary assessment steps and medication safety procedures outlined in this application, the risk of nursing robots misdelivering medications can be mitigated.

[0028] The nursing robot described in this application can assist nursing staff in their work, saving them physical strength and time, reducing repetitive and monotonous tasks, and allowing them to spend more time caring for patients' health, thus solving the problem of scarce medical and nursing staff. Attached Figure Description

[0029] Figure 1 This is a front view of a nursing robot provided in one embodiment of this application.

[0030] Figure 2 This is a schematic diagram of the right side view of a nursing robot provided in one embodiment of this application.

[0031] Figure 3 This is a schematic diagram of a body provided in one embodiment of this application.

[0032] Figure 4 This is a block diagram of the header provided in one embodiment of this application.

[0033] Figure 5 This is a perspective view of the head shell provided in one embodiment of this application.

[0034] Figure 6 This is a schematic diagram of an arm provided in one embodiment of this application.

[0035] Figure 7 This is a front view of the base provided in one embodiment of this application.

[0036] Figure 8 This is a schematic diagram of the right side of the base provided in one embodiment of this application.

[0037] Figure 9 This is a schematic diagram of the rear side of the base provided in one embodiment of this application.

[0038] Figure 10 This is a block diagram of a base provided in one embodiment of this application.

[0039] Figure 11 This is a schematic diagram of a housing provided in one embodiment of this application.

[0040] Figure 12 This is a flowchart of a drug transportation task provided in one embodiment of this application.

[0041] Figure 13 This is a flowchart of a food transport task provided in one embodiment of this application.

[0042] Figure 14 This is a flowchart of a medical cart supply task provided in one embodiment of this application. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0045] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0046] In one embodiment, medical supplies include, but are not limited to, cotton pads, cotton swabs, patches, gauze pads, sterile gloves, and medicines.

[0047] In one embodiment, the biological sample includes, but is not limited to, urine, feces, and blood.

[0048] In one embodiment, the communication unit may include a wired communication module and / or a wireless communication module. The wired communication module may provide one or more wired communication solutions such as Universal Serial Bus (USB) and Controller Area Network (CAN). The wireless communication module may provide one or more wireless communication solutions such as Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication networks, frequency modulation (FM), near field communication (NFC), and infrared (IR).

[0049] In one embodiment, memory may include one or more random access memory (RAM) and one or more non-volatile memory (NVM). RAM can be directly read and written by the central processing unit (CPU) and can be used to store executable programs (e.g., machine instructions) of other running programs, as well as user and application data. RAM may include static random-access memory (SRAM), dynamic random-access memory (DRAM), synchronous dynamic random-access memory (SDRAM), double data rate synchronous dynamic random-access memory (DDR SDRAM), etc. Non-volatile memory can also store executable programs and user and application data, and can be pre-loaded into RAM for direct read and write by the CPU. Non-volatile memory may include disk storage devices and flash memory. Memory is used to store one or more computer programs. One or more computer programs are configured to be executed by the CPU. The one or more computer programs include multiple instructions. When the multiple instructions are executed by the central processing unit, they can realize a medical image recognition model training method and a medical image recognition method that are executed on the electronic device 10.

[0050] The central processing unit (CPU) may include one or more processing units, such as application processors (APs), modem processors, graphics processing units (GPUs), image signal processors (ISPs), controllers, video codecs, digital signal processors (DSPs), and / or neural network processing units (NPUs). These different processing units may be independent devices or integrated into one or more CPUs. The CPU provides computational and control capabilities; for example, it executes computer programs stored in memory to implement the aforementioned medical image recognition model training method and medical image recognition method.

[0051] like Figure 1 and Figure 2 The diagram shows a front view and a right side view of a nursing robot provided in one embodiment of this application. In the first embodiment of this application, the nursing robot 1 includes a body 2, a head 3, a base 4, an arm 5, and a housing 6.

[0052] like Figures 1 to 3 ,in Figure 3 This is a schematic diagram of a body provided in one embodiment of this application. The body 2 includes a main body 21, a lifting part 22, a neck 23, and a first recording unit 24. The main body 21 also includes a storage space 210, a tap 211, and an NFC sensing part 212. In this embodiment, the nursing robot 1 can place medical supplies and biological samples in the storage space 210, enabling the nursing robot 1 to assist in the delivery task. After arriving at the designated ward or location, the nurse uses a proximity card to identify herself in the NFC sensing part 212. Only after confirming that her identity is correct will the tap 211 be opened, preventing non-medical personnel from taking medical supplies or biological samples at will, and also preventing medical personnel from taking the wrong items.

[0053] In some embodiments, the lifting part 22 is disposed between the body 21 and the base 4. The lifting part 22 can be a vertical lifting mechanism, a lever lifting mechanism or a screw lifting mechanism. The lifting part 22 can lift the body 21 and, with the control of the arm 3, can pick up medical supplies or other items placed at a high place.

[0054] In some embodiments, the neck 23 is disposed between the body 21 and the head 3. The neck 23 has two degrees of freedom, namely horizontal rotation and vertical rotation. The neck 23 can rotate 0~270° to the right or 0~270° to the left. Through the horizontal rotation design, the head 3 can turn completely to the rear. The neck 23 can rotate downward 45° or upward 90°. Through the vertical rotation design, the head 3 faces the floor or ceiling.

[0055] In some embodiments, the horizontal and vertical rotation of the neck 23 can be achieved by a gear mechanism, a worm gear mechanism, a pulley mechanism, a sprocket mechanism, a cam mechanism, or a ratchet mechanism.

[0056] In some embodiments, the first recording unit 24 is disposed near the NFC sensing unit 212, and the first recording unit 24 can collect first ambient sounds from the surroundings for use in ambient volume analysis.

[0057] like Figure 1 , Figure 2 and Figure 4 ,in Figure 4 This is a block diagram of a head provided in one embodiment of this application. In this embodiment, the head 3 includes a head housing 30, a screen 31, a head processing unit 32, a camera unit 33, a speaker 34, a second recording unit 35, a head communication unit 36, and a memory 37.

[0058] Please see Figure 3 and Figure 5 ,in Figure 5 This is a perspective view of a head housing provided in an embodiment of this application. The head housing 30 is a hollow semi-elliptical sphere, forming a head space 311 with a screen opening 311. The head space 311 can be used to house a head processing unit 32, a camera unit 33, a speaker 34, a second recording unit 35, a head communication unit 36, and a memory 37. The screen opening 311 is completely covered by the screen 31.

[0059] In some embodiments, symmetrical horn openings 312 are provided on the side of the head housing 30, and the horn 34 is positioned corresponding to the horn openings 312.

[0060] In some embodiments, a camera opening 313 is provided around the head housing 30 near the screen opening 311, and the camera unit 33 is positioned corresponding to the camera opening 313.

[0061] In some embodiments, the head processing unit 32 is connected to the screen 31, camera unit 33, speaker 34, second recording unit 35, head communication unit 36, and memory 37 via a circuit board, and the head processing unit 32 controls the operation of each component based on different tasks.

[0062] In some embodiments, the head processing unit 32 can perform health education tasks. The head processing unit 32 controls the screen 31 to play health education videos stored in the memory 37 and plays the sound through the speakers 34 set on both sides of the head space 311. After the health education video is played, the screen 31 displays questions and answers. The screen 31 is a touch screen, and the viewer can also tap the screen to answer the questions.

[0063] In some embodiments, screen 31 may display a variety of operation interfaces as required by the task.

[0064] In some embodiments, the camera unit 33 can capture a face or a barcode, and the head processing unit 32 can perform face recognition or barcode scanning to confirm whether the current health education object is correct.

[0065] In some embodiments, the camera unit 33 can also capture images of the environment while the nursing robot 1 is moving, and the head processing unit 32 can determine obstacles in real time, which the base 4 can then avoid.

[0066] In some embodiments, the camera unit 33 can also capture images of medical supplies or biological specimens, which are then identified by the head processing unit 32 to achieve the purpose of delivery and acceptance.

[0067] In some embodiments, when the nursing robot 1 arrives at the ward or designated location, the head processing unit 32 will play an arrival notification through the speaker 34, and when the nursing staff picks up medical supplies or biological specimens from the storage space 210 for identification, the speaker 34 will broadcast the name of the supplies or specimens to avoid incorrect replenishment.

[0068] In some embodiments, the second recording unit 35 can receive spoken voice from caregivers or patients, and the head processing unit 32 then performs voice recognition to achieve the purpose of interaction between the nursing robot 1 and the personnel.

[0069] In some embodiments, the second recording unit 35 may also collect second ambient sounds from the surrounding environment for use in ambient volume analysis.

[0070] In some embodiments, the head communication unit 36 ​​can communicate with the base 4, or with an external server or hospital computer, or with an external terminal device.

[0071] like Figure 1 , Figure 2 ,and Figure 6 ,in Figure 6This is a schematic diagram of an arm provided in one embodiment of this application. The arm of this application includes an upper arm 51, an elbow 52, ​​a lower arm 53, and an accessory 54. The upper arm 51 is connected to the side of the body 21, and the upper arm 51 also includes an upper short arm 511 and an upper long arm 512. A first upper rotating shaft 513 is provided between the upper short arm 511 and the body 21, and a second upper rotating shaft 514 is provided between the upper short arm 511 and the upper long arm 512. The first upper rotating shaft 513 rotates about the Z-axis, and the second upper rotating shaft 514 rotates about the Y-axis.

[0072] In some embodiments, the two ends of the elbow 52 are respectively connected to the upper arm 51 and the lower arm 53, and the elbow 52 includes a first middle arm 521 and a second middle arm 522, wherein the first middle arm 521 is connected to the upper long arm 512, and a first pivot shaft 523 is provided between the first middle arm 521 and the upper long arm 512; wherein the first middle arm 521 and the second middle arm 522 are connected, and a second pivot shaft 524 is provided between the first middle arm 521 and the second middle arm 522; wherein the second middle arm 522 is connected to the lower arm 53, and a third pivot shaft 525 is provided between the second middle arm 522 and the lower arm 53; wherein the first pivot shaft 523 and the third pivot shaft 525 rotate about the Z-axis, and the second pivot shaft 524 rotates about the Y-axis.

[0073] In some embodiments, the lower arm 53 includes a lower long arm 531, a lower short arm 532, an accessory interface 533, and a hand depth sensing module 534; wherein the lower long arm 531 is connected to the second middle arm 522, and the lower long arm 531 is further connected to the lower short arm 532, and a first lower pivot 535 is provided between the lower long arm 531 and the lower short arm 532; wherein the lower short arm 532 is connected to the accessory interface 533, and a second lower pivot 536 is provided between the lower short arm 532 and the accessory interface 533; wherein the first lower pivot 535 rotates about the Y-axis, and the second lower pivot 536 rotates about the Z-axis; wherein the hand depth sensing module 534 is provided on the accessory interface 533, and the lens of the hand depth sensing module 534 faces the accessory 54.

[0074] In some embodiments, accessory 54 is connected to accessory interface 533, and accessory 54 is a two-finger module with a tactile sensor 541 on the finger clip of the two-finger clip module.

[0075] In some embodiments, accessory 54 may be a three-finger module, a two-finger module, a suction cup module, a brush head module, or a barcode scanning module.

[0076] In some embodiments, the three-finger module can be used to grip medical supplies or packaging materials with a volume of 4cm×4cm×4cm or more.

[0077] In some embodiments, the two-finger module can hold a medical cart or a food cart, and the two-finger module can also pull or push a door.

[0078] In some embodiments, the suction cup module can pick up lightweight medical kits, small bottles of medicine, or strips of plaster.

[0079] In some embodiments, the brush head module can be used for cleaning.

[0080] In some embodiments, the barcode scanning module can be used to scan barcodes on medical supplies.

[0081] The arm 5 of this application can perform arm operations with more than seven degrees of freedom through multiple rotation axes of the upper arm 51, lower arm 53 and elbow 52.

[0082] Please see Figures 7 to 10 These are, respectively, a front view, a right side view, a rear side view, and a block diagram of the base provided in an embodiment of this application. The base 4 of this application includes a base housing 40, a drive module 41, a weighing unit 42, a central processing unit 43, an infrared sensing module 44, an ultrasonic sensing module 45, a base depth sensing module 46, a light sensor module 47, a third recording unit 48, a communication unit 49, a power supply unit 410, and an ultraviolet light unit 411; wherein, the base housing 40 is a rounded-edge cuboid, forming a base space 400.

[0083] In some embodiments, the drive module 41 includes four wheels and a motor, wherein the motor is located in the base space 400, half of the four wheels are embedded in the base space 400, and the other half of the wheels extend from the base space 400 to the bottom of the base 4. The central processing unit 43 is connected to the drive module 41, and the drive module 41 drives the nursing robot 1 to move.

[0084] In some embodiments, the infrared sensing module 44 includes four infrared sensors, which are evenly distributed at the four corners of the base 4. In this embodiment, the infrared sensing module 44 is located close to the ground and is connected to the central processing unit 43. The central processing unit 43 detects the edge of the roadside and steps based on the signal from the infrared sensing module 44.

[0085] In some embodiments, the ultrasonic sensing module 45 includes four ultrasonic sensors, which are evenly distributed at the four corners of the base 4. In this embodiment, the ultrasonic sensing module 45 is positioned slightly higher than the infrared sensing module 44, and the ultrasonic sensing module 45 is connected to the central processing unit 43. The central processing unit 43 detects the transparent glass based on the signal from the ultrasonic sensing module 45 to avoid collisions with floor-to-ceiling glass or glass doors.

[0086] In some embodiments, the light-sensing module 47 is disposed on the top of the base 4. In this embodiment, the light-sensing module 47 is connected to the central processing unit 43. The central processing unit 43 constructs a field map and plans the optimal path based on the signal from the light-sensing module 47.

[0087] In some embodiments, the third recording unit 48 may also collect third ambient sounds from the surrounding environment for use in ambient volume analysis.

[0088] In some embodiments, the communication unit 49 serves as the connection between the central processing unit 43 and the hospital computer and terminal.

[0089] In some embodiments, the power unit 410 is a rechargeable battery, which serves as the energy source for the entire nursing robot 1. In one embodiment, the base 4 can automatically return to the charging station according to the field map, and the charging station can also send a signal to guide the nursing robot 1 to return.

[0090] In some embodiments, the ultraviolet light unit 411 is an LED light-emitting component located at the bottom of the base 4, which can emit UVC light with a wavelength lower than 280 nm to sterilize the floor when the nursing robot 1 moves.

[0091] In some embodiments, the weighing unit 42 is disposed on the top of the base housing 40, and the body 2 is disposed above the weighing unit 42, so that the weighing unit 42 can obtain the weight of the body 2, head 3 and arm 5.

[0092] Please see Figure 11 This is a schematic diagram of a box provided in one embodiment of this application. The box 6 of this application is located on the top of the base 4 and is parallel to the body 2. The top of the box 6 is provided with a cover 61, and the opening or closing of the cover 61 is controlled by the central processing unit 43.

[0093] In some embodiments, the housing 6 includes a plurality of recesses 62, each recess 62 holding an accessory 54. The shape of each recess 62 corresponds one-to-one with the various accessories 54. When the accessory 54 is inserted into the recess 62, the recess 62 holds the accessory 54 in place, so that the accessory 54 can only be taken out by going straight up.

[0094] In some embodiments, the housing 6 further includes a turntable mechanism 63, which can rotate the groove 62. The rotation of the groove 62, in conjunction with the rotation of the lower arm 53, can improve the efficiency of engagement / disengagement between the accessory 54 and the lower arm 53.

[0095] In some embodiments, the nursing robot 1 is applicable to medical institutions, where it assists nurses in patient care. Specifically, its tasks include transporting medications, transporting medical specimens, transporting meals, moving medical carts, replenishing medical cart supplies, and providing health education. like Figure 12 This is a flowchart of a drug transportation task provided in an embodiment of this application. The process steps in the drug transportation task include: S121: Hospital staff deliver medicines to the medical station in boxes and scan the barcodes on the medicines so that the hospital's HIS system can obtain the medicine name, ward bed number, medicine weight and transport class, which can be ordinary, urgent or express. S122: The nursing robot 1 connects to the HIS system through the communication unit 49 and receives a message that the medicine has arrived at the medical station, the name of the medicine, the ward bed number, the weight of the medicine and the transportation level. The nursing robot 1 then moves to the medical station and selects the appropriate accessory 54 according to the size of the medicine. S123: The nursing robot 1 zeros the weighing unit 42, uses the camera unit 33 to photograph the medicine, and then uses AI object recognition technology to select the medicine to be picked up. The medicine is then picked up and placed in the storage space 210. The weighing unit 42 is used to measure the weight of the medicine and compares it with the weight of the medicine in the HIS system. If the values ​​match, step S124 is performed. If they do not match, a notification is sent to the mobile phone of the medical staff. The comparison of the medicine weight is determined by calculating the difference between the weighing weight and the medicine weight to determine whether the medication was given incorrectly. S124: Nursing robot 1 moves to the vicinity of the designated ward bed number and broadcasts or sends a message to notify the nursing staff to come and collect the medicine. If the medical staff do not come to collect the medicine within five minutes after being notified, nursing robot 1 moves to another ward bed number. S125: The caregiver brings the NFC identification card close to the NFC sensing unit 212, or chooses to use the camera unit 33 to take a picture of their face, and uses facial recognition to confirm their identity. S126: After confirming the identity, nursing robot 1 automatically pulls open tap 211. If the identity confirmation fails, the tap cannot be opened. S127: After the nursing staff picks up the medicine from the storage space 210, the nursing robot 1 determines the name of the medicine based on the weight change and plays the name of the medicine and the ward bed number. S128: After the nursing staff takes out the medication, they face the barcode on the medication toward the camera unit 33. The nursing robot 1 identifies the barcode to confirm that the medication has been taken correctly and sends the task completion information to the HIS system and terminal.

[0096] like Figure 13 This is a flowchart of a food transport task provided in an embodiment of this application. The process steps in the food transport task include: S131: Kitchen staff deliver multiple meals to the elevator lobby in a basket cart, and the staff notifies the nursing robot 1 to pick up the meals via mobile phone. The meals are served on food trays, and there are also notes or barcodes on the food trays containing the ward bed number and patient information. S132: The nursing robot 1 zeros the weighing unit 42 and uses the camera unit 33 to photograph the paper strip or barcode. Then, it uses AI item recognition technology or barcode scanning technology to obtain the ward bed number and patient information. Then, it uses its left and right arms to pick up the food and uses the weighing unit 42 to weigh the net weight of the uneaten food and record it. S133: After the nursing robot 1 moves to the vicinity of the hospital bed and places the meal, the robot uses AI to identify the patient's wristband to confirm the patient's identity and sends the task completion information to the HIS system and terminal. S134: Nursing robot 1 sends a tray collection notification to nursing robot 1 via mobile phone. After nursing robot 1 goes to the ward, nursing robot 1 zeros the weighing unit 42 and uses the camera unit 33 to take pictures of the paper or barcode. Then, it uses AI item recognition technology or barcode scanning technology to learn the ward bed number and patient information. Then, it picks up the food with its left and right arms and uses the weighing unit 42 to measure the net weight of the food that has been eaten. S135, the nursing robot 1 calculates the difference between the net weight of the consumed food and the net weight of the unconsumed food to obtain the patient's food intake.

[0097] Through the dietary delivery process described in this application, patients' dietary status can be automatically recorded, allowing doctors and dietitians to make further adjustments to the treatment plan based on the patients' dietary status.

[0098] like Figure 14 This is a flowchart of a medical cart supply replenishment task provided in one embodiment of this application. The process steps in the medical cart supply replenishment task include: S141: Nursing staff use a mobile terminal to call nursing robot 1 to replenish supplies on a designated medical cart; S142: The nursing robot 1 locates the medical cart using the GPS positioning system on the medical cart, moves to the vicinity of the medical cart, and then turns its back to the medical cart to prevent the light sensor module 47 from being blocked by the bottom plate of the medical cart. S143: The head 3 of the nursing robot 1 is rotated 180° so that the shooting range of the camera unit 33 can cover the medical cart. S144: The arm of the nursing robot 1 swings back so that accessory 54 can grip the pole of the medical cart and then pull the medical cart to the warehouse in a trolley-pulling manner. S145: Nursing Robot 1 uses AI to identify missing supplies on the medical cart; S146: The nursing robot 1 retrieves the missing supplies from the warehouse, replaces accessory 54 with a barcode scanning module, scans the second warehouse barcode on the supplies using the barcode scanning module, and then puts them into the storage space 210. S147: Nursing Robot 1 returns to the medical cart and replenishes supplies to the correct location; S148: The nursing robot 1 pulls the medical cart back to its original position and sends a task completion message to the HIS system and terminal.

[0099] By using the trolley towing step in the medical trolley supply mission, the supply trolley can be towed in hospitals where the trolleys are unstable, have many turns, and have a large number of patients, without hitting obstacles or people.

[0100] In some embodiments, during the execution of tasks, the nursing robot 1 continuously collects ambient sounds using the first recording unit 24, the second recording unit 35, and the first and third recording units 48. Through the recorders placed in three different locations, we can obtain three-dimensional ambient sounds. By using independent components analysis, AI recognition methods, or a combination of both, we can separate the sounds of medical staff talking, mobile phone conversations, patient groans, telephone ringing, patient call ringing, and printer printing. By analyzing the ambient sounds, we can assess the environmental noise and use it as a basis for medical staff to set environmental improvement goals.

[0101] The nursing robot 1 described in this application can assist nursing staff in their work, save their physical strength and time, reduce repetitive and monotonous tasks, and allow nursing staff to spend more time caring for patients' health, thus solving the problem of scarce medical and nursing personnel.

[0102] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0103] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0104] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A nursing robot, characterized in that, include: A head, including: A head shell forms a head space, and the head shell has a screen opening; One screen, covering the screen opening; A camera unit is located in the head space; A body, including: A single body, wherein the body is provided with a storage space; A lifting part is provided below the main body, and the lifting part is connected to the main body; A neck is provided between the body and the head, and the neck is connected to the body and the head. The neck is provided with a rotating mechanism, and the horizontal rotation angle of the rotating mechanism is greater than 180 degrees. One arm, including: One upper arm is connected to the main body; The lower arm connects to the upper arm; A component is movably connected to the lower arm; A base, the base being connected to the bottom end of the body, wherein the base includes: A base shell forms a base space; A drive module is located in the base space; A weighing unit is located on top of the base; A central processing unit is connected to the drive module, the weighing unit, and the arm.

2. The nursing robot as described in claim 1, characterized in that, Also includes: A first recording unit is disposed on the main body and connected to the central processing unit; A second recording unit is located in the head space and connected to the central processing unit; A third recording unit is located in the base space and connected to the central processing unit.

3. The nursing robot as described in claim 2, characterized in that, The central processing unit also performs an ambient sound analysis step, which includes: Control the first recording unit to acquire a first ambient sound; Control the second recording unit to acquire a second ambient sound; Control the third recording unit to acquire a third ambient sound; Independent components analysis was used to separate the sounds of medical staff talking, mobile phone conversations, patient groans, telephone ringing, patient call ringing, and printer printing from the first, second, and third ambient sounds.

4. The nursing robot as described in claim 1, characterized in that, The central processing unit also performs a dietary assessment step, which includes: Using the arm, pick up an uneaten meal; Using the weighing unit, the net weight of the uneaten meal is obtained, thus yielding the net weight before consumption; Using the arm, pick up a meal that has already been eaten; Using the weighing unit, the net weight of the consumed meal is obtained, thus yielding the net weight after consumption; Calculate the difference between the net weight before consumption and the net weight after consumption to obtain a serving size.

5. The nursing robot as described in claim 1, characterized in that, The base is a cuboid, and the base also includes: An infrared sensing module is located at the corner of the base. The infrared sensing module is connected to the central processing unit. The central processing unit detects the edge of the roadside and steps based on the infrared sensing module. An ultrasonic sensing module is located at the corner of the base and slightly higher than the infrared sensing module. The ultrasonic sensing module is connected to the central processing unit, and the central processing unit detects transparent glass based on the ultrasonic sensing module. A base depth sensing module is disposed on the side of the base, the base depth sensing module is connected to the central processing unit, and the central processing unit detects dynamic obstacles based on the base depth sensing module; A light-sensing module is disposed on the side of the base and slightly higher than the base depth sensing module. The light-sensing module is connected to the central processing unit, and the central processing unit constructs a map based on the light-sensing module.

6. The nursing robot as described in claim 5, characterized in that, The central processing unit executes an object movement step, the object movement step including: The base is rotated using the drive module so that the scanning range of the light sensor module avoids an object; The head is rotated using the neck, so that the camera unit faces the object; The arm is used to control the attachment to secure it to the object. The nursing robot and the object are moved using the drive module, and obstacles are detected based on the light sensor module and the base depth sensor module. The camera unit captures images of the surrounding environment around the object, and obstacles are detected based on the images. Control the drive module to avoid the obstacle.

7. The nursing robot as described in claim 1, characterized in that, It also includes a communication unit, and the central processing unit is connected to a hospital computer through the communication unit.

8. The nursing robot as described in claim 7, characterized in that, The central processing unit also performs a drug safety procedure, which includes: The hospital computer transmits a drug extraction instruction and a drug weight to the central processing unit. Use the arm to grasp a medicine and place the medicine in the storage space; The weighing unit is used to weigh the medicine. The difference between the weighed amount and the weight of the drug is calculated to determine whether an error has occurred in the administration of the drug.

9. The nursing robot as described in claim 1, characterized in that, It also includes a box body located on top of the base, the box body forming a box space, and the box space storing multiple of the accessories; The accessory is one or a combination of two or more of the following: a three-finger module, a two-finger module, a suction cup module, a brush head module, and a barcode scanning module.

10. The nursing robot as described in claim 9, characterized in that, The central processing unit performs a component replacement step, which includes: Determine whether the current task is a large object retrieval task, a trolley movement task, a door lock opening / closing task, or a small object retrieval task. If it is a task to retrieve a large object, then control the arm to connect the three-finger module to the lower arm. If the task is to retrieve small objects, the arm is controlled to connect the suction cup finger module to the lower arm. If the task is to move a handcart or to unlock a door, the arm is controlled to connect the two-finger module to the lower arm.

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