Intelligent walking-aid medical robot

Abstract

The invention relates to the technical field of medical instruments, and discloses an intelligent walking aid medical robot which comprises an electric folding plate movably mounted on one side of the robot, a servo motor used for driving the electric folding plate to rotate is arranged in the robot, and a touch display screen is arranged on the side face of the robot. The industrial personal computer is arranged in the robot, the chassis is arranged at the bottom of the robot, the driving wheels and the driving motor are arranged at the bottom of the chassis, and through cooperative work of the laser radar, the ultrasonic radar and the depth camera, the surrounding environment can be sensed more comprehensively and accurately. Compared with the prior art, the obstacle can be detected more accurately, and both the short-distance obstacle and the long-distance obstacle can be effectively identified, so that the success rate and the safety of obstacle avoidance are greatly improved. In complex medical environments, such as hospital corridors and wards, pedestrians, medical equipment and other obstacles can be flexibly avoided, and the safety of patients in the transportation process is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an intelligent walking-assisting medical robot. Background Art

[0002] In the field of modern medical treatment and rehabilitation care, people with inconvenient legs and feet often face many difficulties when transferring across regions. Traditional transfer methods mostly rely on manual assistance. For example, relying on medical staff or family members to push a wheelchair for transfer, which not only consumes manpower but also has low efficiency. In addition, in some large medical institutions or rehabilitation sites, patients need to move frequently between different departments, wards or rehabilitation areas, and manual transfer is difficult to meet the requirements of timeliness and autonomy. At the same time, existing transfer devices also have certain deficiencies in terms of safety, lacking effective obstacle avoidance and path planning functions, and are prone to accidents such as collisions during transfer, posing a potential threat to the physical safety of patients. Therefore, the present invention provides a walking-assisting medical vehicle that can realize the self-transfer of people with inconvenient legs and feet and has high safety.

[0003] After retrieval, Chinese Patent Application No. 2024104529836, "An Intelligent Wheelchair Safety Control System and Method", has similar functions to this intelligent walking-assisting medical robot, but also has the following disadvantages: relying on specific sensors to judge road conditions: this intelligent wheelchair mainly relies on the X-axis angle change of the gyroscope to judge road conditions (uphill, downhill or flat road), and this single judgment method may not be accurate enough in complex environments; lacking comprehensive environmental obstacle perception: the patent cannot actively detect surrounding obstacles, such as pedestrians, other moving devices or stationary obstacles that may be encountered during travel; the operation method is relatively traditional: mainly operated through the Hall rocker and buttons on the handle, which may not be convenient enough for some users with limited hand flexibility.

[0004] After retrieval, Chinese Patent Application No. 2024109680061, "An Intelligent Elderly-Friendly Wheelchair", also mentions similar functions to this intelligent walking-assisting medical robot, but also has the following disadvantages: the problem of functional singularity, the elderly-friendly wheelchair mainly focuses on the basic mobility of the elderly in daily travel and the stability guarantee in uphill and downhill scenarios, and the functions are relatively single. The limitation of perception means, the elderly-friendly wheelchair only sets several detection probes on both sides of the base, mainly for the elderly to avoid emergencies, and its perception range and accuracy are limited. The difference in power system adaptability, the power system of the elderly-friendly wheelchair mainly meets the daily short-distance travel needs of the elderly, the power is relatively weak, and it is not optimized for complex road conditions. Summary of the Invention

[0005] The purpose of the present invention is to solve the disadvantages existing in the prior art, and to propose an intelligent walking-assisting medical robot.

[0006] To achieve the above object, the present invention adopts the following technical solutions: An intelligent walking-aid medical robot, on one side of which an electric folding plate is movably installed, inside which a servo motor for driving the electric folding plate to rotate is provided, on the side of which a touch display screen is provided, inside which an industrial control computer is provided, at the bottom of which a chassis is provided, and at the bottom of the chassis, a driving wheel and a driving motor for driving the driving wheel to move are provided. At the front end of the robot, a lidar and a depth camera are provided, and ultrasonic radars are provided on both sides of the robot.

[0007] Preferably, control buttons are provided on the side of the robot.

[0008] Preferably, the number of the driving wheels is 2.

[0009] Preferably, the driving wheels are equipped with shock-absorbing springs.

[0010] Preferably, universal wheels are provided at the four corners of the bottom of the chassis.

[0011] Preferably, a storage battery is provided on the chassis, and a charging pile is provided on the side of the robot.

[0012] Preferably, an interaction port is provided on the side of the robot.

[0013] Preferably, an alarm component is provided on the robot.

[0014] The beneficial effects of the present invention are as follows: 1. Precise environmental perception and obstacle avoidance ability: Through the collaborative work of the lidar, ultrasonic radar and depth camera, the robot can perceive the surrounding environment more comprehensively and accurately. Compared with the prior art, it can detect obstacles more accurately, and can effectively identify obstacles both at close range and long range, thus greatly improving the success rate and safety of obstacle avoidance. In a complex medical environment, such as a hospital corridor, ward, etc., it can flexibly avoid pedestrians, medical equipment and other obstacles, ensuring the safety of patients during transportation.

[0015] 2. Intelligent user interaction and operation convenience: The design of the touch display and the interaction port makes the user operation more intuitive and convenient. Medical staff or patients can select destinations, view vehicle status, etc. through simple touch operations, which is more user-friendly than traditional operation methods. The interaction port also allows connection with other medical devices to achieve data sharing and collaborative work, improving the overall efficiency of medical work.

[0016] 3. Multi-functional electric folding board operation: The electric folding board automatically flips and unfolds and folds and retracts to push a manned wheelchair into the interior of the medical robot; when in a normal non-use state, the electric folding board can be folded and retracted for movement, effectively saving space. The design of the electric folding board facilitates the operation of patients getting on and off the vehicle. The industrial control computer can control the unfolding and retracting of the electric folding board, providing convenience for patients with limited mobility, reducing the physical labor of medical staff, and effectively saving space. Brief Description of the Drawings

[0017] Figure 1 It is a schematic structural diagram of an intelligent walking-aid medical robot proposed by the present invention; Figure 2 It is a structural sectional view of an intelligent walking-aid medical robot proposed by the present invention; Figure 3 It is a functional block diagram of an intelligent walking-aid medical robot proposed by the present invention.

[0018] In the figure: 1 - electric folding board, 2 - storage battery, 3 - industrial control computer, 4 - servo motor, 5 - driving wheel, 6 - depth camera, 7 - lidar, 8 - ultrasonic radar, 9 - control button, 10 - interaction port, 11 - charging pile, 12 - shock-absorbing spring, 13 - driving motor, 14 - universal wheel, 15 - chassis, 16 - touch display screen. Detailed Embodiment

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0020] In one embodiment, referring to Figures 1 to 3 , for an intelligent walking-aid medical robot, an electric folding board 1 is movably installed on one side of the robot, a servo motor 4 for driving the electric folding board 1 to rotate is arranged inside the robot, a touch display screen 16 is arranged on the side of the robot, an industrial control computer 3 is arranged inside the robot, a chassis 15 is arranged at the bottom of the robot, a driving wheel 5 and a driving motor 13 for driving the driving wheel 5 to move are arranged at the bottom of the chassis 15, a lidar 7 and a depth camera 6 are arranged at the front end of the robot moving forward, and ultrasonic radars 8 are arranged on both sides of the robot.

[0021] As a preferred embodiment of the present invention, the chassis 15 is mainly made of stainless steel material.

[0022] As a preferred embodiment of the present invention, the outer shell of the robot is made of ABS and PC materials.

[0023] As a preferred embodiment of the present invention, the electric folding plate 1 is made of stainless steel.

[0024] As a preferred embodiment of the present invention, a control button 9 is provided on the side of the robot, which makes it easy for the user to operate the robot. The control buttons 9 with reasonable layout and clear markings can easily realize basic operations such as turning the robot on and off, powering on, etc. The operation logic is concise and clear, and it is easy to use.

[0025] As a preferred embodiment of the present invention, the number of driving wheels 5 is two, and the steering of the robot is achieved by controlling the speed difference between the two driving wheels.

[0026] As a preferred embodiment of the present invention, the driving wheel 5 is equipped with a shock-absorbing spring 12, which can effectively reduce the bumps during movement and ensure the user experience.

[0027] As a preferred embodiment of the present invention, universal wheels 14 are provided at the four bottom corners of the chassis 15, which can effectively share the forces of various parts and make the frame of the chassis 15 evenly stressed.

[0028] As a preferred embodiment of the present invention, a battery 2 is provided on the chassis 15, and a charging station 11 is provided on the side of the robot.

[0029] As a preferred embodiment of the present invention, an interactive port 10 is provided on the side of the robot, and the user can use the corresponding port to perform various types of data interaction, including three USB interfaces, one network port, one HDMI interface and one aviation interface.

[0030] As a preferred embodiment of the present invention, the robot is provided with an alarm component so that the user can know the obstacle information in time to ensure smooth passage.

[0031] As a preferred embodiment of the present invention, the alarm component is a real person voice prompter.

[0032] As a preferred embodiment of the present invention, the alarm component is a buzzer alarm.

[0033] As a preferred embodiment of the present invention, the medical robot is a medical vehicle.

[0034] As a preferred embodiment of the present invention, the depth camera 6 integrates multiple technologies. With the help of the ARTag benchmark marking system, the robot's own position is located in a complex environment based on a preset marking feature library; through color tracking technology, the color feature recognition model is used to distinguish different elements such as channels, obstacles, and medical equipment; with the skeleton detection function, the human skeleton recognition algorithm based on deep learning predicts the movement direction and intention of pedestrians; relying on grayscale depth analysis, combined with the deep image data processing algorithm, it perceives the spatial conditions in all directions, and comprehensively uses the above technologies to accurately judge the passage conditions of entities or people in the use scenario, providing all-round visual support for the intelligent operation of the robot.

[0035] The working principle of the present invention is as follows: the user can perform interactive operations on the touch screen 16, the industrial computer 3 receives and processes information, and then controls the servo motor 4 to start and drive the electric folding plate 1 to rotate 90°. The electric folding plate 1 is lowered to the ground and enters the unfolded state. When the user is waiting to move onto the electric folding plate 1, the servo motor 4 starts to work and supports the electric folding plate 1 to rise. When the user completely enters the bearing surface inside the robot, the electric folding plate 1 is folded and closed, and enters the driving state. During the driving state, the industrial computer 3 controls the drive motor 13 to drive the driving wheel 5 to move, and realizes the steering of the robot by controlling the speed difference between the two driving wheels 5. In addition, the driving wheel 5 is equipped with a shock-absorbing spring 12, which can effectively reduce the bumps during movement and ensure user experience. The four universal wheels 14 can effectively share the forces of each part, so that the frame of the chassis 15 is evenly stressed. When the robot starts to move, the laser radar 7 and the ultrasonic radar 8 start working synchronously and automatically, and the distance between the obstacles is keenly detected by the built-in high-sensitivity ultrasonic sensor. Once a potential collision risk is detected, that is, when the distance threshold is less than the safety setting value, the robot immediately starts the early warning mechanism. It is also equipped with real-person voice prompts or beeping alarms, so that users can know the obstacle information in time to ensure smooth passage. In addition, the ROS binocular depth camera 6 on the robot's head integrates multiple technologies.

[0036] The ROS binocular depth camera 6 mounted on the head of the whole machine serves as a perception component, combining multiple technologies such as the ARTag fiducial marker system, color tracking technology, skeleton detection function, and grayscale depth analysis. The ARTag fiducial marker system can identify specific markers pre-set in the environment, thereby positioning the robot's location in a specific scenario and obtaining layout information of relevant areas; the color tracking technology can distinguish various objects in the scene by identifying the color characteristics of different objects, such as distinguishing the color of passage signs from that of obstacles; the skeleton detection function focuses on detecting the human skeletal structure and quickly identifying key information such as people in the scene, their postures, and movements; the grayscale depth analysis further improves the spatial perception of the entire scene through the processing of image grayscale information and depth data. Based on the data obtained by integrating these technologies, the robot's control system can comprehensively and accurately judge the passage conditions of entities or people in the usage scenario.

[0037] For users, operating this robot is simple and easy. Through the reasonably arranged and clearly marked control buttons 9, basic operations such as turning the robot on and off and powering on can be easily achieved. The operation logic is simple and clear, making it easy to get started. The robot is powered by electricity, and the storage battery 2 is installed on the chassis 15 and charged through the charging pile 11. At the interaction port 10, users can use the corresponding ports for various types of data interaction, including three USB interfaces, one network port, one HDMI interface, and one aviation interface.

[0038] Example: Taking the rehabilitation department of a large tertiary hospital as an example, there are more than 50 patients with inconvenient legs and feet in this department who need to frequently travel between multiple departments every day, with at least 3 transports per person per day on average. Traditionally, it relied on medical staff to manually push wheelchairs for transportation, which took about 15 minutes each time, being inefficient and laborious. After introducing the intelligent walking assistance medical robot, the patient touches the touch screen 16 to select the destination, such as from a ward on the 3rd floor to the rehabilitation treatment room on the 2nd floor. The industrial control computer 3 controls the servo motor 4, and the electric folding plate 1 automatically unfolds. The patient takes their place and gets on the vehicle, with a fully automated process.

[0039] In terms of motion performance, on the general road surface connecting various departments (a flat cement road surface with a friction coefficient of about 0.8), the robot can easily reach the nominal maximum allowable traveling speed of 1.2 m / s, quickly delivering patients to their destinations, and shortening the average transportation time to 5 - 8 minutes. When encountering a smooth ceramic tile road surface (friction coefficient 0.6) on the way to the cafeteria or a corridor covered with a 5 - mm - thick linen carpet (carpet road surface), the robot can also drive stably, with the speed maintained between 1.0 - 1.2 m / s. When encountering some small ditches and ridges, such as a drainage groove with a width of 15 mm (the robot's ditch - crossing ability test scenario) and a threshold with a height of 10 mm (obstacle - crossing ability test scenario), the robot can cross them smoothly. When climbing to the physiotherapy room on a higher floor, in the face of a slope not exceeding 5° (the maximum climbing height), the robot can move forward smoothly.

[0040] In terms of intelligent capabilities, when the robot first operates in the complex environment of a health care center, it can quickly build a map with an area of more than 8000 m², covering all departments, corridors, public areas, etc. During daily operation, it can at least identify various obstacles with a height below 1500 mm at a distance of 300 mm in front, such as nursing staff shuttling in the corridor, garbage trucks and trash cans placed, and avoid obstacles in a timely manner.

[0041] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, should be covered by the protection scope of the present invention.

Claims

1. An intelligent walking-assisting medical robot, characterized in that, An electric folding plate (1) is movably installed on one side of the robot. A servo motor (4) for driving the electric folding plate (1) to rotate is arranged inside the robot. A touch display screen (16) is arranged on the side of the robot. An industrial control computer (3) is arranged inside the robot. A chassis (15) is arranged at the bottom of the robot. A driving wheel (5) and a driving motor (13) for driving the driving wheel (5) to move are arranged at the bottom of the chassis (15). A lidar (7) and a depth camera (6) are arranged at the front end of the robot's advancement. Ultrasonic radars (8) are arranged on both sides of the robot.

2. The intelligent walking assistance medical robot according to claim 1, wherein Control buttons (9) are arranged on the side of the robot.

3. An intelligent walking assistance medical robot according to claim 1, characterized in that, The number of the driving wheels (5) is two.

4. An intelligent walking-aid medical robot according to claim 1, characterized in that The driving wheels (5) are equipped with shock-absorbing springs (12).

5. An intelligent walking assistance medical robot according to claim 1, characterized in that Universal wheels (14) are arranged at the four corners of the bottom of the chassis (15).

6. The intelligent walking-assisting medical robot according to claim 1, characterized in that, A storage battery (2) is arranged on the chassis (15), and a charging pile (11) is arranged on the side of the robot.

7. An intelligent walking-aid medical robot according to claim 1, wherein, An interaction port (10) is arranged on the side of the robot.

8. An intelligent walking-aid medical robot according to claim 1, wherein, An alarm component is arranged on the robot.

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