Medical assistance robot and medical assistance robot control method

Abstract

The present invention discloses a medical assistance robot and a control method for the medical assistance robot, wherein the medical assistance robot comprises a shell, a trunk component, a sliding component and a control device, wherein the shell has a receiving cavity, the trunk component comprises a plurality of mechanical arms, the plurality of mechanical arms comprises a plurality of leg mechanical arms and a plurality of grasping mechanical arms, each of the mechanical arms can be movably received in the receiving cavity and movably extended out of the receiving cavity, the sliding component comprises a plurality of correspondingly arranged pulleys and a plurality of driving parts, each of the pulleys is arranged at the bottom of the shell, each of the pulleys can be movably received in the receiving cavity and movably extended out of the receiving cavity, each of the driving parts drives the corresponding pulley to move, and the control device is electrically connected to the plurality of mechanical arms and the plurality of driving parts. A reasonable mode can be selected according to different task requirements, and complex working conditions can be completed with better flexibility.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a medical assistance robot and a medical assistance robot control method. Background Art

[0002] With the continuous development of robot technology, robots can replace humans to efficiently complete some tasks that humans cannot complete. Existing medical assistance robots are generally operated by clicking on the screen, and their functions are limited to information query. In complex scenario modes, existing robots cannot achieve satisfactory results. Summary of the invention

[0003] The main purpose of the present invention is to propose a medical-assistive robot and a medical-assistive robot control method, which can exhibit multiple forms to adapt to complex working scenarios.

[0004] To achieve the above object, the present invention provides a medical assistance robot, comprising:

[0005] A housing having a receiving cavity;

[0006] A trunk assembly, comprising a plurality of mechanical arms, the plurality of mechanical arms comprising a plurality of leg mechanical arms and a plurality of grasping mechanical arms, each of the mechanical arms being able to be movably stored in the accommodating cavity, and movably extended out of the accommodating cavity;

[0007] A sliding assembly, comprising a plurality of pulleys and a plurality of driving parts arranged correspondingly, each of the pulleys being arranged at the bottom of the housing, each of the pulleys being able to be movably received in the accommodating cavity and movably extended out of the accommodating cavity, each of the driving parts driving the corresponding pulley to move; and,

[0008] The control device is electrically connected to the plurality of the robot arms and the plurality of the driving units.

[0009] Optionally, a plurality of first mounting holes communicating with the accommodating cavity are provided at the bottom of the housing;

[0010] The sliding assembly further comprises a plurality of mounting seats, the plurality of pulleys are rotatably mounted to the lower ends of the plurality of mounting seats, and the first mounting holes of the mounting seats are movably mounted in the accommodating cavity along the vertical direction;

[0011] The plurality of driving parts are arranged in the accommodating cavity and connected to the upper ends of the plurality of mounting seats so as to respectively drive the plurality of mounting seats to move up and down.

[0012] Optionally, the medical-assisting robot further includes a plurality of cover plates corresponding to the plurality of the first mounting holes, and each of the cover plates is movably mounted to the bottom of the shell to cover the corresponding first mounting hole or expose the corresponding first mounting hole.

[0013] Optionally, the plurality of grabbing mechanical arms include two first grabbing arms disposed opposite to each other in a transverse direction, and a second grabbing arm located between the two first grabbing arms.

[0014] Optionally, the outer side surface of the shell is provided with a plurality of second mounting holes corresponding to the plurality of mechanical arms;

[0015] The medical assistance robot also includes a plurality of movable door structures, each of which includes two first door panels arranged opposite to each other. Both of the first door panels are movably mounted in the corresponding second mounting holes and have a movable travel of approaching or moving away from each other, so as to jointly cover or open the corresponding second mounting holes.

[0016] Optionally, grooves are provided on opposite sides of the two first door panels, and each of the grooves is arranged to penetrate along two sides in the thickness direction of the first door panel;

[0017] Each of the movable door structures also includes two second door panels that are arranged opposite to each other. The two second door panels are movably installed in the two grooves and have a movable travel of approaching or moving away from each other to cover or reveal the corresponding grooves.

[0018] Optionally, the medical assistive robot further comprises two display screens, which are respectively arranged on two opposite sides of the shell, and both of the two display screens are electrically connected to the control device; and / or,

[0019] The medical assistance robot further includes an infrared sensor disposed on the shell, wherein the infrared sensor is electrically connected to the control device; and / or,

[0020] The medical assistance robot also includes a voice system, which is electrically connected to the control device.

[0021] The present invention also provides a medical assistance robot control method, the medical assistance robot control method comprising the following steps:

[0022] Receive crawling operation instructions;

[0023] Obtain the target grasping position of the object to be grasped and the actual position of the robot;

[0024] Calculate the grasping distance according to the target grasping position and the actual standing position;

[0025] According to the grasping distance, multiple robot arms and / or multiple driving parts are selectively controlled to move, so that the grasping robot arm can move to the target grasping position.

[0026] Optionally, the step of selecting and controlling the activities of a plurality of the mechanical arms and / or a plurality of the driving parts according to the grasping distance so that the grasping mechanical arm can move to the target grasping position includes:

[0027] When the grasping distance is less than the maximum extension length of one of the grasping mechanical arms, controlling the corresponding grasping mechanical arm to move to the target grasping position;

[0028] When the grasping distance is greater than the maximum extension length of all the grasping robotic arms, road condition information is obtained, and the activities of multiple leg robotic arms or multiple driving parts are selectively controlled according to the road condition information until the grasping distance is less than the maximum extension length of one of the grasping robotic arms.

[0029] Optionally, the road condition information includes road surface smoothness;

[0030] The steps of obtaining road condition information and selecting and controlling the activities of the plurality of leg mechanical arms or the plurality of driving parts according to the road condition information include:

[0031] Determine a walking path according to the target grasping position and the actual standing position;

[0032] Obtaining a road surface flatness value on the walking path;

[0033] When the road surface flatness value is less than a preset value, controlling the plurality of driving parts to move;

[0034] When the road surface flatness value is greater than a preset value, the multiple leg mechanical arms are controlled to move.

[0035] In the technical solution of the present invention, the medical assistance robot has multiple forms. When multiple robotic arms are all stored in the accommodating cavity and each of the pulleys is stored in the accommodating cavity, the robot is in a static state. When multiple robotic arms are all stored in the accommodating cavity and each of the pulleys extends out of the accommodating cavity, it is in a sliding state and the robot can slide. When multiple grasping robotic arms extend into the accommodating cavity, multiple leg robotic arms are stored in the accommodating cavity and each of the pulleys extends out of the accommodating cavity, it is in a sliding plus robotic arm working state. When each pulley is stored in the accommodating cavity and multiple leg robotic arms and at least part of the grasping robotic arms extend out of the accommodating cavity, it is in a robotic arm plus robotic leg working state. That is, the medical assistance robot proposed in the present invention can select a reasonable working mode according to different task requirements, can select a sliding or walking motion mode according to road conditions, and can select and switch the corresponding working state according to the controlled device, so as to complete complex working conditions and have better flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0037] Figure 1 A three-dimensional schematic diagram of an embodiment (one angle) of a medical assistance robot provided by the present invention;

[0038] Figure 2 for Figure 1 Schematic diagram of the Chinese medicine assistance robot (from another angle);

[0039] Figure 3 for Figure 1 A 3D schematic diagram of a Chinese medicine-assisted robot (from another angle);

[0040] Figure 4 for Figure 1 A schematic diagram of a Chinese medicine assistance robot from above;

[0041] Figure 5 for Figure 1 A three-dimensional schematic diagram of the working state of the mechanical arm and mechanical leg of the traditional Chinese medicine auxiliary robot;

[0042] Figure 6 for Figure 1 A schematic diagram of the structure of the control device of the hardware operating environment involved in;

[0043] Figure 7 A schematic diagram of an embodiment of a medical assistance robot control method provided by the present invention;

[0044] Figure 8 for Figure 1 Flow chart of the control method of traditional Chinese medicine-assisted robot.

[0045] Description of Figure Numbers:

[0046] Label name Label name 100 Medical assistance robots 3 Cover 1 case 4 Movable door structure 21 Leg manipulator 41 First door panel 22 Grasping robot arm 42 Second door panel 221 First grabbing arm 5 Display 222 Second grabbing arm

[0047] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] It should be noted that if a directional indication is involved in the embodiment of the present invention, the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0050] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0051] With the continuous development of robot technology, robots can replace humans to efficiently complete some tasks that cannot be completed by humans. However, there are still many problems. Existing robots cannot achieve satisfactory results in complex scenario modes, including the lack of robot structural design and the poor implementation of control schemes. For example, in the current hospital environment, there is a large flow of people, heavy tasks for doctors, patients are unfamiliar with equipment operation and need guidance in real time, and they need to run back and forth in multiple departments of the hospital when checking their conditions. These situations are the shortcomings of the existing medical situation. Therefore, if robots can replace patients and doctors to perform these tasks, such as changing dressings for patients instead of doctors, picking up medicines for patients, and communicating face-to-face with doctors directly through robots in specific communication rooms, this will greatly reduce the flow of people and the heavy tasks of doctors. However, existing robots cannot complete these difficult actions.

[0052] In view of this, the present invention provides a medical assistance robot and a medical assistance robot control method. Figures 1 to 6 The embodiment of the medical assistance robot provided by the present invention is: Figures 7 and 8 This is an embodiment of the medical-assisting robot control method provided by the present invention.

[0053] Please refer to Figure 1 , Figure 4 and Figure 5 The medical assistive robot 100 includes a shell 1, a trunk component, a sliding component and a control device. The shell 1 has a accommodating cavity. The trunk component includes a plurality of mechanical arms. The plurality of mechanical arms include a plurality of leg mechanical arms 21 and a plurality of grasping mechanical arms 22. Each of the mechanical arms can be movably stored in the accommodating cavity and movably extended from the accommodating cavity. The sliding component includes a plurality of corresponding pulleys and a plurality of driving parts. Each of the pulleys is arranged at the bottom of the shell 1. Each of the pulleys can be movably stored in the accommodating cavity and movably extended from the accommodating cavity. Each of the driving parts drives the corresponding pulley to move. The control device is electrically connected to the plurality of mechanical arms and the plurality of driving parts.

[0054] In the technical solution of the present invention, the medical assistance robot 100 has multiple forms. When multiple mechanical arms are all stored in the accommodating cavity and each of the pulleys is stored in the accommodating cavity, the robot has a static state at this time. When multiple mechanical arms are all stored in the accommodating cavity and each of the pulleys extends out of the accommodating cavity, it is a sliding state at this time, and the robot can slide and move. When multiple grasping mechanical arms 22 extend into the accommodating cavity, multiple leg mechanical arms 21 are stored in the accommodating cavity, and each of the pulleys extends out of the accommodating cavity, it is a sliding plus mechanical arm working state. When each pulley is stored in the accommodating cavity, and multiple leg mechanical arms 21 and at least part of the grasping mechanical arms 22 extend out of the accommodating cavity, it is a mechanical arm plus mechanical leg working state. That is, the medical assistance robot 100 proposed in the present invention can select a reasonable working mode according to different task requirements, can select a sliding or walking motion mode according to road conditions, and select and switch the corresponding working state according to the controlled device, so as to complete complex working conditions and have better flexibility.

[0055] Further, in order to realize the automatic extension and retraction of each pulley, in one embodiment of the present invention, the bottom of the housing 1 is provided with a plurality of first mounting holes connected to the accommodating chamber, the sliding assembly further comprises a plurality of mounting seats, the plurality of pulleys are rotatably mounted to the lower ends of the plurality of mounting seats, each of the first mounting holes of each mounting seat is movably mounted in the accommodating chamber along the up-down direction, and the plurality of driving parts are arranged in the accommodating chamber and connected to the upper ends of the plurality of mounting seats, so as to respectively drive the plurality of mounting seats to move up and down. The present invention does not limit the specific form of the driving part, which can be a cylinder, a screw structure, etc. The driving part is a single drive, and the corresponding pulley can be extended by controlling the corresponding driving part to work. The present invention does not limit the specific number of the pulleys, and can select to drive two pulleys or four pulleys according to the width and stability of the road conditions. Each pulley itself can rotate on the mounting seat. Accordingly, in order to further realize intelligent control, the function of driving each pulley to turn can be added, and each pulley itself can be a motor wheel, so as to facilitate the control of the movement of the pulley itself.

[0056] Considering that in a stationary state or when the robot arm and the robot leg are in working state, each of the pulleys is accommodated in the accommodating cavity. At this time, each of the first mounting holes will directly expose the internal environment of the accommodating cavity to the outside. Therefore, in this embodiment, please refer to Figure 4 , the medical assistive robot 100 also includes a plurality of cover plates 3 corresponding to the plurality of the first mounting holes, and each of the cover plates 3 is movably mounted to the bottom of the shell 1 to cover the corresponding first mounting hole or expose the corresponding first mounting hole. Thereby, the extension of the pulley is not affected, and at the same time, the first mounting hole can be covered when the pulley is stored, thereby improving protection. It should be noted that the present invention does not limit the activity mode of the cover plate 3, which can be a translation activity or a flipping activity. When the cover plate 3 is a flipping activity, it should be set inside the shell 1 and in the inner cavity of the accommodating cavity to ensure sufficient flipping space. Preferably, the cover plate 3 is set to be a translation activity.

[0057] Furthermore, the plurality of grabbing mechanical arms 22 include two first grabbing arms 221 arranged opposite to each other in the transverse direction, and a second grabbing arm 222 located between the two first grabbing arms 221. The grabbing mechanical arms 22 of the auxiliary robot are for conveniently grabbing objects or even assisting patients, and can adapt to more usage requirements. The two first grabbing arms 221 correspond to simulate human arms, and the second grabbing arm 222 is an additional grabbing arm, which anthropomorphizes the robot's action mechanism while not being limited to human limbs. For example, the second grabbing arm 222 is set on the front of the robot, so that when the object is in the positive direction, the second grabbing arm 222 is the best driving option.

[0058] It is understandable that the end of each grabbing robot arm 22 needs to have a grabbing function, including but not limited to vacuum adsorption, claw clamping, etc.

[0059] Not only that, the bottom of the robot is equipped with a wireless charging device, which can be wirelessly charged with the matching wireless power supply equipment.

[0060] In order to facilitate the retraction of each robot arm, in one embodiment, please refer to Figure 1 to Figure 2 , the outer side of the shell 1 is provided with a plurality of second mounting holes corresponding to the plurality of mechanical arms, and the medical assistive robot 100 also includes a plurality of movable door structures 4, each of the movable door structures 4 includes two first door panels 41 arranged opposite to each other, and the two first door panels 41 are both movably mounted in the corresponding second mounting holes, and have a movable travel that approaches or moves away from each other, so as to cover or open the corresponding second mounting holes together. The mechanical arm itself can realize multi-axis rotation and automatic extension and retraction through its own hydraulic control. Considering its own size and retraction mechanism, two first door panels 41 are set for coordinated setting. Obviously, the second mounting hole is set with a larger size, which is more conducive to the movement of the mechanical arm. Therefore, the two first door panels 41 are set to work together to have better strength, which can avoid the single door panel being too large and locally weak, and the excessive driving distance is not conducive to ensuring accuracy.

[0061] Furthermore, when the robotic arm is extended for work, the second mounting hole is completely exposed, which is not conducive to aesthetics and protection of internal circuits. The two first door panels 41 can be controlled to move relative to each other by a certain distance, so as to cover a certain second mounting hole and ensure the movable space of the robotic arm, but there will still be a large gap. For this reason, in one embodiment of the present invention, the two first door panels 41 are provided with grooves on the opposite sides, and each of the grooves is arranged through-through on both sides of the first door panel 41 in the thickness direction. Each of the movable door structures 4 also includes two second door panels 42 arranged opposite to each other. The two second door panels 42 are movably installed in the two grooves, and have a movable stroke of approaching or moving away from each other to cover or reveal the corresponding grooves. The two grooves are spliced ​​together to form a circular hole that matches the diameter of the robotic arm. When closed, the first door panel 41 and the second door panel 42 need to be closed. When opened, the first door panel 41 and the second door panel 42 are first controlled to open so that the second mounting hole is fully exposed for the robotic arm to extend. After the robotic arm is fully extended, the first door panel 41 is controlled to close, while the second door panel 42 remains open. At this time, the outer diameter of the robotic arm can be matched, thereby minimizing the exposed gap, ensuring beauty while protecting the internal circuits and preventing dust and water droplets from splashing in.

[0062] Furthermore, a buffer device is provided between the two first door panels 41 and / or between the two first door panels 41 to reduce the impact force when closing the door and protect the door panels. The buffer device may be a rubber pad or a structure such as a spring, which is not limited here. At the same time, the present invention does not limit the shapes of the first door panel 41 and the cover panel 3, which may be square or circular. In this embodiment, considering the sizes of the first grabbing arm 221 and the second grabbing arm 222, the first door panel 41 in the movable door panel structure corresponding to the first grabbing arm 221 is circular, and the first door panel 41 corresponding to the second grabbing arm 222 is square.

[0063] It should be noted that the leg robot arm 21 is located at the bottom as a whole, and has different functions from the grasping robot arm 22, and the corresponding structure is also different. Therefore, the second mounting hole corresponding to the leg robot arm 21 can be opened and closed only by a single plate cover.

[0064] In addition, please refer to Figure 1 , Figure 3 The medical assistance robot 100 also includes two display screens 5, which are respectively arranged on two opposite sides of the shell 1, and the two display screens 5 are electrically connected to the control device. The two display screens 5 are respectively called front display and rear display according to their setting orientation. Specifically, the front display can display the operation interface, and the user can perform a series of medical inquiries or consultations on the front display. Such medical inquiries and consultations are not limited to registration, medical treatment, treatment and examination information feedback. The front and rear displays can perform monitoring and display functions. The monitoring function can detect the external environment for self-protection, and monitor external organisms at the same time. Such monitoring is not limited to monitoring patients and monitoring external attacks.

[0065] Furthermore, the medical assistance robot 100 also includes an infrared sensor arranged on the shell 1, and the infrared sensor is electrically connected to the control device; the infrared sensor can detect whether the surrounding environment is normal, including whether someone suddenly faints, whether there is an external attack that will cause damage to the robot, etc. The control device will immediately avoid danger or immediately rescue the fallen patient through the information fed back by the infrared sensor and start the emergency execution procedure to notify the rescue doctor to arrive. Before the rescue doctor arrives, the robot can rescue the patient in advance through a pre-set program and its own deep learning function.

[0066] In order to improve the interactive experience, the medical assistance robot 100 further includes a voice system, which is electrically connected to the control device. The voice system provides a series of interactive functions, and the user can call the robot through voice, and the voice system receives the user's request and converts it into execution.

[0067] It should be noted that the above three related technical features can be set at the same time or one or two can be set selectively. Obviously, the effect of setting them at the same time is better. In this embodiment, a series of interactive functions are provided by the display screen 5 and the voice system. The user can search for relevant information through the front display or call the robot by voice. The robot voice system receives the user's request and converts it into execution. The automatic query result is notified to the user and its content is displayed on the front display. Infrared sensors are installed in the front display and the rear display to perform the monitoring function, thereby realizing the detection function.

[0068] like Figure 6 As shown, the control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0069] Those skilled in the art will understand that Figure 6 The structure shown in the figure does not constitute a limitation on the control device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0070] like Figure 6 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a medical assistance robot control program.

[0071] exist Figure 6In the control device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the control device of the present invention can be set in the control device, and the control device calls the medical-assisted robot control program stored in the memory 1005 through the processor 1001, and executes the medical-assisted robot control method provided by the embodiment of the present invention.

[0072] Please refer to Figures 7 and 8 The medical assistive robot control method proposed in the present invention specifically comprises the following steps:

[0073] S10: receiving a grabbing operation instruction;

[0074] It is understandable that the grabbing operation instruction may refer to the grabbing of items, medicines, or patients.

[0075] S20: Obtain the target grasping position of the object to be grasped and the actual position of the robot;

[0076] It can be understood that the robot is not limited to the working state at this time, and can be a stationary state or a state in which a grasping action is being performed.

[0077] S30: Calculating a grasping distance according to the target grasping position and the actual standing position;

[0078] It can be understood that the grasping distance is the distance from the target grasping position to the actual standing position of the robot. The calculation should be adjusted according to the actual size of the target, and it is not necessarily the distance from the center of the target to the robot. It may also be the distance from the eccentric position of the target to the robot.

[0079] S40: According to the grasping distance, select and control the activities of a plurality of the robot arms and / or a plurality of the driving parts, so that the grasping robot arm 22 can move to the target grasping position.

[0080] It should be noted that when controlling the grasping robot 22 to grasp, the effective grasping distance that the grasping robot 22 can reach should be used as the basis, and the calculation of the effective grasping distance of the grasping robot 22 is usually the part of the grasping robot 22 exposed from the shell 1. Therefore, the relationship between the effective grasping distance of the grasping robot 22 and the measurement reference point of the actual standing position of the robot should be preset in advance, and this relationship should be taken into account when comparing the grasping distances.

[0081] Furthermore, step S40 specifically includes the following contents:

[0082] S401: When the grasping distance is less than the maximum extension length of one of the grasping mechanical arms 22, controlling the corresponding grasping mechanical arm 22 to move to the target grasping position;

[0083] It can be understood that the maximum extension length is the effective extension length of the grabbing robot arm 22. When the grabbing distance is less than the maximum extension length of one of the grabbing robot arms 22, any grabbing robot arm 22 that meets the length requirement can be extended to directly touch or even clamp the object to be grasped.

[0084] The maximum extension length is a straight-line distance. When the grasping robot arm 22 is inclined with respect to the object to be grasped, the corresponding grasping distance needs to be first converted into the dimension in the inclined direction of the grasping robot arm 22, and then compared with the maximum extension length reached by the inclined extension of the grasping robot arm 22.

[0085] S402: When the grasping distance is greater than the maximum extension length of all the grasping robotic arms 22, obtain road condition information, and select and control the activities of multiple leg robotic arms 21 or multiple driving parts according to the road condition information until the grasping distance is less than the maximum extension length of one of the grasping robotic arms 22.

[0086] It is understandable that when the grabbing robot arms 22 in different directions are extended, they cannot directly touch the object to be grabbed. At this time, the position of the robot needs to be adjusted. Therefore, it is possible to reasonably choose whether to slide on pulleys or walk on the outrigger robot arms 21 according to the road conditions. Obviously, sliding is faster, but it is limited to obstacles on the road and the density of the crowd.

[0087] Furthermore, the road condition information includes road surface smoothness;

[0088] The steps of obtaining road condition information and selecting and controlling the activities of the plurality of leg mechanical arms 21 or the plurality of driving parts according to the road condition information include:

[0089] Determine a walking path according to the target grasping position and the actual standing position;

[0090] Obtaining a road surface flatness value on the walking path;

[0091] When the road surface flatness value is less than a preset value, controlling the plurality of driving parts to move;

[0092] When the road surface flatness value is greater than a preset value, the plurality of leg mechanical arms 21 are controlled to move.

[0093] It should be noted that the walking path can be adjusted according to the changes in the current road conditions, and whether the current road surface is suitable for sliding is evaluated first. If it is not suitable for sliding, the leg manipulator 21 is controlled to walk. At the same time, during the robot's movement, each grasping manipulator 22 can be stored, or a part of the manipulator can be extended. When a part of the grasping manipulator 22 is extended, if it is to grasp medicines or instruments, when the grasping distance is compared, the grasping manipulator 22 that has been extended is preferred, and the movement is stopped until the grasping manipulator 22 that has been extended meets the distance comparison requirements. When supporting and treating patients, during the movement process, it can be automatically adjusted to, for example, an operating manipulator. At this time, at least two manipulators may be required to simultaneously meet the grasping requirements of different positions of the patient to control the robot to stop.

[0094] During use, when the front and rear display monitoring areas are relatively flat, the control cover 3 is opened, and the robot enters a gliding state and travels quickly, reducing the time for taking medicine and completing other tasks; the robot can also open the first grabbing arm 221 and / or the second grabbing arm 222 when the pulley is turned on to efficiently take medicine and change the patient's dressing; in addition, when encountering an area where it is impossible to complete the travel through the pulley, the robot can drive the supporting mechanical legs to walk, climb stairs, run, etc.; with the synergistic effect of the medical assistance robot 100, the patient's problem of taking medicine can be well solved. In terms of conventional professional medical care, the robot can independently help patients solve problems such as changing dressings. Through the display interface and voice function, the user is guided to use the device to provide patients with medication guidance and contact appointment doctors and other functions, which greatly reduces the doctor's workload. Even if the patient and his family are not in the attending physician's clinic, they can communicate with the doctor in real time.

[0095] This article uses the medical assistance robot 100 as an example of working in a hospital, but it is not limited to the working loop in a hospital.

[0096] In one embodiment, there will be no staff on guard in the hospital. Patients and their families will be guided by the medical assistance robot 100 after entering the hospital. Patients can directly query doctor information, drug information, and registration on the display manually or by voice call, and the patient's examination results can be directly presented on the robot's display screen 5.

[0097] In one embodiment, the patient is in the ward, the doctor prescribes medicine and transmits the information to the medical assistance robot 100, and the medical assistance robot 100 executes the command to pick up the medicine and deliver it to the patient.

[0098] In one embodiment, the medical assistance robot 100 can activate the monitoring function in real time to monitor the conditions of surrounding patients in real time during the execution of the task, that is, whether there are people who are unable to perform normal functions due to sudden illness, and monitor external attacking objects.

[0099] In one embodiment, when performing a task, the medical assistance robot 100 can detect that the road condition ahead is suitable for sliding, and convert it into sliding dynamic fast action to save time for patients and doctors; by detecting that the road condition ahead is not suitable for sliding, the outrigger mechanical legs can be controlled to walk and run to the designated position.

[0100] In one embodiment, when performing a task, for example, taking medicine for a patient, the medical assistance robot 100 can cooperatively extend each robotic arm to efficiently complete the task of taking medicine and store the medicine into the receiving cavity through the second mounting hole, thereby protecting the medicine information.

[0101] In one embodiment, when the medical assistance robot 100 is performing a task, for example, performing a low-difficulty dressing change or medication for a patient, the first arm can grab a water cup or drag a medicine tray, and the second robot arm can coordinate the task.

[0102] In one embodiment, when the robot is performing a task, for example, when giving an injection to a patient, the gripping robot arm can achieve a better feeding method through force sensors and displacement sensors, greatly reducing the patient's pain, and cooperate with the infrared detection system of the display to achieve precise operation without missing operations.

[0103] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A medical assistance robot, characterized in that: include: A housing having a receiving cavity; A trunk assembly, comprising a plurality of mechanical arms, the plurality of mechanical arms comprising a plurality of leg mechanical arms and a plurality of grasping mechanical arms, each of the mechanical arms being able to be movably stored in the accommodating cavity, and movably extended out of the accommodating cavity; A sliding assembly, comprising a plurality of pulleys and a plurality of driving parts arranged correspondingly, each of the pulleys being arranged at the bottom of the housing, each of the pulleys being able to be movably received in the accommodating cavity and movably extended out of the accommodating cavity, each of the driving parts driving the corresponding pulley to move; and, A control device, electrically connected to the plurality of the robotic arms and the plurality of the driving parts; The outer side surface of the shell is provided with a plurality of second mounting holes corresponding to the plurality of mechanical arms; The medical assisting robot further comprises a plurality of movable door structures, each of the movable door structures comprises two first door panels arranged opposite to each other, the two first door panels are movably mounted in the corresponding second mounting holes, and have a movable travel of approaching or moving away from each other, so as to jointly cover or open the corresponding second mounting holes; The two first door panels have opposite sides each provided with a groove, and each of the grooves is arranged to penetrate along both sides in the thickness direction of the first door panel; Each of the movable door structures further comprises two second door panels arranged opposite to each other, and the two second door panels are movably mounted in the two grooves, and have a movable travel of approaching or moving away from each other, so as to cover or reveal the corresponding grooves; The two grooves can be spliced ​​together to form a circular hole that matches the diameter of the robotic arm. When closing, the first door panel and the second door panel need to be closed. When opening, the first door panel and the second door panel are first controlled to open so that the second mounting hole is fully exposed for the robotic arm to extend. After the robotic arm is fully extended, the first door panel is controlled to close, while the second door panel remains open. At this time, the outer diameter of the robotic arm can be matched.

2. The medical assistive robot according to claim 1, characterized in that: The bottom of the shell is provided with a plurality of first mounting holes communicating with the accommodating cavity; The sliding assembly further comprises a plurality of mounting seats, the plurality of pulleys are rotatably mounted to the lower ends of the plurality of mounting seats, and the first mounting holes of the mounting seats are movably mounted in the accommodating cavity along the vertical direction; The plurality of driving parts are arranged in the accommodating cavity and connected to the upper ends of the plurality of mounting seats so as to respectively drive the plurality of mounting seats to move up and down.

3. The medical assistive robot according to claim 2, characterized in that: The medical assistance robot also includes a plurality of cover plates corresponding to the plurality of the first mounting holes, and each of the cover plates is movably mounted to the bottom of the shell to cover the corresponding first mounting hole or expose the corresponding first mounting hole.

4. The medical assistive robot according to claim 1, characterized in that: The plurality of grabbing mechanical arms include two first grabbing arms that are arranged opposite to each other in a transverse direction, and a second grabbing arm located between the two first grabbing arms.

5. The medical assistive robot according to claim 1, characterized in that: The medical assistive robot further comprises two display screens, which are respectively arranged on two opposite sides of the shell, and both of the two display screens are electrically connected to the control device; and / or, The medical assistance robot further includes an infrared sensor disposed on the shell, wherein the infrared sensor is electrically connected to the control device; and / or, The medical assistance robot also includes a voice system, which is electrically connected to the control device.

6. A method for controlling a medical assistance robot, based on the medical assistance robot according to any one of claims 1 to 5, characterized in that: The medical assisting robot control method comprises the following steps: Receive crawling operation instructions; Obtain the target grasping position of the object to be grasped and the actual position of the robot; Calculate the grasping distance according to the target grasping position and the actual standing position; According to the grasping distance, multiple robot arms and / or multiple driving parts are selectively controlled to move, so that the grasping robot arm can move to the target grasping position.

7. The medical assistive robot control method according to claim 6, characterized in that: The step of selecting and controlling the activities of the plurality of mechanical arms and / or the plurality of driving parts according to the grasping distance so that the grasping mechanical arm can move to the target grasping position comprises: When the grasping distance is less than the maximum extension length of one of the grasping mechanical arms, controlling the corresponding grasping mechanical arm to move to the target grasping position; When the grasping distance is greater than the maximum extension length of all the grasping robotic arms, road condition information is obtained, and the activities of multiple leg robotic arms or multiple driving parts are selectively controlled according to the road condition information until the grasping distance is less than the maximum extension length of one of the grasping robotic arms.

8. The medical assisting robot control method according to claim 7, characterized in that: The road condition information includes road surface smoothness; The steps of obtaining road condition information and selecting and controlling the activities of the plurality of leg mechanical arms or the plurality of driving parts according to the road condition information include: Determine a walking path according to the target grasping position and the actual standing position; Obtaining a road surface flatness value on the walking path; When the road surface flatness value is less than a preset value, controlling the plurality of driving parts to move; When the road surface flatness value is greater than a preset value, the multiple leg mechanical arms are controlled to move.

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