Movable intelligent hospital guide robot

Abstract

According to the mobile intelligent hospital guide robot, convenient and efficient hospital guide services such as appointment registration, fee payment and report query are provided for a user, mobile navigation can be carried for the user who is inconvenient to move in a hospital, and the problem that the service of the hospital guide robot is single is solved. According to the movable intelligent hospital guide robot, self-positioning and navigation are achieved through the multi-sensor fusion technology combining the laser radar and the depth camera. The invention designs a 3D hardware structure and an application logic architecture of a movable intelligent hospital guide robot. The application logic architecture is mainly used for cooperative interaction among a movable intelligent hospital guide robot end, a user end APP, an intelligent medical management system and a hospital cloud platform. A user can complete path navigation and hospital guide consultation operation through the mobile intelligent hospital guide robot end, and can also complete operations such as appointment registration, report viewing and fee payment on a user end APP, so that hospital guide requirements in different scenes are met.

Description

Technical Field

[0001] The present invention relates to the field of robots, and specifically designs a movable intelligent medical guidance robot used in hospitals. Background Art

[0002] At present, the human resources in hospitals are tight, and patients are often unfamiliar with the medical treatment process, which not only wastes time but also increases the workload of medical staff. In addition, the terrain structure inside the hospital is complex, and patients with limited mobility or unfamiliar with the hospital environment are likely to be unable to seek medical treatment independently. This patent is aimed at the inside of the hospital, and can not only guide patients to seek medical treatment, but also carry patients with limited mobility to seek medical treatment.

[0003] Simultaneous positioning and mapping technology is a key technology for autonomous navigation of mobile robots. The robot starts moving from an unknown position in an unknown environment. During the movement, it continuously adjusts and optimizes the current positioning through sensor data and its own estimated position, while gradually building an environmental map to achieve autonomous positioning and navigation of the robot. Summary of the invention

[0004] The purpose of the present invention is to design an intelligent medical guidance robot that can provide medical guidance for users and can move and navigate within the hospital, so as to improve the efficiency of medical services and provide users with a better medical experience.

[0005] Users can perform touch operations on the control panel of the mobile intelligent medical guidance robot to realize functions such as hospital navigation, appointment registration, payment, and report query.

[0006] Users can use the mobile intelligent guidance robot to achieve manned mobile navigation within the hospital.

[0007] The user-side APP supports users in managing their personal information and provides services such as appointment registration, payment, and report query.

[0008] The smart medical management system interacts with the hospital cloud platform, regularly synchronizes data with the cloud, and manages medical data such as user personal information, payment information, and examination reports; synchronizes internal hospital maps; and provides data support and information interaction for robots and user-side APPs.

[0009] The mobile intelligent medical guidance robot and the user-side APP ensure the synchronous update of user information and hospital information by exchanging real-time data with the smart medical management system.

[0010] The movable intelligent medical guidance robot includes a three-wheel omnidirectional wheel chassis, a foldable seat, a ring-shaped surround baffle, an armrest, a bow-shaped personalized standing groove, an industrial computer, a high-definition camera, a touch screen display, a microphone array, a lithium iron phosphate battery, a DC reduction motor, a Mecanum wheel, a laser radar, and a depth camera.

[0011] The mobile intelligent medical guidance robot is equipped with an industrial computer as a core control unit to perform core tasks such as navigation, medical guidance, and human-computer interaction.

[0012] The mobile intelligent medical guidance robot uses a high-definition camera to collect user facial images. The high-definition camera is installed above the display. The images collected by the camera are connected to the hospital's smart medical system in real time, and the face recognition algorithm is used to match and confirm the user's identity.

[0013] The movable intelligent medical guidance robot adopts a 15-inch touch screen display as its display screen.

[0014] The movable intelligent medical guidance robot adopts a circular microphone array to realize user voice input.

[0015] The mobile intelligent medical guidance robot uses a lithium iron phosphate battery with a nominal voltage of 48.0V and a nominal capacity of 40,000mAh, which provides the robot with the required power support, allowing the robot to carry a maximum load of 80kg users.

[0016] The movable intelligent medical guidance robot adopts a DC gear reduction motor with a rotation speed of 150 rpm (revolutions per minute) to meet the needs of robot operation.

[0017] When the user stands and uses the movable intelligent medical guidance robot, the foldable seat can be folded upward to fit the robot body, and the user stands with both feet under the arch groove, with the standing position close to the geometric center of the circular chassis, to ensure the smooth operation of the robot.

[0018] When the user is sitting, the movable intelligent medical guidance robot can unfold the foldable seat to a horizontal position to provide support for the user. The battery is installed in the robot body, above the horizontal unfolding surface of the foldable seat. Through reasonable mass distribution, the front and rear center of gravity of the robot body and the user in the sitting mode are balanced to ensure the smooth operation of the robot.

[0019] The mobile intelligent medical guide robot imports the internal map of the hospital into the geographic information database, constructs a detailed static map of the environment, and eliminates static obstacles based on known map information; uses a depth camera to collect three-dimensional data of the environment, and applies a visual SLAM algorithm to achieve simultaneous positioning and map construction; uses a lidar to detect the distance to obstacles in real time and avoid obstacles reasonably; and applies a path planning algorithm to generate a reasonable navigation path.

[0020] The navigation algorithms of the mobile intelligent medical guidance robot, such as the visual SLAM algorithm and the path planning algorithm, are executed on the industrial computer of the robot body, and all real-time data processing is completed locally to ensure the real-time and stability of navigation.

[0021] The mobile intelligent medical guidance robot targets the weak-texture areas inside the hospital. On the basis of the visual SLAM algorithm, the Canny edge detection algorithm is introduced to extract edge information in the image as a supplementary feature. Combined with the traditional feature point detection results, the completeness of feature extraction and the accuracy of matching are enhanced, thereby improving the feature extraction and matching capabilities of the enhanced visual SLAM algorithm in weak-texture areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The invention is a movable intelligent medical guidance robot.

[0023] Figure 2 This is the logical architecture diagram of the mobile intelligent medical guidance robot application.

[0024] Figure 3 This is a front view of the movable intelligent medical guidance robot.

[0025] Figure 4 This is a side view of the mobile intelligent medical guidance robot.

[0026] Figure 5 This is the rear view of the mobile intelligent medical guidance robot.

[0027] Figure 6 This is a top view of the movable intelligent medical guidance robot.

[0028] Figure 7 This is a picture of the head of a movable intelligent medical guidance robot. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below with reference to the accompanying drawings.

[0030] like Figure 3 The movable intelligent medical guidance robot shown comprises a robot body (1), an armrest (2), an annular surround baffle (3), an arched personalized standing groove (4), and a robot chassis (5), wherein the armrest (2) and the annular surround baffle (3) provide protection measures for the patient to stand or lean on the robot safely; the arched personalized standing groove (4) can accommodate both feet, making standing more comfortable.

[0031] like Figure 4 As shown, the robot includes a foldable seat (6), and the user can choose the usage mode according to his own needs. When the user uses it in a standing position, the foldable seat can be folded upward to fit the robot body, and when the user uses it in a sitting position, the foldable seat can be unfolded to a horizontal state.

[0032] like Figure 5As shown, the robot includes an industrial computer (7), a rechargeable battery (8), a depth camera (9) and a laser radar (10), wherein the rechargeable battery (8) provides power support for the robot's internal devices such as the industrial computer (7), the depth camera (9), the laser radar (10), and a DC reduction motor.

[0033] The depth camera (9) and laser radar (8) in the mobile intelligent medical guidance robot are connected and powered by an industrial computer (7). The laser radar (8) is used to detect the distance of obstacles in real time to achieve the obstacle avoidance function; the depth camera (9) is used to collect three-dimensional data of the environment and perform autonomous positioning and mapping based on the information obtained.

[0034] The robot chassis (5) is a circular chassis with three omnidirectional wheels. Figure 6 As shown, the robot chassis (5) is composed of a Mecanum wheel-1 (11), a Mecanum wheel-2 (12) and a Mecanum wheel-3 (13), and the three Mecanum wheels are each 120 degrees; the DC reduction motor-1 (14), the DC reduction motor-2 (15), and the DC reduction motor-3 (16) respectively drive the Mecanum wheel-1 (11), the Mecanum wheel-2 (12) and the Mecanum wheel-3 (13) to move, so that the robot can move in all directions, so that it can carry the patient for multi-directional movement.

[0035] The DC reduction motor-1 (14), the DC reduction motor-2 (15) and the DC reduction motor-3 (16) are all connected to the industrial control computer (7), and the industrial control computer (7) sends a control signal according to the path planning algorithm and navigation requirements to coordinate the movement of the Mecanum wheel to complete straight lines, turns and other complex motion trajectories.

[0036] like Figure 7 The head of the movable intelligent medical guidance robot shown comprises a high-definition camera (17), a touch display screen (18), and a microphone array (19), all of which are connected to an industrial computer and powered by the industrial computer; the high-definition camera (17) collects a user's facial image for user identity authentication; the touch display screen (18) is used to display an operation interface, supporting the user to intuitively and conveniently control the robot; and the microphone array (19) is used to collect sound to realize user voice input.

Claims

1. A mobile intelligent medical guidance robot, characterized in that It includes a robot body, a foldable seat, a ring-shaped surround baffle, armrests, a bow-shaped standing groove, a three-wheel omnidirectional wheel chassis, an industrial computer, a high-definition camera, a touch screen display, a microphone array, a rechargeable battery, a DC reduction motor, a Mecanum wheel, a lidar, and a depth camera.

2. The mobile intelligent medical guidance robot according to claim 1, characterized in that: An industrial computer is configured as the core control unit of the robot to perform navigation, guidance and human-computer interaction tasks; a DC reduction motor is configured to drive the Mecanum wheels, and the motion control algorithm running in the industrial computer is combined to realize the omnidirectional movement of the robot; a rechargeable battery is configured as a power supply device to provide power support for the industrial computer, DC reduction motor, and peripheral equipment such as depth cameras and lidars; a semicircular touch screen display is configured, which is tilted 25 degrees on the side and a microphone array is configured below the display screen; a foldable seat is configured, with annular baffles installed on both sides of the seat, handrails on both sides above the baffle, and a bow-shaped personalized standing groove designed under the feet; a circular chassis is configured, and the three Mecanum wheels are 120 degrees each; the overall appearance design of the robot meets ergonomic requirements, providing users with a comfortable and safe control platform.

3. The mobile intelligent medical guidance robot according to claim 1 is characterized in that: Import the internal map of the hospital into the geographic information database, build a detailed static map of the environment, and eliminate static obstacles based on known map information; Use depth cameras to collect three-dimensional data of the environment, and apply visual SLAM algorithms to achieve simultaneous positioning and map construction; use lidar to detect the distance to obstacles in real time and avoid obstacles properly; apply path planning algorithms to generate reasonable navigation paths; the mobile intelligent guidance robot interacts with the hospital cloud platform to regularly obtain the latest map data, and achieve real-time updates of the hospital's internal environment to maintain accurate perception of the environment.

4. The mobile intelligent medical guidance robot according to claim 1, characterized in that: The logical architecture relationship, data flow, data storage, algorithm operation, and information interaction mode between mobile terminals, mobile intelligent guidance robots, and hospital smart medical systems have been constructed.

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