Intelligent nursing system and method for home-based care for aged

Abstract

The invention discloses an intelligent nursing system and method for home-based care for the aged, and belongs to the technical field of intelligent nursing systems.The intelligent nursing system comprises at least one nursing robot, a first-aid device, a detection device, a monitoring device, a control unit and a remote control system.The control unit is connected with the nursing robot, the first-aid device, the detection device and the monitoring device; the remote control system is in wireless communication connection with the control unit; the first-aid device is used for heart disease first aid of a nursed person, mounted on the nursing robot and used in cooperation with the nursing robot; the detection device is used for detecting the physical state of a nursed person and sending health data to the control unit; the monitoring device is installed on the nursing robot, and the monitoring device is used for monitoring a nursed person, collecting body data of the nursed person and sending image data to the control unit; by means of the mode, intelligent nursing of old people is achieved, and meanwhile heart disease first aid of nursed people is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent nursing systems, and in particular to an intelligent nursing system and method for home-based elderly care. Background Art

[0002] Smart care for elderly people at home is to provide round-the-clock monitoring and care services for the elderly through the application of intelligent technology. Nursing robots are gradually replacing humans as caregivers for the elderly. They can effectively monitor the health and safety of the elderly. At the same time, the care of elderly people with heart disease living alone has attracted social attention.

[0003] Among many existing technologies, Chinese patent CN113112752B discloses a smart home-based elderly care system and method, which includes a central processing unit, a touch display screen, a remote alarm, several cameras and a voice dialogue player. The central processing unit is connected to the network, and an information receiving unit, an information sending unit, a network transmission port, an information storage unit, an information identification unit, a data management unit, a data statistics unit, a data judgment unit, and a data security protection unit are set in the central processing unit to realize intelligent care for the elderly.

[0004] However, this patent cannot provide treatment for the person being cared for when they suffer a heart attack.

[0005] Based on this, the present invention designs an intelligent nursing system and method for home-based elderly care to solve the above problems. Summary of the invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides an intelligent nursing system and method for home-based elderly care.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] An intelligent nursing system for home-based elderly care, comprising at least one nursing robot, a first aid device, a detection device, a monitoring device, a control unit and a remote control system, wherein the control unit is connected to the nursing robot, the first aid device, the detection device and the monitoring device, and the remote control system is connected to the control unit in wireless communication;

[0009] The first aid device is used for first aid of heart disease of the person being cared for. The first aid device is installed on the nursing robot and used in conjunction with the nursing robot;

[0010] The detection device is used to detect the physical condition of the person being cared for and send health data to the control unit;

[0011] The monitoring device is installed on the nursing robot, and is used to monitor the person being cared for and collect the physical data of the person being cared for, and send image data to the control unit;

[0012] The image data includes monitoring data and a chest picture of the person being cared for;

[0013] The control unit is used to receive the health data sent by the detection device and the image data sent by the monitoring device, and the control unit controls the operation of the nursing robot and the first aid device;

[0014] The control unit is also used to locate the emergency acupuncture points of the person being cared for, and to generate a control signal and send it to the emergency device;

[0015] The remote control system is used to receive health data and image data when the control unit analyzes that the person being cared for needs first aid. At the same time, the remote control system remotely controls the control unit, and the control unit then controls the nursing robot and the first aid device to provide first aid to the person being cared for.

[0016] The first aid device includes a defibrillator component and a cardiac resuscitation component. Both the defibrillator component and the cardiac resuscitation component are installed on the nursing robot. The defibrillator component is connected to the cardiac resuscitation component. Both the defibrillator component and the cardiac resuscitation component are connected to the control unit. The defibrillator component is used to defibrillate the person being cared for, and the cardiac resuscitation component is used to perform cardiac resuscitation on the person being cared for. When first aid is provided to the person being cared for, the control signal of the control unit is sent to the defibrillator component and the cardiac resuscitation component, and the defibrillator component and the cardiac resuscitation component operate according to the control signal.

[0017] Furthermore, the nursing robot includes a robot body and a mechanical arm, two sets of mechanical arms are fixedly mounted on the robot body, the robot body and the mechanical arms are electrically connected to the control unit, the robot body is connected to the defibrillator component and the cardiac resuscitation component, and the mechanical arms cooperate to clamp the cardiac resuscitation component;

[0018] The defibrillator assembly includes a defibrillator device, a rotation adjustment assembly and a horizontal adjustment assembly. The defibrillator device is installed on the robot body. The horizontal adjustment assembly and the rotation adjustment assembly are both connected to the cardiac resuscitation assembly. The horizontal adjustment assembly is connected to the defibrillator device and the rotation adjustment assembly.

[0019] Furthermore, the defibrillator device includes a defibrillator host, electrode pads and wires. The defibrillator host is fixedly installed on the robot body, the defibrillator host is electrically connected to the control unit, there are two electrode pads and two wires, the electrode pads are electrically connected to the wires, the wires are electrically connected to the defibrillator host, and the two electrode pads are connected to the horizontal adjustment component.

[0020] Furthermore, the rotation adjustment component includes a first motor, a gear group 1, a second motor, a gear group 2, a first rotating sleeve, a second rotating sleeve, a first rotating rod and a second rotating rod. The first motor and the second motor are both installed on the cardiac resuscitation component. The output ends of the first motor and the second motor are respectively connected to the first rotating sleeve and the second rotating sleeve through the gear group 1 and the gear group 2. The second rotating sleeve is rotatably connected to the outer end of the first rotating sleeve. The first rotating sleeve is connected to the cardiac resuscitation component. The first rotating rod and the second rotating rod are fixedly connected to the first rotating sleeve and the second rotating sleeve respectively. The horizontal adjustment component is connected to the first rotating rod and the second rotating rod.

[0021] Furthermore, the horizontal adjustment component includes a first linear module and an elastic pressure rod. There are two first linear modules, and the two first linear modules are respectively fixedly installed on the lower ends of the first rotating rod and the second rotating rod. Elastic pressure rods are fixedly installed on the output sliders of the two first linear modules, and the two electrode sheets are respectively fixedly installed on the lower ends of the two elastic pressure rods.

[0022] Furthermore, the cardiac resuscitation component includes a cardiac resuscitation device and a height adjustment component, the cardiac resuscitation device is connected to the height adjustment component, the cardiac resuscitation device is connected to the robot body, the first motor, the second motor, and the first rotating sleeve, the cardiac resuscitation device is connected to the control unit, and the robot arm cooperates to clamp the cardiac resuscitation device for use;

[0023] The cardiac resuscitator device comprises a shell, a telescopic motor, an extrusion rod, an elastic pressure block, a support frame and a controller, the shell is detachably connected to the robot body, the first motor and the second motor are both fixedly mounted on the shell, the first rotating sleeve is slidably connected to the outer end of the extrusion rod and is rotatably connected to the shell, the telescopic motor is fixedly mounted on the inner end of the shell, the output end of the telescopic motor is fixedly connected to the upper end of the extrusion rod, the lower end of the extrusion rod is fixedly connected to the elastic pressure block, the support frame has two and is respectively arranged at the left and right ends of the shell, the two support frames are both fixedly connected with a rotating shaft, the two rotating shafts are respectively rotatably connected to the left and right side walls of the shell, the controller is fixedly mounted on the inner end of the shell, the controller is electrically connected to the first motor, the second motor, the telescopic motor and the first linear module, the shell and the controller are both connected to the height adjustment component, the controller is connected to the control unit, the rotating shaft is connected to the height adjustment component, and the mechanical arm and the support frame cooperate for clamping;

[0024] The height adjustment assembly includes a second linear module, a sliding column, a rocker arm, a slide groove, a pressure sensor and a height sensor. The second linear module is fixedly mounted on the shell, the sliding column is fixedly mounted on the output slider of the second linear module, there are two rocker arms, and the two rocker arms are respectively fixedly connected to two rotating shafts. The rocker arm is provided with a slide groove for fitting and sliding connection with the sliding column. The pressure sensor is fixedly mounted on the electrode sheet. The second linear module and the pressure sensor are both electrically connected to the controller. The height sensor is fixedly mounted on the shell and electrically connected to the controller.

[0025] Furthermore, the control unit includes a central controller, an acupoint positioning unit and a communication module, the central controller is electrically connected to the robot body, the mechanical arm, the acupoint positioning unit, the communication module, the defibrillator host and the detection device, the communication module is wirelessly connected to the controller, the communication module is connected to the remote control system, and the communication module is wirelessly connected to the detection device;

[0026] The central controller is used to compare the heart rate data of the health data with the normal heart rate range set therein, and if the heart rate data is not within the normal heart rate range, the central controller generates an emergency alarm;

[0027] The monitoring device sends the image data to the central controller, which sends the chest image of the image data to the acupoint positioning unit;

[0028] The acupoint positioning unit compares the chest image of the person being cared for with the human acupoint characteristic map, and locates acupoints 1, 2 and 3 on the chest image; at the same time, the acupoint positioning unit substitutes acupoints 1, 2 and 3 into the rectangular coordinate system for calculation to generate a control signal and sends it to the central controller, the central controller sends the control signal to the defibrillator host and the communication module, and the communication module sends it to the controller;

[0029] The communication module is used for wireless communication between the central controller and the remote control system. The central controller sends monitoring data such as emergency alarms, health data and image data to the remote control system through the communication module.

[0030] Furthermore, the acupuncture points include:

[0031] Acupuncture point 1 located in the center of the human sternum;

[0032] Acupuncture point 2 is located on the upper right side of the human sternum;

[0033] And point three located below the left side of the chest.

[0034] Furthermore, the remote control system includes a nursing platform and a remote operating device, the nursing platform is wirelessly connected to the communication module, and the remote operating device is connected to the nursing platform;

[0035] The nursing platform is used to receive monitoring data of emergency alarms, health data and image data;

[0036] When the nursing platform receives an emergency alarm, the operator determines whether the person being cared for needs emergency treatment based on the monitoring data of health data and image data. If emergency treatment is required, the operator remotely controls the robot body and robotic arm through the remote operation device.

[0037] In order to better achieve the purpose of the present invention, the present invention also provides a method for using an intelligent nursing system for home-based elderly care, comprising the following steps:

[0038] Step 1: When the central controller determines that the received health data is abnormal, the central controller controls the robot body to run to the location of the person being cared for, and takes pictures of the person being cared for to collect monitoring data through the monitoring device. At the same time, the central controller sends an emergency alarm, health data and monitoring data to the nursing platform through the communication module. After the nursing platform receives the emergency alarm, the operator judges the condition of the person being cared for through the returned monitoring data and the returned health data;

[0039] Step 2: When the operator determines that the person being cared for needs emergency treatment, the operator remotely controls the robot body and two sets of mechanical arms through the remote control device to adjust the position of the person being cared for and keep the person lying flat;

[0040] Step 3: Then, the robot arm is controlled to dismantle the clothes of the person being cared for to expose the chest. The operator operates two sets of robot arms to clamp the two support frames respectively and remove the shell from the robot body. The chest of the person being cared for is photographed through the monitoring device, and the photographed chest picture is sent to the central controller, and the central controller sends the chest picture to the acupuncture point positioning unit;

[0041] The acupoint positioning unit compares the chest image of the person being cared for with the human acupoint characteristic map, and locates acupoints 1, 2, and 3 on the chest image; at the same time, the acupoint positioning unit substitutes acupoints 1, 2, and 3 into a rectangular coordinate system for calculation, and generates operation control signals for the first motor, the second motor, and the first linear module;

[0042] Step 4: The operation control signals of the first motor, the second motor and the first linear module are calculated using the following method:

[0043] The acupoint positioning unit maps acupoints 1, 2, and 3 to a rectangular coordinate system, with acupoint 1 as the coordinate origin (0, 0), and calculates the coordinates of acupoints 2 and 3 as (X1, Y1) and (X2, Y2), respectively; the (X1, Y1) and (X2, Y2) are respectively located in the second quadrant and the fourth quadrant of the rectangular coordinate system;

[0044] The angle of θ1 is calculated by the formula tan(θ1)=Y1\X1,θ1=arctan(θ1); the angle of θ2 is calculated similarly;

[0045] θ1 represents the angle between the line connecting (X1, Y1) and (0, 0) and the negative half axis of the X-axis, and θ2 represents the angle between the line connecting (X2, Y2) and (0, 0) and the positive half axis of the X-axis;

[0046] θ1 and θ2 are the rotation angles of the first rotating rod and the second rotating rod respectively;

[0047] The initial positions of the first rotating rod and the second rotating rod coincide with the negative and positive semi-axes of the X-axis of the coordinate system respectively;

[0048] L1 is calculated by the formula L12=X12+Y12;

[0049] Similarly, calculate L2;

[0050] S1 = L1-A, S2 = L2-A;

[0051] L1 and L2 represent the distances from (X1, Y1) and (X2, Y2) to the origin (0, 0), respectively;

[0052] The initial positions of the sliders of the two first linear modules are located at one end thereof close to the extrusion rod;

[0053] A represents the distance from the initial position of the center of the electrode sheet to the central axis of the extrusion rod; S1 and S2 represent the horizontal movement distances of the left and right electrode sheets, and also represent the movement distances of the sliders of the two first linear modules;

[0054] Step 5: The central controller controls the two sets of mechanical arms to adjust the two sets of support frames so that the lower end of the elastic pressing block corresponds to the upper end of the acupuncture point 1;

[0055] Step 6: The controller controls the first motor and the second motor to rotate according to the control signal of step 4; the first motor and the second motor drive the first rotating sleeve and the second rotating sleeve to rotate through the gear set 1 and the gear set 2 respectively; the first rotating sleeve and the second rotating sleeve drive the first rotating rod to rotate θ1 and the second rotating rod to rotate θ2 respectively;

[0056] Step 7: The controller controls the first linear modules on the first rotating rod and the second rotating rod to respectively drive the upper sliders to move according to the control signal of step 4; the output sliders of the two groups of first linear modules respectively drive the electrode sheets at the lower ends of the two elastic pressure rods to move S1 and S2, and the two electrode sheets respectively move to the top of acupoint 2 and acupoint 3;

[0057] Step 8, operate the robot arm to drive the support frame to move downward, so that the two electrode sheets contact the acupoint 2 and acupoint 3 respectively; when the pressure sensor detects that the electrode sheet contacts the human body, the controller adjusts the second linear module according to the detection value of the height sensor, and the second linear module drives the sliding column to move, and the sliding column moves in the slide grooves provided on the two swing rods to drive the two swing rods to rotate, and the swing rod drives the rotating shaft to rotate, and the rotating shaft drives the support frame to move to a position in contact with the ground;

[0058] Step nine, the controller controls the defibrillator host to start, and the defibrillator host discharges to acupoints two and three through two electrodes to defibrillate the person being cared for;

[0059] Step 10, after defibrillation is completed, the controller controls the telescopic motor to start, the telescopic motor drives the squeezing rod to move back and forth, and the squeezing rod drives the elastic pressing block to press the acupoint 1 back and forth to perform cardiac resuscitation on the person being cared for.

[0060] The present invention has the following technical effects:

[0061] When the present invention is in use, the heart rate health data of the person being cared for is detected by a detection device. When the control unit receives abnormal heart rate health data, the control unit sends an emergency alarm to the remote control system, and the remote control system determines the illness status of the person being cared for. When the person being cared for needs emergency treatment, the remote control system remotely controls the care robot, and at the same time, the control unit controls the defibrillator component and the cardiac resuscitation component to provide emergency treatment to the person being cared for.

[0062] The positions of the first aid acupoints of the person being cared for are calculated through the acupoint positioning unit, and control signals corresponding to the first motor, the second motor and the two first linear modules are generated, so that during remote first aid, the first aid equipment can quickly automatically locate the first aid acupoints, thereby realizing remote first aid for the person being cared for. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] 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 prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0064] Figure 1 A frame of an intelligent nursing system for home-based elderly care of the present invention Figure 1 ;

[0065] Figure 2 A three-dimensional diagram of an intelligent nursing system for home-based elderly care according to the present invention;

[0066] Figure 3A three-dimensional diagram of a defibrillator assembly and a cardiac resuscitation assembly of the present invention;

[0067] Figure 4 A front view of a defibrillator assembly and a cardiac resuscitation assembly of the present invention;

[0068] Figure 5 It is a left side view of the defibrillator assembly and the cardiac resuscitation assembly of the present invention;

[0069] Figure 6 For along Figure 5 AA direction cross-sectional view;

[0070] Figure 7 For along Figure 5 BB direction cross-sectional view;

[0071] Figure 8 for Figure 7 Enlarged view of point C in the middle;

[0072] Fig. 9 A frame of an intelligent nursing system for home-based elderly care of the present invention Figure 2 ;

[0073] Fig.10 It is a human body acupuncture point characteristic diagram of the present invention;

[0074] Fig.11 This is the acupoint distribution map after being processed by the acupoint locating unit of the present invention.

[0075] The numbers in the figure represent:

[0076] 1. Nursing robot 11. Robot body 12. Robotic arm 2. Defibrillator assembly 21. Defibrillator device 211. Defibrillator host 212. Electrode sheet 213. Wire 22. Rotation adjustment assembly 221. First motor 222. Gear set 1 223. Second motor 224. Gear set 2 225. First rotating sleeve 226. Second rotating sleeve 227. First rotating rod 228. Second rotating rod 23. Horizontal adjustment assembly 231. First linear module 232. Elastic pressure rod 3. Cardiac resuscitation assembly 31. Cardiac resuscitation device Device 311. Shell 312. Telescopic motor 313. Extrusion rod 314. Elastic pressure block 315. Rotating shaft 316. Support frame 317. Controller 32. Height adjustment component 321. Second linear module 322. Sliding column 323. Rocker arm 324. Slide slot 325. Pressure sensor 326. Height sensor 4. Detection device 5. Monitoring device 6. Control unit 61. Central controller 62. Acupoint positioning unit 63. Communication module 7. Remote control system 71. Nursing platform 72. Remote operation device. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0078] The present invention will be further described below in conjunction with the embodiments.

[0079] The terms “left”, “right”, “front”, “back”, “up” and “down” mentioned in the following description are oriented in the viewing direction of the front view.

[0080] Example 1

[0081] Please refer to the instruction manual Figure 1-11 , an intelligent nursing system for home-based elderly care, comprising at least one nursing robot 1, a first aid device, a detection device 4, a monitoring device 5, a control unit 6 and a remote control system 7, wherein the control unit 6 is connected to the nursing robot 1, the first aid device, the detection device 4, the monitoring device 5 and the remote control system 7;

[0082] The first aid device is used for first aid of heart disease of the cared person, and the first aid device is installed on the caring robot 1 and used in conjunction with the caring robot 1;

[0083] The detection device 4 is used to detect the physical condition of the person being cared for and send health data to the control unit 6;

[0084] The monitoring device 5 is installed on the nursing robot 1, and is used to monitor the person being cared for and collect the body data of the person being cared for, and send image data to the control unit 6;

[0085] The image data includes monitoring data and a chest picture of the person being cared for;

[0086] The control unit 6 is used to receive the health data sent by the detection device 4 and the image data sent by the monitoring device 5, and the control unit 6 controls the operation of the nursing robot 1 and the first aid device;

[0087] The control unit 6 is also used to locate the emergency acupuncture points of the person being cared for, and to generate a control signal and send it to the emergency device;

[0088] The remote control system 7 is wirelessly connected to the control unit 6. The remote control system 7 is used to receive health data and image data when the control unit 6 analyzes that the person being cared for needs first aid. At the same time, the remote control system 7 remotely controls the control unit 6, and the control unit 6 controls the nursing robot 1 and the first aid device to provide first aid to the person being cared for.

[0089] The first aid device includes a defibrillator component 2 and a cardiac resuscitation component 3. The defibrillator component 2 and the cardiac resuscitation component 3 are both installed on the nursing robot 1. The defibrillator component 2 is connected to the cardiac resuscitation component 3. The defibrillator component 2 and the cardiac resuscitation component 3 are both connected to the control unit 6. The defibrillator component 2 is used to defibrillate the person being cared for, and the cardiac resuscitation component 3 is used to perform cardiac resuscitation on the person being cared for. When first aid is provided to the person being cared for, the control signal sent by the control unit 6 is sent to the defibrillator component 2 and the cardiac resuscitation component 3, and the defibrillator component 2 and the cardiac resuscitation component 3 operate according to the control signal.

[0090] When the present invention is in use, the heart rate health data of the person being cared for is detected by the detection device 4. When the control unit 6 receives abnormal heart rate health data, the control unit 6 sends an emergency alarm to the remote control system 7, and the remote control system 7 determines the illness status of the person being cared for. When the person being cared for needs emergency treatment, the remote control system 7 remotely controls the nursing robot 1, and at the same time, the control unit 6 controls the defibrillator component 2 and the cardiac resuscitation component 3 to provide emergency treatment to the person being cared for.

[0091] Example 2

[0092] like Figure 1-11 As shown, as a preferred embodiment of the present invention, the nursing robot 1 includes a robot body 11 and a mechanical arm 12, two sets of mechanical arms 12 are fixedly installed on the robot body 11, the robot body 11 and the mechanical arms 12 are electrically connected to the control unit 6, the robot body 11 is connected to the defibrillator component 2 and the cardiac resuscitation component 3, and the mechanical arms 12 are connected to the cardiac resuscitation component 3;

[0093] The defibrillator assembly 2 includes a defibrillator device 21, a rotation adjustment assembly 22 and a horizontal adjustment assembly 23. The defibrillator device 21 is installed on the robot body 11. The horizontal adjustment assembly 23 and the rotation adjustment assembly 22 are both connected to the cardiac resuscitation assembly 3. The horizontal adjustment assembly 23 is connected to the defibrillator device 21 and the rotation adjustment assembly 22.

[0094] The defibrillator device 21 includes a defibrillator host 211, electrode sheets 212 and wires 213. The defibrillator host 211 is fixedly installed on the robot body 11, and is electrically connected to the control unit 6. There are two electrode sheets 212 and two wires 213. The electrode sheets 212 are electrically connected to the wires 213, and the wires 213 are electrically connected to the defibrillator host 211. Both electrode sheets 212 are connected to the horizontal adjustment component 23.

[0095] The rotation adjustment component 22 includes a first motor 221, a gear set 1 222, a second motor 223, a gear set 224, a first rotating sleeve 225, a second rotating sleeve 226, a first rotating rod 227 and a second rotating rod 228. The first motor 221 and the second motor 223 are both installed on the cardiac resuscitation component 3. The output ends of the first motor 221 and the second motor 223 are respectively connected to the first rotating sleeve 225 and the second rotating sleeve 226 through the gear set 1 222 and the gear set 224. The second rotating sleeve 226 is rotatably connected to the outer end of the first rotating sleeve 225. The first rotating sleeve 225 is connected to the cardiac resuscitation component 3. The first rotating rod 227 and the second rotating rod 228 are respectively fixedly connected to the first rotating sleeve 225 and the second rotating sleeve 226. The horizontal adjustment component 23 is connected to the first rotating rod 227 and the second rotating rod 228.

[0096] In the present invention, both the gear set 1 222 and the gear set 224 adopt a structure of two gears meshing and driving;

[0097] The horizontal adjustment assembly 23 includes a first linear module 231 and an elastic pressure rod 232. There are two first linear modules 231. The two first linear modules 231 are respectively fixedly installed on the lower ends of the first rotating rod 227 and the second rotating rod 228. The elastic pressure rod 232 is fixedly installed on the output sliders of the two first linear modules 231, and the two electrode sheets 212 are respectively fixedly installed on the lower ends of the two elastic pressure rods 232.

[0098] The cardiac resuscitation component 3 includes a cardiac resuscitation device 31 and a height adjustment component 32, the cardiac resuscitation device 31 and the height adjustment component 32 are connected, the cardiac resuscitation device 31 is connected to the robot body 11, the first motor 221, the second motor 223, and the first rotating sleeve 225, the cardiac resuscitation device 31 is connected to the control unit 6, and the robot arm 12 cooperates to clamp the cardiac resuscitation device 31 for use;

[0099] The cardiac resuscitation device 31 includes a shell 311, a telescopic motor 312, an extrusion rod 313, an elastic pressure block 314, a support frame 316 and a controller 317. The shell 311 is detachably connected to the robot body 11. The first motor 221 and the second motor 223 are both fixedly mounted on the shell 311. The first rotating sleeve 225 is slidably connected to the outer end of the extrusion rod 313 and is rotatably connected to the shell 311. The telescopic motor 312 is fixedly mounted on the inner end of the shell 311. The output end of the telescopic motor 312 is fixedly connected to the upper end of the extrusion rod 313. The lower end of the extrusion rod 313 is fixedly connected to the elastic pressure block 314. The support frame 316 is connected to the controller 317. 16 has two and is respectively arranged at the left and right ends of the shell 311, the two support frames 316 are fixedly connected with the rotating shaft 315, the two rotating shafts 315 are respectively rotatably connected with the left and right side walls of the shell 311, the controller 317 is fixedly installed at the inner end of the shell 311, the controller 317 is electrically connected with the first motor 221, the second motor 223, the telescopic motor 312, and the first linear module 231, the shell 311 and the controller 317 are connected with the height adjustment component 32, the controller 317 is connected with the control unit 6, the rotating shaft 315 is connected with the height adjustment component 32, and the mechanical arm 12 is used for clamping with the support frame 316;

[0100] The height adjustment assembly 32 includes a second linear module 321, a sliding column 322, a rocker arm 323, a slide groove 324, a pressure sensor 325 and a height sensor 326. The second linear module 321 is fixedly mounted on the housing 311. The sliding column 322 is fixedly mounted on the output slider of the second linear module 321. There are two rocker arms 323, which are respectively fixedly connected to two rotating shafts 315. The rocker arm 323 is provided with a slide groove 324 for fitting and slidingly connecting with the sliding column 322. The pressure sensor 325 is fixedly mounted on the electrode sheet 212. The second linear module 321 and the pressure sensor 325 are both electrically connected to the controller 317. The height sensor 326 is fixedly mounted on the housing 311 and electrically connected to the controller 317.

[0101] The pressure sensor 325 detects whether the two electrode sheets 212 are in contact with the human body and sends the pressure data to the controller 317;

[0102] The height sensor 326 is used to detect the height of the housing 311 from the ground and send the height data to the controller 317. The controller 317 controls the operation of the second linear module 321 according to the height data.

[0103] The controller 317 is used to control the operation of the first motor 221 , the second motor 223 , the first linear module 231 and the telescopic motor 312 according to the control signal.

[0104] The control unit 6 includes a central controller 61, an acupoint positioning unit 62 and a communication module 63. The central controller 61 is electrically connected to the robot body 11, the robot arm 12, the acupoint positioning unit 62, the communication module 63, the defibrillator host 211 and the detection device 5. The communication module 63 is wirelessly connected to the controller 317, the communication module 63 is connected to the remote control system 7, and the communication module 63 is wirelessly connected to the detection device 4.

[0105] The central controller 61 is used to compare the heart rate data of the health data with the normal heart rate range set therein, and if the heart rate data is not within the normal heart rate range, the central controller 61 generates an emergency alarm;

[0106] The monitoring device 5 sends the image data to the central controller 61 which sends the chest image of the image data to the acupoint positioning unit 62;

[0107] The acupoint positioning unit 62 compares the chest image of the person being cared for with the human acupoint characteristic map, and locates acupoints 1, 2 and 3 on the chest image; at the same time, the acupoint positioning unit 62 substitutes acupoints 1, 2 and 3 into the rectangular coordinate system for calculation to generate a control signal and sends it to the central controller 61, the central controller 61 sends the control signal to the defibrillator host 211 and the communication module 63, and the communication module 63 sends it to the controller 317;

[0108] The communication module 63 is used for wireless communication between the central controller 61 and the remote control system 7 . The central controller 61 sends monitoring data of emergency alarms, health data and image data to the remote control system 7 through the communication module 63 .

[0109] Acupuncture points include:

[0110] Acupuncture point 1 located in the center of the human sternum;

[0111] Acupuncture point 2 is located on the upper right side of the human sternum;

[0112] and point 3 located below the left side of the chest;

[0113] Among them, point 1 is a CPR pressure point, and points 2 and 3 are defibrillation points;

[0114] The control signal includes a start control signal of the defibrillator host 211, a start control signal of the telescopic motor 312, and operation signals of the first motor 221, the second motor 223 and the first linear module 231;

[0115] The image data includes monitoring data and a chest picture of the person being cared for.

[0116] The remote control system 7 includes a nursing platform 71 and a remote operating device 72. The nursing platform 71 is connected to the communication module 63 by wireless communication, and the remote operating device 72 is connected to the nursing platform 71 by wired communication.

[0117] The nursing platform 71 is used to receive emergency alerts, health data and image data;

[0118] When the nursing platform 71 receives an emergency alarm, the operator determines whether the person being cared for needs emergency treatment based on health data and image data. If emergency treatment is required, the operator remotely controls the robot body 11 and the robotic arm 12 through the remote operating device 72 .

[0119] When the person being cared for needs emergency treatment, the robot body 11 and the mechanical arm 12 can be remotely controlled to carry out rescue.

[0120] The remote operation device 72 is a remote controller for the robot.

[0121] Example 3

[0122] like Figure 1-11 As shown, as a preferred embodiment of the present invention,

[0123] Preferably, the detection device 4 is a wireless heart rate detection bracelet, which is worn on the wrist of the person being cared for;

[0124] The monitoring device 5 is a surveillance camera;

[0125] Preferably, an insert block is fixedly mounted on the robot body 11 , and a slot for plugging in the insert block is provided on the housing 311 .

[0126] Thereby, a detachable connection between the shell 311 and the robot body 11 is achieved.

[0127] Example 4

[0128] like Figure 1-11 As shown, as a preferred embodiment of the present invention, the present invention also provides a method for using an intelligent nursing system for home-based elderly care, comprising the following steps:

[0129] Step 1: When the central controller 61 determines that the received health data is abnormal, the central controller 61 controls the robot body 11 to run to the location of the person being cared for, and takes pictures of the person being cared for to collect monitoring data through the monitoring device 5. At the same time, the central controller 61 sends an emergency alarm, health data and monitoring data to the nursing platform 71 through the communication module 63. After the nursing platform 71 receives the emergency alarm, the operator judges the condition of the person being cared for through the returned monitoring data and the returned health data;

[0130] Step 2: When the operator determines that the person being cared for needs emergency treatment, the operator remotely controls the robot body 11 and the two sets of mechanical arms 12 through the remote operating device 72 to adjust the position of the person being cared for and keep the person lying flat;

[0131] Step 3: Then, the robot arm 12 is controlled to dismantle the clothes of the person being cared for to expose the chest. The operator operates two sets of robot arms 12 to clamp the two support frames 316 respectively and remove the shell 311 from the robot body 11. The chest of the person being cared for is photographed through the monitoring device 5, and the photographed chest picture is sent to the central controller 61. The central controller 61 sends the chest picture to the acupuncture point positioning unit 62.

[0132] The acupoint positioning unit 62 compares the chest image of the cared person with the human acupoint characteristic map, and locates acupoints 1, 2, and 3 on the chest image; at the same time, the acupoint positioning unit 62 substitutes acupoints 1, 2, and 3 into the rectangular coordinate system for calculation, and generates operation control signals for the first motor 221, the second motor 223, and the first linear module 231;

[0133] Step 4: The operation control signals of the first motor 221, the second motor 223, and the first linear module 231 are calculated using the following method:

[0134] The acupoint positioning unit 62 maps acupoints 1, 2, and 3 to a rectangular coordinate system, with acupoint 1 as the coordinate origin (0, 0), and calculates the coordinates of acupoints 2 and 3 as (X1, Y1) and (X2, Y2), respectively; the (X1, Y1) and (X2, Y2) are located in the second quadrant and the fourth quadrant of the rectangular coordinate system, respectively;

[0135] The angle of θ1 is calculated by the formula tan(θ1)=Y1\X1,θ1=arctan(θ1); the angle of θ2 is calculated similarly;

[0136] θ1 represents the angle between the line connecting (X1, Y1) and (0, 0) and the negative half axis of the X-axis, and θ2 represents the angle between the line connecting (X2, Y2) and (0, 0) and the positive half axis of the X-axis;

[0137] θ1 and θ2 are the rotation angles of the first rotating rod 227 and the second rotating rod 228 respectively;

[0138] The initial positions of the first rotating rod 227 and the second rotating rod 228 coincide with the negative and positive semi-axes of the X-axis of the coordinate system respectively;

[0139] L1 is calculated by the formula L12=X12+Y12;

[0140] Similarly, calculate L2;

[0141] S1 = L1-A, S2 = L2-A;

[0142] L1 and L2 represent the distances from (X1, Y1) and (X2, Y2) to the origin (0, 0), respectively;

[0143] The initial position of the sliders of the two first linear modules 231 is located at one end thereof close to the extrusion rod 313;

[0144] A represents the distance from the initial position of the center of the electrode sheet 212 to the central axis of the extrusion rod 313; S1 and S2 represent the horizontal movement distances of the left and right electrode sheets 212, and also represent the movement distances of the sliders of the two first linear modules 231;

[0145] Step 5, the central controller 61 controls the two sets of mechanical arms 12 to adjust the two sets of support frames 316 so that the lower end of the elastic pressing block 314 corresponds to the upper end of the acupuncture point 1;

[0146] Step 6: The controller 317 controls the first motor 221 and the second motor 223 to rotate according to the control signal of step 4. The first motor 221 and the second motor 223 respectively drive the first rotating sleeve 225 and the second rotating sleeve 226 to rotate through the gear set 1 222 and the gear set 2 224. The first rotating sleeve 225 and the second rotating sleeve 226 respectively drive the first rotating rod 227 to rotate θ1 and the second rotating rod 228 to rotate θ2.

[0147] Step 7: The controller 317 controls the first linear modules 231 on the first rotating rod 227 and the second rotating rod 228 to respectively drive the upper sliders to move according to the control signal of step 4. The output sliders of the two sets of first linear modules 231 respectively drive the electrode sheets 212 at the lower ends of the two elastic pressure rods 232 to move S1 and S2, and the two electrode sheets 212 respectively move to the upper sides of the acupoint 2 and the acupoint 3.

[0148] Step eight, operate the robot arm 12 to drive the support frame 316 to move downward, so that the two electrode sheets 212 contact the acupoint 2 and the acupoint 3 respectively; when the pressure sensor 325 detects that the electrode sheet 212 contacts the human body, the controller 317 adjusts the second linear module 321 according to the detection value of the height sensor 326, and the second linear module 321 drives the sliding column 322 to move, and the sliding column 322 moves in the sliding groove 324 provided on the two swing rods 323 to drive the two swing rods 323 to rotate, and the swing rod 323 drives the rotating shaft 315 to rotate, and the rotating shaft 315 drives the support frame 316 to move to a position in contact with the ground;

[0149] Step nine, the controller 317 controls the defibrillator host 211 to start, and the defibrillator host 211 discharges to acupoints 2 and 3 through two electrodes 212 to defibrillate the person being cared for;

[0150] Step ten, after defibrillation is completed, the controller 317 controls the telescopic motor 312 to start, the telescopic motor 312 drives the squeezing rod 313 to reciprocate, and the squeezing rod 313 drives the elastic pressing block 314 to reciprocately press the acupoint 1 to perform cardiac resuscitation on the person being cared for.

[0151] When the present invention is used, the position of the emergency acupoints of the person being cared for is calculated through the acupoint positioning unit 62, and control signals corresponding to the first motor 221, the second motor 223 and the two first linear modules 231 are generated, so that during remote first aid, the emergency equipment can quickly automatically locate the emergency acupoints, thereby realizing remote first aid for the person being cared for.

[0152] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent nursing system for home-based elderly care, characterized in that: The device comprises at least one nursing robot (1), a first aid device, a detection device (4), a monitoring device (5), a control unit (6) and a remote control system (7), wherein the control unit (6) is connected to the nursing robot (1), the first aid device, the detection device (4) and the monitoring device (5), and the remote control system (7) is connected to the control unit (6) by wireless communication; The first aid device is used for first aid of a heart attack on a person being cared for, and the first aid device is installed on the nursing robot (1) and is used in conjunction with the nursing robot (1); The detection device (4) is used to detect the physical condition of the person being cared for and send health data to the control unit (6); The monitoring device (5) is installed on the nursing robot (1), and is used to monitor the person being cared for and collect the body data of the person being cared for, and send image data to the control unit (6); The image data includes monitoring data and a chest picture of the person being cared for; The control unit (6) is used to receive the health data sent by the detection device (4) and the image data sent by the monitoring device (5), and the control unit (6) controls the operation of the nursing robot (1) and the first aid device; The control unit (6) is also used to locate the emergency acupuncture points of the person being cared for, and to generate a control signal and send it to the emergency device; The remote control system (7) is used to receive health data and image data when the control unit (6) analyzes that the person being cared for needs first aid, and the remote control system (7) remotely controls the control unit (6), and the control unit (6) controls the nursing robot (1) and the first aid device to provide first aid to the person being cared for; The first aid device comprises a defibrillator assembly (2) and a cardiac resuscitation assembly (3). The defibrillator assembly (2) and the cardiac resuscitation assembly (3) are both mounted on a nursing robot (1). The defibrillator assembly (2) is connected to the cardiac resuscitation assembly (3). The defibrillator assembly (2) and the cardiac resuscitation assembly (3) are both connected to a control unit (6). The defibrillator assembly (2) is used to perform defibrillation on a person being cared for, and the cardiac resuscitation assembly (3) is used to perform cardiac resuscitation on the person being cared for. When first aid is provided to the person being cared for, a control signal of the control unit (6) is sent to the defibrillator assembly (2) and the cardiac resuscitation assembly (3), and the defibrillator assembly (2) and the cardiac resuscitation assembly (3) operate according to the control signal.

2. The intelligent nursing system for home-based elderly care according to claim 1 is characterized in that: The nursing robot (1) comprises a robot body (11) and a mechanical arm (12); two sets of mechanical arms (12) are fixedly mounted on the robot body (11); the robot body (11) and the mechanical arms (12) are both electrically connected to a control unit (6); the robot body (11) is connected to a defibrillator assembly (2) and a cardiac resuscitation assembly (3); and the mechanical arms (12) are used in conjunction with clamping the cardiac resuscitation assembly (3); The defibrillator assembly (2) comprises a defibrillator device (21), a rotation adjustment assembly (22) and a horizontal adjustment assembly (23); the defibrillator device (21) is mounted on a robot body (11); the horizontal adjustment assembly (23) and the rotation adjustment assembly (22) are both connected to a cardiac resuscitation assembly (3); and the horizontal adjustment assembly (23) is both connected to the defibrillator device (21) and the rotation adjustment assembly (22).

3. The intelligent nursing system for home-based elderly care according to claim 2 is characterized in that: The defibrillator device (21) comprises a defibrillator main unit (211), an electrode sheet (212) and a wire (213); the defibrillator main unit (211) is fixedly mounted on a robot main body (11); the defibrillator main unit (211) is electrically connected to a control unit (6); there are two electrode sheets (212) and two wires (213); the electrode sheets (212) are electrically connected to the wires (213); the wires (213) are electrically connected to the defibrillator main unit (211); and the two electrode sheets (212) are connected to a horizontal adjustment component (23).

4. The intelligent nursing system for home-based elderly care according to claim 3 is characterized in that: The rotation adjustment component (22) comprises a first motor (221), a gear set 1 (222), a second motor (223), a gear set 2 (224), a first rotating sleeve (225), a second rotating sleeve (226), a first rotating rod (227) and a second rotating rod (228). The first motor (221) and the second motor (223) are both mounted on the cardiac resuscitation component (3). The output ends of the first motor (221) and the second motor (223) are respectively connected to the first gear set 1 (222), the second gear set 224, the first rotating sleeve (225), the second rotating sleeve (226), the first rotating rod (227) and the second rotating rod (228). The second wheel group (224) is connected to the first rotating sleeve (225) and the second rotating sleeve (226) in a transmission manner; the second rotating sleeve (226) is connected to the outer end of the first rotating sleeve (225) in a rotational manner; the first rotating sleeve (225) is connected to the cardiac resuscitation component (3); the first rotating rod (227) and the second rotating rod (228) are respectively fixedly connected to the first rotating sleeve (225) and the second rotating sleeve (226); and the horizontal adjustment component (23) is connected to both the first rotating rod (227) and the second rotating rod (228).

5. The intelligent nursing system for home-based elderly care according to claim 4 is characterized in that: The horizontal adjustment component (23) comprises a first linear module (231) and an elastic pressure rod (232), there are two first linear modules (231), the two first linear modules (231) are respectively fixedly mounted on the lower ends of the first rotating rod (227) and the second rotating rod (228), the output sliders of the two first linear modules (231) are both fixedly mounted with elastic pressure rods (232), and the two electrode sheets (212) are respectively fixedly mounted on the lower ends of the two elastic pressure rods (232).

6. The intelligent nursing system for home-based elderly care according to claim 5 is characterized in that: The cardiac resuscitation component (3) comprises a cardiac resuscitation device (31) and a height adjustment component (32), wherein the cardiac resuscitation device (31) and the height adjustment component (32) are connected, wherein the cardiac resuscitation device (31) is connected to the robot body (11), the first motor (221), the second motor (223), and the first rotating sleeve (225), wherein the cardiac resuscitation device (31) is connected to the control unit (6), and wherein the robot arm (12) cooperates with the cardiac resuscitation device (31) for use; The cardiac resuscitator device (31) comprises a shell (311), a telescopic motor (312), an extrusion rod (313), an elastic pressure block (314), a support frame (316) and a controller (317); the shell (311) is detachably connected to the robot body (11); the first motor (221) and the second motor (223) are both fixedly mounted on the shell (311); the first rotating sleeve (225) is slidably connected to the outer end of the extrusion rod (313) and is rotatably connected to the shell (311); the telescopic motor (312) is fixedly mounted on the inner end of the shell (311); the output end of the telescopic motor (312) is fixedly connected to the upper end of the extrusion rod (313); the lower end of the extrusion rod (313) is fixedly connected to the elastic pressure block (314); the support frame (316) and the controller (317) are connected to the robot body (11); There are two support frames (316) and they are respectively arranged at the left and right ends of the shell (311). The two support frames (316) are both fixedly connected with a rotating shaft (315). The two rotating shafts (315) are respectively rotatably connected to the left and right side walls of the shell (311). The controller (317) is fixedly installed at the inner end of the shell (311). The controller (317) is electrically connected to the first motor (221), the second motor (223), the telescopic motor (312), and the first linear module (231). The shell (311) and the controller (317) are both connected to the height adjustment component (32). The controller (317) is connected to the control unit (6). The rotating shaft (315) is connected to the height adjustment component (32). The mechanical arm (12) and the support frame (316) are used for clamping. The height adjustment assembly (32) comprises a second linear module (321), a sliding column (322), a swing rod (323), a slide groove (324), a pressure sensor (325) and a height sensor (326); the second linear module (321) is fixedly mounted on the housing (311); the sliding column (322) is fixedly mounted on the output slider of the second linear module (321); there are two swing rods (323); the two swing rods (323) are respectively fixedly connected to two rotating shafts (315); the swing rod (323) is provided with a slide groove (324) for fitting and slidingly connecting with the sliding column (322); the pressure sensor (325) is fixedly mounted on the electrode sheet (212); the second linear module (321) and the pressure sensor (325) are both electrically connected to the controller (317); the height sensor (326) is fixedly mounted on the housing (311) and electrically connected to the controller (317).

7. The intelligent nursing system for home-based elderly care according to claim 6 is characterized in that: The control unit (6) comprises a central controller (61), an acupoint positioning unit (62) and a communication module (63); the central controller (61) is electrically connected to the robot body (11), the robot arm (12), the acupoint positioning unit (62), the communication module (63), the defibrillator host (211) and the detection device (5); the communication module (63) is wirelessly connected to the controller (317); the communication module (63) is connected to the remote control system (7); and the communication module (63) is wirelessly connected to the detection device (4); The central controller (61) is used to compare the heart rate data of the health data with a set normal heart rate range therein, and if the heart rate data is not within the normal heart rate range, the central controller (61) generates an emergency alarm; The monitoring device (5) sends the image data to the central controller 61 which sends the chest image of the image data to the acupoint positioning unit 62; The acupoint locating unit 62 compares the chest image of the cared person with the human body acupoint characteristic map, and locates acupoints 1, 2 and 3 on the chest image; At the same time, the acupoint positioning unit 62 substitutes acupoint 1, acupoint 2 and acupoint 3 into the rectangular coordinate system to calculate and generate a control signal and sends it to the central controller (61), the central controller (61) sends the control signal to the defibrillator host (211) and the communication module (63), and the communication module (63) sends it to the controller (317); The communication module (63) is used for wireless communication between the central controller (61) and the remote control system (7). The central controller (61) sends monitoring data such as emergency alarms, health data and image data to the remote control system (7) via the communication module (63).

8. The intelligent nursing system for home-based elderly care according to claim 7, characterized in that: The acupuncture points include: Acupuncture point 1 located in the center of the human sternum; Acupuncture point 2 is located on the upper right side of the human sternum; And point three located below the left side of the chest.

9. The intelligent nursing system for home-based elderly care according to claim 8, characterized in that: The remote control system (7) comprises a nursing platform (71) and a remote operating device (72), wherein the nursing platform (71) is wirelessly connected to the communication module (63), and the remote operating device (72) is connected to the nursing platform (71); The nursing platform (71) is used to receive monitoring data of emergency alarms, health data and image data; When the nursing platform (71) receives an emergency alarm, the operator determines whether the person being cared for needs emergency treatment based on the monitoring data of health data and image data. If emergency treatment is required, the operator remotely controls the robot body (11) and the robot arm (12) through the remote operating device (72).

10. A method for using the intelligent nursing system for home-based elderly care as claimed in claim 9: Step 1: When the central controller (61) determines that the received health data is abnormal, the central controller (61) controls the robot body (11) to run to the location of the person being cared for, and takes pictures of the person being cared for to collect monitoring data through the monitoring device (5). At the same time, the central controller (61) sends an emergency alarm, health data and monitoring data to the nursing platform (71) through the communication module (63). After the nursing platform (71) receives the emergency alarm, the operator determines the condition of the person being cared for based on the returned monitoring data and the returned health data. Step 2: When the operator determines that the person being cared for needs emergency treatment, the operator remotely controls the robot body (11) and the two sets of mechanical arms (12) through the remote operating device (72) to adjust the position of the person being cared for and keep the person lying flat; Step three, then controlling the robot arm (12) to dismantle the clothes of the person being cared for to expose his chest, the operator operates the two sets of robot arms (12) to clamp the two support frames (316) respectively and remove the shell (311) from the robot body (11), takes a picture of the chest of the person being cared for through the monitoring device (5), and sends the photographed chest picture to the central controller (61), and the central controller (61) sends the chest picture to the acupuncture point positioning unit (62); The acupoint positioning unit (62) compares the chest image of the person being cared for with the human acupoint characteristic map, and locates acupoints 1, 2 and 3 on the chest image; at the same time, the acupoint positioning unit (62) substitutes acupoints 1, 2 and 3 into a rectangular coordinate system for calculation, and generates operation control signals for the first motor (221), the second motor (223) and the first linear module (231); Step 4: The operation control signals of the first motor (221), the second motor (223), and the first linear module (231) are calculated using the following method: The acupoint positioning unit (62) maps acupoints 1, 2 and 3 onto a rectangular coordinate system, taking acupoint 1 as the coordinate origin (0, 0), and calculates the coordinates of acupoints 2 and 3 as (X1, Y1) and (X2, Y2) respectively; the (X1, Y1) and (X2, Y2) are respectively located in the second quadrant and the fourth quadrant of the rectangular coordinate system; The angle of θ1 is calculated by the formula tan(θ1)=Y1\X1,θ1=arctan(θ1); the angle of θ2 is calculated similarly; θ1 represents the angle between the line connecting (X1, Y1) and (0, 0) and the negative half axis of the X-axis, and θ2 represents the angle between the line connecting (X2, Y2) and (0, 0) and the positive half axis of the X-axis; θ1 and θ2 are the rotation angles of the first rotating rod (227) and the second rotating rod (228) respectively; The initial positions of the first rotating rod (227) and the second rotating rod (228) coincide with the negative and positive semi-axes of the X-axis of the coordinate system respectively; L1 is calculated by the formula L12=X12+Y12; Similarly, calculate L2; S1 = L1-A, S2 = L2-A; L1 and L2 represent the distances from (X1, Y1) and (X2, Y2) to the origin (0, 0), respectively; The initial positions of the sliders of the two first linear modules (231) are located at one end thereof close to the extrusion rod (313); A represents the distance from the initial position of the center of the electrode sheet (212) to the central axis of the extrusion rod (313); S1 and S2 represent the distances that the left and right electrode sheets (212) need to move horizontally, and also represent the distances that the sliders of the two first linear modules (231) need to move; Step 5, the central controller (61) controls the two sets of mechanical arms (12) to adjust the two sets of support frames (316) so that the lower end of the elastic pressing block (314) corresponds to the upper end of the acupuncture point 1; Step 6: The controller (317) controls the first motor (221) and the second motor (223) to rotate according to the control signal of step 4; the first motor (221) and the second motor (223) respectively drive the first rotating sleeve (225) and the second rotating sleeve (226) to rotate through the gear set 1 (222) and the gear set 2 (224); the first rotating sleeve (225) and the second rotating sleeve (226) respectively drive the first rotating rod (227) to rotate by θ1 and the second rotating rod (228) to rotate by θ2; Step 7: The controller (317) controls the first linear modules (231) on the first rotating rod (227) and the second rotating rod (228) to respectively drive the upper sliders to move according to the control signal of step 4; the output sliders of the two groups of first linear modules (231) respectively drive the electrode sheets 212 at the lower ends of the two elastic pressure rods (232) to move S1 and S2, and the two electrode sheets (212) respectively move to the upper sides of the acupoint 2 and the acupoint 3; Step eight, operating the robot arm (12) to drive the support frame (316) to move downward, so that the two electrode sheets (212) contact the acupoint 2 and acupoint 3 respectively; when the pressure sensor (325) detects that the electrode sheet (212) contacts the human body, the controller (317) adjusts the second linear module (321) according to the detection value of the height sensor (326), and the second linear module (321) drives the sliding column (322) to move, and the sliding column (322) moves in the sliding groove (324) provided on the two swing rods (323) to drive the two swing rods (323) to rotate, and the swing rod (323) drives the rotating shaft (315) to rotate, and the rotating shaft (315) drives the support frame (316) to move to a position in contact with the ground; Step nine, the controller (317) controls the defibrillator host (211) to start, and the defibrillator host (211) discharges to acupoints 2 and 3 through two electrode sheets (212) to defibrillate the person being cared for; Step ten, after defibrillation is completed, the controller (317) controls the telescopic motor (312) to start, the telescopic motor (312) drives the squeezing rod (313) to reciprocate, and the squeezing rod (313) drives the elastic pressing block (314) to reciprocate and press the acupoint 1 to resuscitate the heart of the person being cared for.

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