Care robot system, control method, and computer-readable storage medium

Abstract

The application relates to a nursing robot system, a control method and a computer readable storage medium, the system comprising a host computer, a nursing robot and at least one air bag mechanism worn on a human body, the air bag mechanism comprising an inflatable air bag and a docking air nozzle on the inflatable air bag; the nursing robot comprising at least one mechanical arm, a camera and an inflatable air nozzle mounted on the front end of each mechanical arm, and a controller, the controller being used for controlling the camera to scan and identify the positions of the air bag mechanism and the inflatable air bag according to the operation instruction of the host computer; the positions of each inflatable air bag are used for controlling each mechanical arm to align and connect the inflatable air nozzle and the docking air nozzle, and each inflatable air bag is inflated or deflated until the air pressure of each inflatable air bag reaches a set target value. The system can solve the problems caused by the limitations of the force feedback mechanism of traditional rigid mechanical hands directly contacting the human body and the insufficient flexibility, and improve the comfort of patients during movement.

Description

Technical Field

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

[0002] With the development of robotics technology, more and more robots are being applied in the service industry. Nursing robots are designed to assist medical staff or patients' families in better caring for patients to a certain extent.

[0003] However, existing nursing robots are deficient in terms of flexibility and force feedback mechanisms, especially when performing nursing actions such as turning over or getting out of bed, which can easily cause other injuries during interaction with the human body. Summary of the Invention

[0004] Therefore, it is necessary to provide a nursing robot system, control method, and computer-readable storage medium that can solve the above-mentioned technical problems by addressing the lack of flexibility and the limitations of force feedback mechanisms in traditional robotic arms.

[0005] In a first aspect, this application provides a nursing robot system, comprising a host computer, a nursing robot, and at least one airbag mechanism worn on the human body, wherein the airbag mechanism includes an inflatable airbag and a docking nozzle mounted on the inflatable airbag; the nursing robot includes at least one robotic arm, a camera and an inflatable nozzle mounted on the front end of each robotic arm, and a controller; the controller is used for:

[0006] Receive operation instructions sent by the host computer, and control the camera to scan and identify the position of the airbag mechanism and the inflatable airbag based on the operation instructions;

[0007] Based on the position of each inflatable airbag, the robotic arms are controlled to align and connect the inflation nozzle with the docking nozzle, inflating or deflating each inflatable airbag until the air pressure of each inflatable airbag reaches the set target value.

[0008] In one embodiment, the nursing robot further includes an alignment and locking mechanism mounted on the front end of the robotic arm, and the airbag mechanism further includes an alignment and locking interface mounted on the inflatable airbag.

[0009] The controller is also used to: control the alignment and locking mechanism to align and connect 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 acquire images of the current scene; identify the current scene images and extract the corresponding identification marks on the inflatable airbags; identify the position of the airbag mechanism according to the identification marks, and adjust the movement trajectory and / or the operation trajectory of the robotic arm according to the identified airbag mechanism position.

[0012] In one embodiment, the inflatable airbag also includes a deflation valve. After the docking nozzle of the airbag mechanism is successfully aligned and connected with the inflation 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 instructions include the target location and movement trajectory of the nursing robot; and the inflation or deflation of the airbag until the air pressure of the 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 movement trajectory, and send the arrival information to the host computer.

[0016] In one embodiment, the controller is further configured to: control the inflation nozzle to perform a self-sealing operation after it is aligned and connected with the docking nozzle.

[0017] Secondly, this application also provides a control method for a nursing robot system, applied to the nursing robot system described in the first aspect above, the method comprising:

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

[0019] Based on the position of each inflatable airbag, the corresponding robotic arm is controlled to align and connect the inflation nozzle with the docking nozzle, inflating or deflating each inflatable airbag until the air pressure of each inflatable airbag reaches the set target value.

[0020] In one embodiment, the operation instructions include the target location and movement trajectory of the nursing robot; the method further includes:

[0021] According to the movement trajectory, each robotic arm is controlled to move the corresponding airbag mechanism to the target location and send the arrival information to the host computer.

[0022] In one embodiment, the method further includes: controlling the inflation nozzle to align and connect with the docking nozzle and then performing a self-sealing operation.

[0023] Thirdly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

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

[0025] Based on the position of each inflatable airbag, the corresponding robotic arm is controlled to align and connect the inflation nozzle with the docking nozzle, inflating or deflating each inflatable airbag until the air pressure of each inflatable airbag reaches the set target value.

[0026] In one embodiment, when the computer program is executed by the processor, it performs the following steps: according to the movement trajectory, it controls each of the robotic arms to move the corresponding airbag mechanism to the target location and sends the arrival information to the host computer.

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

[0028] The aforementioned nursing robot system, control method, and computer-readable storage medium, by constructing an airbag mechanism worn on the human body, solve the problems of limited force feedback mechanism and insufficient flexibility caused by direct contact between the traditional rigid robotic arm and the human body. The nursing robot controls the inflation of the airbag mechanism to safely and comfortably change the human body's posture. Furthermore, the airbag mechanism evenly distributes pressure, avoiding excessive local force and improving the patient's comfort during movement. It provides a highly scalable, safe, effective, and precise nursing solution for people with limited mobility. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

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

[0031] Figure 2This is a structural block diagram of the airbag mechanism and the robotic arm in one embodiment;

[0032] Figure 3 This is a flowchart illustrating the control method of a nursing robot system in one embodiment. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0034] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; 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 not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely 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 includes a host computer 10, at least one nursing robot 20, and at least one airbag mechanism 30 worn on the human body. The host computer 10 is communicatively connected to each of the nursing robots 20.

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

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

[0038] The controller of the nursing robot is used to receive operation instructions sent by the host computer 10. Based on the operation instructions, it controls each camera 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, it controls the corresponding robotic arm 201 to align and connect the inflation nozzle 203 with the docking 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, after the controller of the nursing robot receives the operation command sent by the host computer, it parses the operation command to obtain the target location and movement trajectory of the nursing robot. The nursing robot moves to the vicinity of the 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. Based on the position of each inflatable airbag 301, the corresponding robotic arm 201 aligns and fixes the front inflation nozzle 203 with the docking nozzle 302 at the front of the inflatable airbag 301, inflating or deflating the airbag 301 until the air pressure of the inflatable airbag 301 reaches the set target value.

[0040] This system addresses the limitations and lack of flexibility of traditional rigid robotic arms that directly contact the human body through the construction of an airbag mechanism. By controlling the nursing robot to inflate the airbag mechanism, the system can safely and comfortably change the posture of the human body. Furthermore, the airbag mechanism distributes pressure evenly, avoiding excessive local stress and improving the patient's comfort during movement. This provides a highly scalable, safe, effective, and precise nursing solution for individuals with limited mobility.

[0041] In one embodiment, the airbag mechanism 30 further includes an identification mark disposed on the inflatable airbag 301. The controller is also configured to: control the camera 202 to acquire 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 robotic 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 its movement trajectory, then controls the camera 202 to capture the current scene image and identifies the corresponding identification mark on the inflatable airbag 301 in the scene. Based on the position of the identification mark, the position of the airbag mechanism 30 is determined, and the movement trajectory and / or the operation trajectory of the robotic arm are further adjusted to improve the docking accuracy and precision of the inflation nozzle and the docking nozzle. If the identification mark extracted by the camera on a certain robotic arm is different from the identification mark corresponding to that robotic arm in the operation command, the correct operation trajectory of each robotic arm is obtained based on the identification marks captured by the cameras of other robotic arms, and each robotic arm moves to the correct position according to the correct operation trajectory.

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

[0044] The controller is also used to: control the alignment and locking mechanism 205 to align and connect with the alignment and locking interface 303, thereby controlling the robotic arm 201 to align and connect the inflation nozzle 203 with the docking nozzle 302.

[0045] In this embodiment, by setting identification marks, the positional correspondence between each inflation mechanism and the robotic arm is realized, which improves the docking accuracy. Furthermore, by setting an alignment and locking mechanism, the accuracy of the inflation nozzle of the nursing robot when docking with the airbag mechanism is further improved. Moreover, the alignment process using the alignment and locking mechanism together not only improves the docking accuracy but also shortens the docking time compared to the alignment process of a single air nozzle, thereby improving the operating efficiency of the nursing robot.

[0046] In one embodiment, the inflatable airbag 301 also includes a deflation valve. After the docking nozzle 302 of the airbag mechanism 30 is successfully aligned and connected with the inflation nozzle 203 of the nursing robot 20, the controller 204 is further configured 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 deflation valve to open until the air pressure of the inflatable airbag 301 is less than the preset air pressure threshold, and then control the deflation valve to close.

[0047] In this embodiment, a deflation valve is installed to release air when the controller detects excessive air pressure in the inflatable airbags, maintaining normal air pressure in each airbag and ensuring the nursing robot can safely and reliably move the airbag mechanism. It should be noted that when multiple airbag mechanisms exist, the preset air pressure thresholds for each airbag mechanism can be the same or different. The preset air pressure threshold for each airbag mechanism can be set according to the different body parts worn and / or the robot's movement method and / or the robot's control force.

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

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

[0050] In one embodiment, the controller is further configured to control the inflation nozzle 203 to perform a self-sealing operation after it is aligned and connected with the docking nozzle 302.

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

[0052] It should be understood that, although the various steps involved in the embodiments described above are not subject to strict order of execution unless expressly stated herein, these steps can be executed in other orders. Moreover, these steps or stages are not necessarily completed 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 performed alternately or in turn with other steps or at least a portion of steps or stages in other steps.

[0053] Based on the same inventive concept, this 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 one exemplary embodiment, such as 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 the operation command sent by the host computer, and control the camera to scan and identify the position of the airbag mechanism based on the operation command.

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

[0057] In one embodiment, the operation instructions include the target location and movement trajectory of the nursing robot; the method further includes: according to the movement 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 embodiment, the method further includes: controlling the alignment locking mechanism to align and connect with the alignment locking interface, thereby controlling the robotic arm to align and connect the inflation nozzle with the docking nozzle.

[0059] In one embodiment, the method further includes: controlling each of the cameras to acquire current scene images; recognizing the current scene images and extracting the corresponding identification marks on the inflatable airbags; recognizing the position of the airbag mechanism based on the identification marks, and adjusting the movement trajectory and / or the operation trajectory of the robotic arm based on the position of the recognized airbag mechanism.

[0060] In one embodiment, the method further includes: monitoring the air pressure of the inflatable airbag in real time, 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 then controlling the deflation valve to close.

[0061] In one embodiment, the method further includes: controlling the inflation nozzle to align and connect 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, which, when executed by a processor, implements the steps corresponding to the control method of the nursing robot system described in the above embodiments.

[0063] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0064] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended 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 the human body. The airbag mechanism includes an inflatable airbag, a docking nozzle mounted on the inflatable airbag, and an identification mark on the inflatable airbag. The nursing robot includes at least one robotic arm, a camera and an inflatable nozzle mounted on the front end of each robotic arm, and a controller. The controller is used for: The system receives operation instructions from the host computer, controls each camera to capture images of the current scene based on the operation instructions, identifies the current scene images, extracts the corresponding identification marks on the inflatable airbags, identifies the position of the airbag mechanism based on the identification marks, and adjusts the movement trajectory and / or the operation trajectory of the robotic arm based on the identified position of the airbag mechanism. Based on the position of each inflatable airbag, the robotic arms are controlled to align and connect the inflation nozzle with the docking nozzle, inflating or deflating each inflatable airbag until the air pressure of each inflatable airbag reaches the set target value.

2. The nursing robot system according to claim 1, characterized in that, The nursing robot also includes an alignment and locking mechanism mounted on the front end of the robotic arm, and the airbag mechanism also includes an alignment and locking interface mounted on the inflatable airbag. The controller is also used to: control the alignment and locking mechanism to align and connect 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 1, characterized in that, The inflatable airbag also includes a deflation valve. Once the docking nozzle of the airbag mechanism is successfully aligned and connected with the inflation 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.

4. The nursing robot system according to claim 1, characterized in that, The operation instructions include the target location and movement trajectory of the nursing robot; and inflating or deflating the airbag until the airbag pressure 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 movement trajectory, and send the arrival information to the host computer.

5. The nursing robot system according to claim 1, characterized in that, The controller is also used to: control the inflation nozzle to perform a self-sealing operation after it is aligned and connected with the docking nozzle.

6. A control method for a nursing robot system, applied to the nursing robot system as described in any one of claims 1 to 5, characterized in that, The method includes: Receive operation instructions sent by the host computer, and control the camera to scan and identify the position of each airbag mechanism based on the operation instructions; Based on the position of each inflatable airbag, the corresponding robotic arm is controlled to align and connect the inflation nozzle with the docking nozzle, inflating or deflating each inflatable airbag until the air pressure of each inflatable airbag reaches the set target value.

7. The control method for the nursing robot system according to claim 6, characterized in that, The operation instructions include the target location and movement trajectory of the nursing robot; the method further includes: According to the movement trajectory, each robotic arm is controlled to move the corresponding airbag mechanism to the target location and send the arrival information to the host computer.

8. The control method for the nursing robot system according to claim 6, characterized in that, The method further includes: controlling the air inlet to align and connect with the docking air inlet to perform a self-sealing operation.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 6 to 8.

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