Nursing robot system, control method and computer readable storage medium

Abstract

The invention relates to a nursing robot system, a control method and a computer readable storage medium, the system comprises an upper computer, a nursing robot and at least one air bag mechanism worn on a human body, and the air bag mechanism comprises an inflatable air bag and a butt joint air nozzle on the inflatable air bag; the nursing robot comprises at least one mechanical arm, cameras, inflation air nozzles and a controller, the cameras and the inflation air nozzles are installed at the front ends of the mechanical arms, and the controller is used for controlling the cameras to scan and recognize the positions of the air bag mechanisms and the positions of the inflation air bags according to operation instructions of the upper computer. And according to the positions of the inflatable airbags, the mechanical arms are controlled to enable the inflatable air nozzles to be connected with the butt joint air nozzles in an aligned mode, and the inflatable airbags are inflated or deflated till the air pressure of the inflatable airbags reaches a set target value. The system can solve the problems caused by limitation and insufficient flexibility of a force feedback mechanism of direct contact between a traditional rigid manipulator and a human body, and improves the comfort of a patient in the moving process.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a nursing robot system, a control method, and a computer-readable storage medium. Background Art

[0002] With the development of robot technology, more and more robots are used in the service industry. The design of nursing robots can, to a certain extent, assist medical staff or patients' families to better care for patients.

[0003] However, existing nursing robots have deficiencies in flexibility and force feedback mechanisms, especially when performing nursing actions such as turning over and getting up, which can easily cause other injuries during the interaction with the human body. Summary of the invention

[0004] Based on this, it is necessary to provide a nursing robot system, control method and computer-readable storage medium that can solve the lack of flexibility and force feedback mechanism limitations of traditional robot manipulators in response to the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a nursing robot system, the nursing robot system comprising a host computer, a nursing robot, and at least one airbag mechanism worn on a human body, wherein the airbag mechanism comprises an inflatable airbag and a docking air nozzle installed on the inflatable airbag; the nursing robot comprises at least one mechanical arm, a camera and an inflatable air nozzle installed at the front end of each mechanical arm, and a controller; the controller is used to:

[0006] Receiving an operation instruction sent by a host computer, and based on the operation instruction, controlling the camera to scan and identify the position of the airbag mechanism and the inflated airbag;

[0007] According to the position of each inflatable airbag, each of the mechanical arms is controlled to align and connect the inflatable air nozzle with the docking air nozzle, and each inflatable airbag is inflated or deflated until the air pressure of each inflatable airbag reaches a set target value.

[0008] In one embodiment, the nursing robot further comprises an alignment locking mechanism installed at the front end of the mechanical arm, and the airbag mechanism further comprises an alignment locking interface installed on the inflatable airbag.

[0009] The controller is also used to control the alignment and locking mechanism to be aligned and connected with the alignment and locking interface, thereby controlling the robotic arm to align and connect the inflation nozzle with the docking nozzle.

[0010] In one embodiment, the airbag mechanism further includes an identification mark disposed on the inflatable airbag.

[0011] The controller is also used to: control each of the cameras to capture a current scene image; identify the current scene image and extract the corresponding identification mark on the inflatable airbag; identify the position of the airbag mechanism based on the identification mark, and adjust the moving trajectory and / or the operating trajectory of the robotic arm based on the identified position of the airbag mechanism.

[0012] In one embodiment, the inflatable airbag further includes an air release valve. When the docking air nozzle of the airbag mechanism is successfully aligned and connected with the inflatable air nozzle of the nursing robot,

[0013] The controller is also used to: monitor the air pressure of the inflatable airbag in real time, compare the air pressure of the inflatable airbag with a preset air pressure threshold, and if the air pressure of the inflatable airbag is greater than or equal to the air pressure threshold, control the deflation valve to open until the air pressure of the inflatable airbag is less than the preset air pressure threshold, and then control the deflation valve to close.

[0014] In one embodiment, the operation instruction includes the target location and moving trajectory of the nursing robot; the inflatable airbag is inflated or deflated until the air pressure of the inflatable airbag reaches a set target value.

[0015] The controller is also used to: control the robotic arm to move the airbag mechanism to the target location according to the moving trajectory, and send the arrival information to the host computer.

[0016] In one of the embodiments, the controller is further used to: control the inflation nozzle and the docking nozzle to align and connect to perform a self-sealing operation.

[0017] In a second aspect, the present application further provides a control method for a nursing robot system, which is applied to the nursing robot system as described in the first aspect above, and the method comprises:

[0018] Receive an operation instruction sent by the host computer, and control the camera to scan and identify the position of each airbag mechanism based on the operation instruction;

[0019] According to the position of each of the inflatable airbags, the corresponding robotic arm is controlled to align and connect the inflatable air nozzle with the docking air nozzle, and each of the inflatable airbags is inflated or deflated until the air pressure of each of the inflatable airbags reaches a set target value.

[0020] In one embodiment, the operation instruction includes a target location and a moving trajectory of the nursing robot; the method further includes:

[0021] According to the moving trajectory, each of the robotic arms is controlled to move the corresponding airbag mechanism to the target location, and the arrival information is sent to the host computer.

[0022] In one of the embodiments, the method further comprises: controlling the inflation nozzle to be aligned and connected with the docking nozzle and then performing a self-sealing operation.

[0023] In a third aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0024] Receive an operation instruction sent by the host computer, and control the camera to scan and identify the position of each airbag mechanism based on the operation instruction;

[0025] According to the position of each of the inflatable airbags, the corresponding robotic arm is controlled to align and connect the inflatable air nozzle with the docking air nozzle, and each of the inflatable airbags is inflated or deflated until the air pressure of each of the inflatable airbags reaches a set target value.

[0026] In one of the embodiments, when the computer program is executed by the processor, the following steps are implemented: according to the movement trajectory, each of the robotic arms is controlled to move the corresponding airbag mechanism to the target location, and the arrival information is sent to the host computer.

[0027] In one embodiment, when the computer program is executed by a processor, the following steps are implemented: controlling the inflation nozzle and the docking nozzle to align and connect and then perform a self-sealing operation.

[0028] The above-mentioned nursing robot system, control method and computer-readable storage medium solve the problems caused by the limitations of the force feedback mechanism and insufficient flexibility of the traditional rigid manipulator that directly contacts the human body by constructing an airbag mechanism worn on the human body. The nursing robot controls the airbag mechanism to inflate the airbag mechanism, safely and comfortably changing the human body posture. The airbag mechanism evenly distributes pressure to avoid excessive local force, thereby improving the patient's comfort during the movement process, and providing a highly scalable, safe, effective and precise nursing plan for people with limited mobility. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 is a structural block diagram of a nursing robot system in one embodiment;

[0031] Figure 2is a structural block diagram of an airbag mechanism and a mechanical arm in one embodiment;

[0032] Figure 3 Schematic diagram of a control method for a nursing robot system in one embodiment. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0034] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships, for example, "A and / or B" can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0035] like Figure 1 As shown, a nursing robot system is provided. The nursing robot system comprises a host computer 10, at least one nursing robot 20 and at least one airbag mechanism 30 worn on a human body. The host computer 10 is in communication connection with each of the nursing robots 20.

[0036] Among them, Figure 2 As shown, the airbag mechanism 30 includes an inflatable airbag 301 and a docking air nozzle 302 installed on the inflatable airbag 301; the nursing robot 20 includes at least one mechanical arm 201, a camera 202 and an inflatable air nozzle 203 installed at the front end of each mechanical arm 201, and a controller.

[0037] The host computer 10 is used to send operation instructions to the corresponding nursing robot 20. The operation instructions include the target location, movement trajectory, etc. of the nursing robot 20.

[0038] The controller of the nursing robot is used to receive operating instructions sent by the host computer 10, and based on the operating instructions, control each of the cameras to scan and identify the position of the corresponding airbag mechanism 30 and the inflatable airbag 301; according to the position of each inflatable airbag 301, control the corresponding robotic arm 201 to align and connect the inflatable air nozzle 203 with the docking air nozzle 302, and inflate or deflate each inflatable airbag 301 until the air pressure of each inflatable airbag 301 reaches the set target value.

[0039] In detail, when the controller of the nursing robot receives the operation instruction sent by the host computer, it parses the operation instruction to obtain the target location and movement trajectory of the nursing robot. The nursing robot moves to the vicinity of a human body wearing at least one airbag mechanism 30 according to the movement trajectory, controls the camera to scan and identify the position of each airbag mechanism 30, and determines the position of each inflatable airbag 301. According to the position of each inflatable airbag 301, the corresponding mechanical arm 201 is controlled to align and fix the inflatable air nozzle 203 at the front end with the docking air nozzle 302 at the front end of the inflatable airbag 301, and inflate or deflate the inflatable airbag 301 until the air pressure of the inflatable airbag 301 reaches the set target value.

[0040] In this system, an airbag mechanism worn on the human body is constructed to solve the problems caused by the limitations of the force feedback mechanism and insufficient flexibility of the traditional rigid manipulator that directly contacts the human body. The nursing robot is controlled to inflate the airbag mechanism to change the human body posture safely and comfortably. The airbag mechanism evenly distributes pressure to avoid excessive local force, improves the patient's comfort during the movement, and provides a highly scalable, safe, effective and precise nursing plan for people with limited mobility.

[0041] In one embodiment, the airbag mechanism 30 further includes an identification mark set on the inflatable airbag 301. The controller is further used to: control the camera 202 to collect a current scene image; identify the current scene image and extract the identification mark on the inflatable airbag 301; identify the position of the airbag mechanism 30 according to the identification mark, and adjust the movement trajectory and / or the operation trajectory of the robot arm according to the identified position of the airbag mechanism 30.

[0042] In detail, the nursing robot first moves to the vicinity of the human body according to the moving trajectory, then controls the camera 202 to collect the current scene image, recognizes the current scene image, extracts the corresponding identification mark on the inflatable airbag 301 in the scene, determines the position of the airbag mechanism 30 according to the position of the identification mark, and further adjusts the moving trajectory and / or the operation trajectory of the mechanical arm to improve the docking accuracy and precision of the inflatable nozzle and the docking nozzle. If the identification mark extracted by the camera on a certain mechanical arm is different from the identification mark corresponding to the mechanical arm in the operation instruction, the correct operation trajectory of each mechanical arm is corrected according to the identification mark collected by the camera of other mechanical arms, and each mechanical arm moves to the correct position according to the correct operation trajectory.

[0043] In one embodiment, if Figure 2 As shown, the nursing robot 20 also includes an alignment locking mechanism 205 installed at the front end of the mechanical arm 201 , and the airbag mechanism 30 also includes an alignment locking interface 303 installed on the inflatable airbag 301 .

[0044] The controller is further used to control the alignment locking mechanism 205 to be aligned and connected with the alignment locking interface 303 , thereby controlling the robot arm 201 to align and connect the inflation nozzle 203 with the docking nozzle 302 .

[0045] In this embodiment, by setting identification marks, the position correspondence between each inflation mechanism and the robotic arm is achieved, thereby improving the docking accuracy. By setting an alignment locking mechanism, the accuracy of the nursing robot's inflation nozzle when docking with the airbag mechanism is further improved. In addition, the alignment process using the alignment locking mechanism in combination not only improves the docking accuracy but also shortens the docking time compared to the alignment process of a single nozzle, thereby improving the operating efficiency of the nursing robot.

[0046] In one embodiment, the inflatable airbag 301 also includes an air release valve. When the docking air nozzle 302 of the airbag mechanism 30 is aligned and connected successfully with the inflatable air nozzle 203 of the nursing robot 20, the controller 204 is also used to: monitor the air pressure of the inflatable airbag 301 in real time, compare the air pressure of the inflatable airbag 301 with a preset air pressure threshold, and if the air pressure of the inflatable airbag 301 is greater than or equal to the air pressure threshold, control the air release valve to open, until the air pressure of the inflatable airbag 301 is less than the preset air pressure threshold, and control the air release valve to close.

[0047] In this embodiment, by setting an air release valve, the controller will deflate the inflated airbag when it detects in real time that the air pressure of the inflated airbag is too high, so as to maintain the air pressure of each inflated airbag normal, and ensure that the nursing robot can move the airbag mechanism safely and reliably. It should be noted that when there are multiple airbag mechanisms, the preset air pressure thresholds of each airbag mechanism can be the same or different, and the preset air pressure threshold of each airbag mechanism can be set according to different human body parts worn and / or the robot movement mode and / or the robot's control strength.

[0048] In one embodiment, after the inflatable airbag 301 is inflated or deflated until the air pressure of the inflatable airbag 301 reaches a set target value, the controller 204 is further used to: according to the movement trajectory, control the mechanical arm 201 to move the airbag mechanism 30 to the target location, and send the arrival information to the host computer 10. The arrival information may include position coordinate data.

[0049] In this embodiment, after the nursing robot completes the instruction and arrives at the target location, the arrival information is sent to the host computer, and the host computer can further determine whether the nursing robot has completed the instruction correctly based on the arrival information.

[0050] In one embodiment, the controller is further used to control the inflation nozzle 203 to align and connect with the docking nozzle 302 to perform a self-sealing operation.

[0051] In this embodiment, leakage is prevented by the self-sealing operation after the air nozzle is aligned, thereby further improving the efficiency of inflation.

[0052] It should be understood that, although the various steps involved in the above-mentioned embodiments, unless clearly stated in this document, are not strictly limited in order of execution, these steps can be executed in other orders. Moreover, these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0053] Based on the same inventive concept, an embodiment of the present application also provides a control method for a nursing robot system, which is applied to the control system of the nursing robot system as described in the above embodiments.

[0054] In an exemplary embodiment, Figure 3 As shown, the control method of the nursing robot system, taking the controller end of the control system of the nursing robot system as an example, specifically includes the following S1 to S2.

[0055] S1: Receive an operation instruction sent by a host computer, and based on the operation instruction, control the camera to scan and identify the position of the airbag mechanism.

[0056] S2: According to the position of each of the inflatable airbags, control the corresponding robotic arm to align and connect the inflatable air nozzle with the docking air nozzle, and inflate or deflate each of the inflatable airbags until the air pressure of each of the inflatable airbags reaches a set target value.

[0057] In one embodiment, the operation instruction includes the target location and moving trajectory of the nursing robot; the method further includes: according to the moving trajectory, controlling each of the robotic arms to move the corresponding airbag mechanism to the target location, and sending the arrival information to the host computer.

[0058] In one of the embodiments, the method further includes: controlling the alignment locking mechanism to be aligned and connected with the alignment locking interface, thereby controlling the robotic arm to align and connect the inflation nozzle with the docking nozzle.

[0059] In one of the embodiments, the method further includes: controlling each of the cameras to capture a current scene image; identifying the current scene image and extracting an identification mark on the corresponding inflatable airbag; identifying a position of the airbag mechanism based on the identification mark, and adjusting a moving trajectory and / or an operating trajectory of the robotic arm based on the identified position of the airbag mechanism.

[0060] In one of the embodiments, the method further includes: real-time monitoring of the air pressure of the inflatable airbag, comparing the air pressure of the inflatable airbag with a preset air pressure threshold, and if the air pressure of the inflatable airbag is greater than or equal to the air pressure threshold, controlling the deflation valve to open, until the air pressure of the inflatable airbag is less than the preset air pressure threshold, and controlling the deflation valve to close.

[0061] In one of the embodiments, the method further comprises: controlling the inflation nozzle to be aligned and connected with the docking nozzle and then performing a self-sealing operation.

[0062] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps corresponding to the control method of the nursing robot system described in the above embodiments are implemented.

[0063] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0064] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0065] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A nursing robot system, characterized in that: The nursing robot system includes a host computer, a nursing robot, and at least one airbag mechanism worn on a human body, wherein the airbag mechanism includes an inflatable airbag and a docking air nozzle installed on the inflatable airbag; the nursing robot includes at least one mechanical arm, a camera and an inflatable air nozzle installed at the front end of each mechanical arm, and a controller; the controller is used to: Receiving an operation instruction sent by a host computer, and based on the operation instruction, controlling the camera to scan and identify the position of the airbag mechanism and the inflated airbag; According to the position of each inflatable airbag, each of the mechanical arms is controlled to align and connect the inflatable air nozzle with the docking air nozzle, and each inflatable airbag is inflated or deflated until the air pressure of each inflatable airbag reaches a set target value.

2. The nursing robot system according to claim 1, characterized in that: The nursing robot further comprises an alignment locking mechanism installed at the front end of the mechanical arm, and the airbag mechanism further comprises an alignment locking interface installed on the inflatable airbag. The controller is also used to control the alignment and locking mechanism to be aligned and connected with the alignment and locking interface, thereby controlling the robotic arm to align and connect the inflation nozzle with the docking nozzle.

3. The nursing robot system according to claim 2, characterized in that: The airbag mechanism also includes an identification mark disposed on the inflatable airbag, The controller is also used to: control each of the cameras to capture a current scene image; identify the current scene image and extract the corresponding identification mark on the inflatable airbag; identify the position of the airbag mechanism based on the identification mark, and adjust the moving trajectory and / or the operating trajectory of the robotic arm based on the identified position of the airbag mechanism.

4. The nursing robot system according to claim 1, characterized in that: The inflatable airbag also includes an air release valve. When the docking air nozzle of the airbag mechanism is successfully aligned with the inflatable air nozzle of the nursing robot, The controller is also used to: monitor the air pressure of the inflatable airbag in real time, compare the air pressure of the inflatable airbag with a preset air pressure threshold, and if the air pressure of the inflatable airbag is greater than or equal to the air pressure threshold, control the deflation valve to open until the air pressure of the inflatable airbag is less than the preset air pressure threshold, and then control the deflation valve to close.

5. The nursing robot system according to claim 1, characterized in that: The operation instruction includes the target location and moving trajectory of the nursing robot; the inflatable airbag is inflated or deflated until the air pressure of the inflatable airbag reaches the set target value, The controller is also used to: control the robotic arm to move the airbag mechanism to the target location according to the moving trajectory, and send the arrival information to the host computer.

6. The nursing robot system according to claim 1, characterized in that: The controller is also used to control the inflation nozzle to align and connect with the docking nozzle to perform a self-sealing operation.

7. A control method for a nursing robot system, applied to the nursing robot system according to any one of claims 1 to 6, characterized in that: The method comprises: Receive an operation instruction sent by the host computer, and control the camera to scan and identify the position of each airbag mechanism based on the operation instruction; According to the position of each of the inflatable airbags, the corresponding robotic arm is controlled to align and connect the inflatable air nozzle with the docking air nozzle, and each of the inflatable airbags is inflated or deflated until the air pressure of each of the inflatable airbags reaches a set target value.

8. The control method of the nursing robot system according to claim 7, characterized in that: The operation instruction includes the target location and movement trajectory of the nursing robot; the method also includes: According to the moving trajectory, each of the robotic arms is controlled to move the corresponding airbag mechanism to the target location, and the arrival information is sent to the host computer.

9. The control method of the nursing robot system according to claim 7, characterized in that: The method further comprises: controlling the inflation nozzle to align and connect with the docking nozzle and then performing a self-sealing operation.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 7 to 9 are implemented.

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