Medical monitoring service robot

Abstract

The invention discloses a medical monitoring service robot which comprises a head, a trunk, a chassis and a shell, the head can ascend, descend and rotate by 360 degrees through a lifting mechanism and a rotating mechanism, a person under guardianship can be searched in all directions, information collection of the person under guardianship under different body postures can be achieved conveniently, and the robot can be used for monitoring the medical monitoring service. And the comfort of the person under guardianship during man-machine interaction is enhanced. The robot further comprises an intelligent monitoring system which comprises a main control unit, an information acquisition unit, a man-machine interaction unit, a motor driving unit and a data transmission unit. The main control unit receives signals and data of the man-machine interaction unit, the information acquisition unit and the motor driving unit, processes the received signals and data, and can send instructions to the motor driving unit to control the robot to complete different actions or transmit processing results to the man-machine interaction unit. Therefore, the remote monitoring terminal obtains the physiological data and real-time requirements of the person under guardianship. The robot can provide all-weather monitoring and has the advantages of being simple in structure, flexible in movement and high in practicability.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a medical monitoring service robot. Background Art

[0002] As the aging of the population in my country deepens, the demand for elderly care services continues to grow. At present, most elderly people are mainly cared for at home, but home-based elderly care faces the problem of high labor costs and severe shortage of manpower, resulting in a prominent contradiction between home-based elderly care and the supply of elderly care services, especially for elderly people living alone, who lack the necessary daily care and protection, which brings high risks to the health and life safety of the elderly.

[0003] With the development of robot technology and the improvement of intelligence level, the application of robots has gradually penetrated into people's daily life, and the application demand of robots in elderly care is also increasing day by day. The development of multifunctional robots suitable for elderly care has become a hot issue that needs to be solved urgently. For the elderly living at home, the key points of monitoring are human physiological indicators, sudden physical conditions in daily life and occasional needs. Therefore, robots with aging-friendly daily life and medical monitoring functions can better meet the needs of the elderly and are more practical. The present invention proposes a medical monitoring service robot, which can provide an effective way for the daily life and medical monitoring of the elderly. Summary of the invention

[0004] In view of the problems in the background technology, the present invention proposes a medical monitoring service robot. The head of the robot can be raised and lowered and rotated 360°, which is convenient for monitoring the ward in different body postures such as sitting, standing and sleeping, and enhances the comfort of the ward during human-machine interaction. The medical monitoring equipment carried by the robot can collect body temperature, blood pressure, heart rate, blood oxygen saturation, blood lipids, blood sugar, and uric acid. The robot's intelligent monitoring system can perform all-round human presence detection and anti-fall detection, can monitor multiple wards, and through face recognition, it is convenient for the main control unit to store and process the physiological data of multiple wards.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A medical monitoring service robot, the robot includes a head, a torso, a chassis and a shell, the head is fixedly mounted on an extended shaft of the torso, the torso includes a support plate, a lifting mechanism is fixedly mounted on the surface of the support plate, the lifting mechanism includes a first motor, a ball screw nut pair, a linear rolling guide, and a support plate, a gear box is fixedly mounted on the support plate, the gear box supports a rotating mechanism, the rotating mechanism includes a second motor, a first bevel gear, a second bevel gear and an extended shaft, the chassis is a two-wheel self-balancing chassis, including a third motor, a fourth motor, a first walking wheel, a second walking wheel and a connecting plate, the connecting plate is fixed to the support plate by bolts, and the shell is fixedly mounted on the support plate.

[0007] The robot also includes an intelligent monitoring system, which is connected to the lifting mechanism, the rotating mechanism, and the chassis via electrical signals.

[0008] The first motor of the lifting mechanism is fixed on the support plate, the motor shaft and the ball screw are connected by a coupling, both ends of the ball screw are supported by rolling bearings, the ball screw cooperates with the nut, the nut is fixedly connected to the support plate, and the support plate is guided and supported by two linear rolling guide rails.

[0009] The gear box of the rotating mechanism is fixed to the support plate of the lifting mechanism by bolts, the second motor is fixed to the left side wall of the gear box by bolts, the output shaft of the second motor is connected to the shaft of the first bevel gear by a coupling, the first bevel gear is supported by a rolling bearing, the rolling bearing is fixed in the bearing seat of the gear box, the first bevel gear is meshed with the second bevel gear, the second bevel gear is fixedly connected to the extension shaft, both ends of the extension shaft are supported by rolling bearings, and the rolling bearings at both ends of the extension shaft are fixedly installed in the rolling bearing seats at the upper and lower ends of the gear box.

[0010] When the first motor of the lifting mechanism is working, the ball screw nut pair drives the pallet to move up and down, and the gear box installed on the pallet moves up and down with the pallet, driving the robot head on the extended shaft to achieve lifting movement. The ball screw nut pair has a reverse self-locking function.

[0011] When the second motor of the rotating mechanism is working, the first bevel gear and the second bevel gear are driven to rotate, so that the extended shaft drives the robot head to rotate 360 ​​degrees.

[0012] When the first motor and the second motor work simultaneously, the robot head realizes rotational motion while rising or falling, and can search for the monitored target 360°, facilitate information collection of the monitored person in different body postures, and enhance the comfort of the monitored person during human-computer interaction.

[0013] The intelligent monitoring system includes a main control unit, a human-computer interaction unit, an information collection unit, a motor drive unit, and a data transmission unit; wherein,

[0014] The main control unit contains a main controller, a signal processing module and a data storage device. The main control unit is respectively connected to the human-machine interaction unit, the information acquisition unit and the motor drive unit through the electrical signal of the data transmission module. The main control unit receives signals and data from the human-machine interaction unit, the information acquisition unit and the motor drive unit, processes the received signals and data, and can send instructions to the motor drive unit to control the robot to complete different actions, or transmit the signal and data processing results to the human-machine interaction unit.

[0015] The human-computer interaction unit includes a camera, a display screen, a face recognition module, a remote monitoring module, and a voice module.

[0016] The camera and display screen are installed in front of the robot head, and the face recognition module is installed on the back of the robot head. The display screen and face recognition module can follow the head rise and fall and rotate 360°, and can interact with the guardian through video in all directions or collect the guardian's facial information.

[0017] The face recognition module can be used to identify different guardians and facilitates the main control unit to store and process the physiological data of multiple guardians.

[0018] The remote monitoring module includes a server and a guardian, receives the guardian's information through a data transmission unit and performs analysis and processing, can remotely control the movement of the robot, and realize data sharing between the robot and the remote server;

[0019] The voice module contains a microphone and a loudspeaker and has the functions of voice collection and broadcasting, so that the remote monitoring module can obtain the needs of the guardian in real time.

[0020] The information collection unit includes medical monitoring equipment, millimeter wave radar, and ultrasonic sensor.

[0021] The medical monitoring device is mounted in a drawer of the robot shell. When it is necessary to detect the physiological data of the ward, the ward is first identified by the face recognition module of the human-computer interaction unit, and the ward opens the drawer to use the corresponding medical monitoring device. The human physiological data collected by the medical monitoring device is sent to the main control unit through the data transmission unit, and the signal processing module in the main control unit processes the data. The processing result is sent to the main controller and stored in the data storage device. The main controller calls the historical physiological data of the ward in the data storage device and compares the latest collected data processing result with the historical data. If the main controller analyzes and determines abnormal data, the abnormal data is sent to the server of the remote monitoring module, and the health status of the ward is evaluated through the remote monitoring terminal. With this method, when it is necessary to detect the physiological data of multiple wards, different wards are first identified by the face recognition module and then data collection is performed. The main control unit can conveniently process the physiological data of different wards according to the face recognition result.

[0022] The millimeter-wave radar is installed on the head of the robot and is used for all-round human presence detection and emergency detection such as fall prevention. The millimeter-wave radar uses the point cloud imaging principle to detect the posture of the guardian, and the main control unit analyzes and processes the point cloud data collected by the millimeter-wave radar to determine the posture of the guardian.

[0023] The ultrasonic sensors are installed around the robot shell and are used to avoid obstacles when the robot is walking.

[0024] The motor drive unit comprises a chassis motor driver, a lifting mechanism motor driver, a rotating mechanism motor driver and an encoder.

[0025] The encoder is installed at the end of the chassis motor shaft, detects the chassis motor speed and feeds it back to the main controller, and the main controller implements closed-loop control of the chassis motor according to the running speed requirements of the robot.

[0026] The data transmission unit includes cable transmission and wireless transmission modules.

[0027] By adopting the above technical solution, the beneficial effects of the present invention are as follows:

[0028] The robot's head can be raised and lowered and rotated 360 degrees, which facilitates monitoring of the ward in different body postures such as sitting, standing and sleeping, and enhances the comfort of the ward during human-machine interaction. The medical monitoring equipment on the robot can collect body temperature, blood pressure, heart rate, blood oxygen saturation, blood lipids, blood sugar, and uric acid. The robot's intelligent monitoring system can perform all-round human presence detection and anti-fall detection, provide all-weather protection while protecting the privacy of the ward, and can monitor multiple wards. Face recognition facilitates the main control unit to store and process the physiological data of multiple wards. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the external structure of a medical monitoring service robot in one embodiment of the present invention;

[0030] Figure 2 A schematic diagram of the internal structure of a medical monitoring service robot in one embodiment of the present invention;

[0031] Figure 3 A schematic diagram of the composition of an intelligent monitoring system for a medical monitoring service robot in an embodiment of the present invention;

[0032] In the figure: 1 head, 2 camera, 3 display screen, 4 speaker, 5 microphone, 6 housing, 7 drawer, 8 ultrasonic sensor, 9 first running wheel, 10 second running wheel, 11 third motor, 12 fourth motor, 13 millimeter wave radar, 14 face recognition module, 15 extension shaft, 16 support plate, 17 gear box, 18 second motor, 19 first bevel gear, 20 second bevel gear, 21 lead screw, 22 linear rolling guide, 23 first motor, 24 connecting plate. DETAILED DESCRIPTION

[0033] like Figure 1 and Figure 2 As shown, a medical monitoring service robot proposed in an embodiment of the present invention includes a head, a trunk, a chassis and a shell. The robot head is fixedly mounted on the extension shaft of the trunk. The trunk includes a support plate, and a lifting mechanism is fixedly mounted on the surface of the support plate. The lifting mechanism includes a first motor, a ball screw nut pair, a linear rolling guide, and a support plate. A gear box is fixedly mounted on the support plate, and the gear box supports the rotating mechanism. The rotating mechanism includes a second motor, a first bevel gear, a second bevel gear and an extension shaft. The chassis is a two-wheel self-balancing chassis, including a third motor, a fourth motor, a first running wheel, a second running wheel and a connecting plate. The connecting plate is fixed to the support plate by bolts, and the shell is fixedly mounted on the support plate.

[0034] The first motor of the lifting mechanism is fixed on the support plate, the motor shaft and the ball screw are connected by a coupling, both ends of the ball screw are supported by rolling bearings, the ball screw cooperates with the nut, the nut is fixedly connected to the support plate, and the support plate is guided and supported by two linear rolling guide rails.

[0035] The gearbox of the rotating mechanism is fixed to the support plate of the lifting mechanism by bolts, the second motor is fixed to the left wall of the gearbox by bolts, the output shaft of the second motor is connected to the shaft of the first bevel gear by a coupling, the first bevel gear is supported by a rolling bearing, and the rolling bearing is fixed in the bearing seat of the gearbox. The first bevel gear is meshed with the second bevel gear, the second bevel gear is fixedly connected to the extension shaft, both ends of the extension shaft are supported by rolling bearings, and the rolling bearings at both ends of the extension shaft are fixedly installed in the rolling bearing seats at the upper and lower ends of the gearbox.

[0036] When the first motor of the lifting mechanism is working, the ball screw nut pair drives the pallet to move up and down, and the gear box installed on the pallet moves up and down accordingly, driving the robot head on the extended shaft to achieve lifting movement. The ball screw nut pair has a reverse self-locking function to prevent the robot head from moving down when the first motor stops.

[0037] When the second motor of the rotating mechanism is working, the first bevel gear and the second bevel gear are driven to rotate, so that the extended shaft drives the robot head to rotate 360 ​​degrees.

[0038] When the first motor and the second motor work simultaneously, the robot head can rotate while rising or falling, enabling the robot head to search for the monitored target 360° at different heights, facilitating the monitoring of the monitored person in different body postures such as sitting, standing and sleeping, and enhancing the comfort of the monitored person during human-computer interaction.

[0039] like Figure 3 As shown, the medical monitoring service robot proposed in this patent also includes an intelligent monitoring system, which is connected to the lifting mechanism, the rotating mechanism, and the chassis by electrical signals. The intelligent monitoring system includes a main control unit, a human-computer interaction unit, an information collection unit, a motor drive unit, and a data transmission unit.

[0040] The main control unit is connected to the human-machine interaction unit, the information acquisition unit, and the motor drive unit through the data transmission unit electrical signal. The main control unit contains a main controller, a signal processing module, and a data storage device. It receives signals and data from the human-machine interaction unit, the information acquisition unit, and the motor drive unit, processes the received signals and data, and can send instructions to the motor drive unit to control the robot to complete different actions, or transmit the signal and data processing results to the human-machine interaction unit.

[0041] The human-machine interaction unit contains a camera, a display screen, a face recognition module, a remote monitoring module, and a voice module. The camera and display screen are installed in front of the robot head, and the face recognition module is installed on the back of the robot head. The camera, display screen, and face recognition module can follow the head up and down and rotate 360 ​​degrees, and interact with the guardian in all directions through video or collect the guardian's facial information.

[0042] The remote monitoring module includes a server and a guardian. It receives and analyzes the information of the guardian through the wireless transmission module of the data transmission unit. It can remotely control the movement of the robot according to the guardian's requirements and realize data sharing between the robot and the remote server. The movement of the robot is controlled by the instructions issued by the remote monitoring module, and the robot can actively search, guide or track the guardian.

[0043] The voice module contains a microphone and a speaker, and has the functions of voice collection and broadcasting. When the voice of the ward is recorded in real time, the remote monitoring module can promptly obtain the ward's occasional needs and realize round-the-clock demand monitoring. The voice module can also broadcast the information sent by the guardian through the speaker, and provide reminders for the ward's daily diet, dressing, taking medicine, traveling, etc.

[0044] The information collection unit contains medical monitoring equipment, millimeter wave radar, and ultrasonic sensors. The medical monitoring equipment is installed in different drawers of the robot shell, including infrared thermometer, electrocardiogram monitor, blood lipid tester, and uric acid tester, which collect the body temperature, blood pressure, heart rate, blood oxygen saturation, blood lipid, blood sugar, and uric acid of the person being monitored.

[0045] When it is necessary to detect the physiological data of the ward, the face recognition module of the human-computer interaction unit is used to identify the ward first, and the ward opens the drawer and uses the corresponding medical monitoring equipment. The human physiological data collected by the medical monitoring equipment is sent to the main control unit through the data transmission unit, and the signal processing module in the main control unit processes the data. The processed results are sent to the main controller and stored in the data storage. The main controller calls the historical physiological data of the ward in the data storage, and compares the latest collected data processing results with the historical data. If the main controller analyzes and determines abnormal data, the abnormal data is sent to the server of the remote monitoring module, and the health status of the ward is evaluated through the remote monitoring terminal. Using this method, when it is necessary to detect the physiological data of multiple wards, first identify different wards through the face recognition module and then collect data. The main control unit can conveniently process the physiological data of different wards according to the face recognition results.

[0046] The millimeter-wave radar is installed on the head of the robot and connected to the main control unit by electrical signals. It is used for all-round human presence detection and emergency detection such as fall prevention, especially when the elderly are taking a bath, changing clothes, going to the toilet, etc., to monitor whether the elderly are performing dangerous actions such as falling while protecting their privacy. The millimeter-wave radar uses the point cloud imaging principle to detect the posture of the ward. The main control unit analyzes and processes the point cloud data collected by the millimeter-wave radar and determines the posture of the ward. For example, when it is determined that the ward has fallen, the main controller triggers the speaker alarm and sends the alarm information to the remote monitoring module. The remote monitoring module uses the camera, display, microphone, speaker, etc. to observe and communicate in real time to analyze the severity of the ward's fall, and conduct remote medical guidance as soon as possible to prevent the ward from suffering secondary injuries. When the degree of the ward's fall is relatively serious, rescue personnel are arranged to provide on-site assistance.

[0047] Ultrasonic sensors are installed around the robot shell to help the robot avoid obstacles when walking.

[0048] The motor drive unit contains chassis motor driver, lifting mechanism motor driver, rotating mechanism motor driver and encoder. The encoder is installed at the end of the chassis motor shaft, detects the chassis motor speed and feeds it back to the main controller, which implements closed-loop control of the chassis motor according to the robot's running speed requirements.

[0049] The data transmission unit includes cable transmission and wireless transmission modules, and the wireless transmission is not limited to Bluetooth, WIFI and Internet technology.

Claims

1. A medical monitoring service robot, characterized in that: The robot comprises a head, a trunk, a chassis and a shell, wherein the head is fixedly mounted on an extended shaft of the trunk, the trunk comprises a support plate, a lifting mechanism is fixedly mounted on the surface of the support plate, the lifting mechanism comprises a first motor, a ball screw nut pair, a linear rolling guide, and a support plate, a gear box is fixedly mounted on the support plate, the gear box supports a rotating mechanism, the rotating mechanism comprises a second motor, a first bevel gear, a second bevel gear and an extended shaft, the chassis is a two-wheel self-balancing chassis, comprising a third motor, a fourth motor, a first walking wheel, a second walking wheel and a connecting plate, the connecting plate is fixedly mounted on the support plate by bolts, and the shell is fixedly mounted on the support plate; It also includes an intelligent monitoring system, which is connected to the lifting mechanism, the rotating mechanism, and the chassis through electrical signals.

2. A medical monitoring service robot according to claim 1, characterized in that: The first motor of the lifting mechanism is fixed on the support plate, the motor output shaft and the ball screw are connected by a coupling, both ends of the ball screw are supported by rolling bearings, the ball screw cooperates with the nut, the nut is fixedly connected to the support plate, and the support plate is guided and supported by two linear rolling guide rails.

3. A medical monitoring service robot according to claim 1, characterized in that: The gear box of the rotating mechanism is fixed to the support plate of the lifting mechanism by bolts, the second motor is fixed to the left side wall of the gear box by bolts, the output shaft of the second motor is connected to the shaft of the first bevel gear by a coupling, the first bevel gear is supported by a rolling bearing, the rolling bearing is fixed in the bearing seat of the gear box, the first bevel gear is meshed with the second bevel gear, the second bevel gear is fixedly connected to the extension shaft, both ends of the extension shaft are supported by rolling bearings, and the rolling bearings at both ends of the extension shaft are fixedly installed in the rolling bearing seats at the upper and lower ends of the gear box.

4. A medical monitoring service robot according to claim 3, characterized in that: When the first motor of the lifting mechanism is working, the ball screw nut pair drives the pallet to move up and down, and the gear box installed on the pallet moves up and down with the pallet, driving the robot head on the extended shaft to achieve lifting movement, and the ball screw nut pair has a reverse self-locking function; When the second motor of the rotating mechanism works, it drives the first bevel gear and the second bevel gear to rotate, so that the extended shaft drives the robot head to rotate 360 ​​degrees; When the first motor and the second motor work simultaneously, the robot head can realize 360° rotation while rising or falling, searching for the monitoring target in all directions, and facilitating the collection of information of the monitored person in different body postures, thereby enhancing the comfort of the monitored person during human-computer interaction.

5. A medical monitoring service robot according to claim 1, characterized in that: The intelligent monitoring system includes a main control unit, a human-computer interaction unit, an information collection unit, a motor drive unit, and a data transmission unit; wherein, The main control unit includes a main controller, a signal processing module and a data storage device. The main control unit is respectively connected to the human-machine interaction unit, the information acquisition unit and the motor drive unit through the electrical signal of the data transmission module. The main control unit receives signals and data from the human-machine interaction unit, the information acquisition unit and the motor drive unit, processes the received signals and data, sends instructions to the motor drive unit to control the robot to complete different actions, or transmits the signal and data processing results to the human-machine interaction unit.

6. A medical monitoring service robot according to claim 5, characterized in that: The human-computer interaction unit includes a camera, a display screen, a face recognition module, a remote monitoring module, and a voice module; The camera and display screen are installed in front of the robot head, and the face recognition module is installed on the back of the robot head. The camera, display screen and face recognition module can follow the head to rise and fall and rotate 360 ​​degrees, and interact with the guardian through video in all directions or collect the guardian's facial information; The face recognition module can be used to identify different guardians, and facilitates the main control unit to store and process the physiological data of multiple guardians; The remote monitoring module includes a server and a guardian, receives the guardian's information through a data transmission unit and performs analysis and processing, can remotely control the movement of the robot, and realize data sharing between the robot and the remote server; The voice module contains a microphone and a loudspeaker and has the functions of voice collection and broadcasting, so that the remote monitoring module can obtain the needs of the guardian in real time.

7. A medical monitoring service robot according to claim 5, characterized in that: The information collection unit contains medical monitoring equipment, millimeter wave radar, and ultrasonic sensor; The medical monitoring device is mounted in a drawer of the robot shell. When it is necessary to detect the physiological data of the ward, the ward is first identified through the face recognition module of the human-computer interaction unit, and the ward opens the drawer to use the corresponding medical monitoring device. The human physiological data collected by the medical monitoring device is sent to the main control unit through the data transmission unit, and the signal processing module in the main control unit processes the data. The processing result is sent to the main controller and stored in the data storage device. The main controller calls the historical physiological data of the ward in the data storage device and compares the latest collected data processing result with the historical data. If the main controller analyzes and determines abnormal data, the abnormal data is sent to the server of the remote monitoring module, and the health status of the ward is evaluated through the remote monitoring terminal. With this method, when it is necessary to detect the physiological data of multiple wards, different wards are first identified through the face recognition module before data collection. The main control unit can conveniently process the physiological data of different wards according to the face recognition result. The millimeter wave radar is installed on the head of the robot for all-round human presence detection and emergency detection such as fall prevention; The ultrasonic sensors are installed around the robot shell and are used to avoid obstacles when the robot is walking.

8. The medical monitoring service robot according to claim 5, characterized in that: The motor drive unit includes a chassis motor driver, a lifting mechanism motor driver, a rotating mechanism motor driver, and an encoder; The encoder is installed at the end of the chassis motor shaft, detects the chassis motor speed and feeds it back to the main controller, and the main controller implements closed-loop control of the chassis motor according to the running speed requirements of the robot.

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