Portable map builder

Abstract

The invention discloses a portable map builder, which is mainly used for navigation and operation of a nursing robot and comprises a movable chassis, a handle, a laser radar, an industrial personal computer, a power supply system and a matched software system. The movable chassis is provided with the handle; the laser radar is mounted at the front part of the chassis; the industrial personal computer is connected with the laser radar and supports to export map data to the nursing robot through a USB interface; a rechargeable battery is arranged in the power supply system; the software system is simple and convenient to operate, and supports real-time viewing and one-key export of map data. Through the lightweight design, the problem that the navigation mapping process of an existing nursing robot is complex is solved, and the autonomous navigation and operation capacity of the nursing robot in the medical environment is remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a portable map builder. Background Art

[0002] As intelligent nursing robots become increasingly widely used in high-value scenarios such as medical treatment, rehabilitation assistance, and elderly care, the requirements for key capabilities such as real-time environmental perception, navigation accuracy, and adaptability to dynamic obstacles are also increasing. However, traditional indoor mapping systems typically rely on bulky and heavy equipment, using fixed-mounted lidar and complex sensor networks. This results in poor mobility, complex installation, and high costs.

[0003] An existing nursing robot (CN115194781A) typically operates in the following manner: under the unified dispatch of a central industrial control system, the robot can autonomously plan a path to navigate to a designated bed or workstation, sequentially performing tasks such as medication delivery and multimodal vital sign detection (such as temperature, blood pressure, and pulse), and uploading real-time collected patient data and task execution logs to the hospital information system, ultimately achieving a closed-loop operation of "single departure, multi-point service." Although this technology has significantly improved nursing efficiency, its core environmental perception and navigation modules, particularly the map-building system, have exposed significant shortcomings during engineering implementation, severely restricting the robot's adaptability and operational efficiency in real-world medical environments. This is reflected in the following aspects:

[0004] 1. The complexity of the map construction process and lack of adaptability to scenarios: Although existing solutions can achieve indoor mapping through high-precision sensors (such as multi-line lidar), the entire set of mapping equipment is integrated into the robot body, resulting in a bulky system and low maneuverability. In typical medical environments with highly restricted space (such as narrow ward corridors, crowded treatment rooms, or ICUs equipped with dense medical equipment), robots are difficult to flexibly turn or quickly deploy, resulting in a lengthy and cumbersome map construction process. Especially when the ward layout is adjusted or an isolation area is temporarily added, the time required for relocalization and map updates increases significantly, which cannot meet the real-time requirements of medical scenarios for responding to dynamic environments.

[0005] 2. Excessive load on the mobile platform and insufficient battery life: To support payloads such as the medicine delivery arm and vital sign detector, the nursing robot chassis typically weighs over 30kg. The map-building module is completely dependent on the overall power supply system. Its power management design is not optimized for mapping tasks. With high-power sensors operating continuously, the continuous mapping battery life is typically less than two hours. This necessitates frequent interruptions for charging during large-scale ward mapping, reducing operational efficiency and making it impossible to support the rapid environmental modeling needs at night or during unattended periods.

[0006] Therefore, to address these shortcomings, the present invention proposes a decoupled solution: a lightweight, portable map builder specifically for nursing robots. Through hardware decoupling and energy-efficient reconfiguration, this device separates high-precision environmental perception and mapping capabilities from the heavy nursing platform, creating a standalone, low-power, handheld, rapid mapping terminal. This provides plug-and-play prior mapping support for subsequent robot navigation deployment, significantly improving the system's practicality and applicability in spatially sensitive medical scenarios. Summary of the Invention

[0007] This invention addresses the three core shortcomings of existing nursing robot map-building systems in space-constrained medical scenarios: bulky equipment, complex operation, and slow response. It proposes a portable map-building solution specifically designed for nursing robots' environmental perception and navigation. This solution integrates miniaturized sensor modules through a breakthrough high-strength, lightweight structural design, reducing the overall weight to less than 10kg. It uses high-precision lidar to achieve centimeter-level mapping accuracy and dynamic map updates within 50 milliseconds. It also features a highly concise graphical user interface that supports one-click mapping and real-time map viewing and saving. This integration completely addresses the shortcomings of traditional equipment, including the difficulty of moving, the high threshold for professional operation, and the delayed map response. Ultimately, it generates high-precision, real-time, dynamic environmental maps for nursing robots, significantly improving their navigation reliability and flexible deployment capabilities in complex medical environments such as narrow wards and high-traffic corridors.

[0008] The present invention is achieved through at least one of the following technical solutions.

[0009] A portable map builder includes a mobile chassis, a handle, a laser radar, an industrial computer, and a power supply system. The mobile chassis is provided with a housing, the industrial computer and the power supply system are fixed within the housing, and a touch display is provided on the upper surface of the housing. A handle is provided on one side of the housing, and a laser radar is provided on the side of the housing away from the handle. The laser radar is used to collect map data and transmit the collected data to the industrial computer. The industrial computer reads the collected laser radar data in real time and converts the data into map information.

[0010] Furthermore, the mobile chassis is made of high-strength lightweight aluminum alloy material, the overall total weight is controlled within 10 kg, and the chassis cross-sectional size is limited to no more than 0.4 m×0.4 m.

[0011] Furthermore, the handle adopts a telescopic structure with a height of 1.2±0.05m.

[0012] Furthermore, the laser radar scanning plane is 26±1 cm above the ground, the measurement radius is 0.1m-40m, and the ranging accuracy is ≤5cm.

[0013] Furthermore, the industrial computer is used to scan the environment and construct a map, with a maximum mapping area of ​​300m*300m and a mapping accuracy of 0.05m, and the constructed map is saved as a file.

[0014] Furthermore, the power supply system includes a rechargeable battery, and the rechargeable battery can work continuously for more than 3 hours.

[0015] Furthermore, the rechargeable battery is connected to a visual power control switch.

[0016] Furthermore, it also includes a software system, which includes a user-friendly software system based on the ROS system. The user-friendly software system based on the ROS system uses the QT tool chain to build a multi-threaded visual operation interface, and supports real-time viewing and one-click saving of map data.

[0017] Furthermore, the user-friendly software system based on the ROS system includes a mapping module and a map saving module. The mapping module uses a laser radar to build a map through a data cable and an industrial computer, and the built map is saved in a local folder.

[0018] Furthermore, after the user clicks to start mapping, the lidar is started and the Rviz software is opened to display the scanned map information in real time. Finally, after completing the environment scan, the user can click the map save button to save the built map in a local folder and visualize it through the touch display.

[0019] Compared with the existing technology, the beneficial effects of the present invention are:

[0020] The present invention achieves three breakthroughs: lightweight and portable structure, efficient mapping capability, and adaptability to dynamic scenes. By compressing the entire machine weight to less than 10 kilograms, strictly controlling the chassis cross-section to below 0.4 meters, and integrating a highly ergonomic handheld operation design (with the handle precisely set at a height of 1.2 meters ± 0.05 meters), the robot significantly addresses the mobility bottleneck of traditional heavy equipment in narrow ward corridors. Its millimeter-wave-level precision lidar (ranging error ≤ 5 cm) achieves full coverage scanning within a radius of 40 meters at a height of 26 cm ± 1 cm above the ground. Combined with a real-time processing engine that can handle spaces up to 300 meters × 300 meters (with a mapping resolution of 0.05 meters), it generates high-fidelity maps within complex medical routes. At the same time, a battery life of more than 3 hours and one-click map generation and export functions not only eliminate the professional installation team and infrastructure modifications required for traditional deployments (reducing maintenance costs by 90%), but also enable the nursing robot to obtain dynamic environmental models with sub-meter accuracy in real time, directly improving its navigation robustness and task continuity in uncertain scenarios such as high-frequency personnel movement and temporary equipment layout adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the overall structure of a portable map builder according to an embodiment of the present invention.

[0022] Figure 2 Schematic diagram of the software system in an embodiment of the present invention.

[0023] Figure 3 This is an appearance diagram of a portable map builder according to an embodiment.

[0024] Explanation of the accompanying figures: 1-handle, 2-touch display, 3-laser radar, 4-battery system, 5-industrial computer, 6-universal wheel. DETAILED DESCRIPTION

[0025] The present invention is further described in detail below with reference to the accompanying drawings and examples. However, the examples of the present invention are only for illustration and should not be regarded as limiting the scope of protection of the present invention.

[0026] like Figure 1 As shown, a portable map builder includes a mobile chassis, a handle 1, a laser radar 3, an industrial computer 5, a power supply system 4 and a software system.

[0027] The upper surface of the mobile chassis is provided with a housing, within which an industrial computer 5 and a power supply system 4 are fixed. The lower surface of the mobile chassis is provided with universal wheels 6. A touch display 2 is provided on the upper surface of the housing. A handle 1 is provided on one side of the housing, and a laser radar 3 is provided on the side of the housing away from the handle 1.

[0028] To achieve the ultimate lightweight and compactness of the equipment while meeting the basic requirements of high strength and high rigidity, the mobile chassis adopts lightweight aluminum alloy for its overall structure. The main frame is designed through topological optimization, and the overall total weight of the entire chassis system (including the outer shell, support structure and wheel train fixing points) is controlled within 10kg. At the same time, the outer contour cross-sectional dimensions of the chassis on the horizontal projection plane are limited to no more than 0.4m×0.4m, and low-friction universal wheels are integrated to facilitate low-resistance flexible movement and precise steering in typical confined spaces such as narrow hospital corridors and narrow wards.

[0029] Among them, in order to adapt to the different heights of medical staff and the comfort and precise control requirements in different operating postures, the handle 1 is designed as a retractable structure with a grip center height of 1.2±0.05m. The operator can extend the handle to a suitable height when in use to facilitate the user to push the map builder and complete the mapping task. This parameter ensures that the elbow bending angle of medical staff maintains an ergonomic comfort range when standing and pushing. At the same time, combined with the structural layout of the chassis center of gravity height ≤15cm, a labor-saving control experience of single-handed downward thrust ≤15N is achieved, which is convenient for operators to carry and push the equipment.

[0030] To ensure that the constructed map is seamlessly compatible with the navigation system of the nursing robot, the spatial layout and core parameters of the lidar are strictly defined. The lidar 3 can scan a plane 26±1cm above the ground. This height value is completely matched with the height of the lidar carried by the nursing robot body, ensuring the consistency of the map data format and coordinate reference from the source. LiDAR 3 adopts high-precision ranging technology with a measurement range of 0.1m to 40m and a ranging accuracy of ≤5cm. It can achieve a 360° full-scale scan of the surrounding environment with a mobile chassis to ensure full coverage of the scanning area to fully obtain indoor environmental data. It can not only accurately capture the contours of proximal obstacles (such as the base of the infusion stand and the casters of the bed), but also cover large-scale spaces such as hospital corridors or treatment halls.

[0031] The industrial computer 5 serves as the core processing unit of the portable map builder, and is used to scan the environment and build a map. The maximum mapping area is 300m*300m, and the mapping accuracy is 0.05m. The constructed map can be directly stored as a standard format file (such as ROS standard PGM / YAML or universal point cloud format), and can be exported with one click through a USB port or wireless module, seamlessly connecting to the navigation control system of the nursing robot, and providing a plug-and-play dynamic environment model for high-precision autonomous tasks such as ward logistics distribution, inspection and monitoring.

[0032] The LiDAR 3 is connected to an industrial computer 5 via a data cable, processing the collected data in real time. The industrial computer 5 converts the data collected by the LiDAR 3 into an indoor map. The industrial computer 5 can save the constructed map as a file and import it into the nursing robot's related software. The map constructed by the industrial computer 5 can cover an area of ​​up to 300m × 300m with an accuracy of 0.05m. The processed map data can be stored in the industrial computer 5 or exported via USB or wireless transmission module for use by the nursing robot's navigation system. In a specific embodiment, the industrial computer 5 is a Linux embedded industrial computer, and its system can be installed with the sensor data visualization software Rviz, which can convert the data collected by the LiDAR 3 into an indoor map in real time.

[0033] The power supply system 4 includes a rechargeable battery and a visual power control switch. The rechargeable battery is powered by 5V. Under extreme operating conditions, the rechargeable battery ensures that the LiDAR 3 and industrial computer 5 can operate continuously for more than 3 hours while continuously driving the LiDAR scanning and SLAM algorithm at full load. It also supports fast charging to meet the needs of long-term continuous operation. It can support panoramic mapping of complex areas such as standard inpatient wards or ICUs in a single operation without the need for intermediate charging. The visual power control switch is connected to the battery, and the operator can understand the power status of the portable map builder through an indicator light. As a specific embodiment, the visual power control switch adopts a KCD4 rocker switch.

[0034] The touch display 2 is installed on the housing. Based on the user-friendly software system, the operator can operate the portable map builder through touch operations. First, click to start mapping, the laser radar will start working, and the operator can observe the real-time constructed map data through the display. When the operator pushes the portable map builder to complete the coverage of the entire environment map, the operator can save the map by clicking, thereby completing the entire mapping process.

[0035] As an embodiment, the portable map builder is specially integrated with a high-bandwidth, low-latency wireless transmission module. This module is directly connected to the industrial computer 5 at high speed, and can transmit the high-precision map data constructed in real time on site to the nursing robot navigation system through an encrypted wireless link in seconds, realizing the seamless connection of "mapping and deployment"; this function eliminates the traditional USB flash drive copying step, significantly improves the deployment efficiency, and enables nursing tasks to avoid sudden obstacles in real time. Especially in highly sensitive and time-sensitive medical scenarios such as isolation wards in infectious wards and emergency renovation areas, this wireless transmission capability becomes a key link in ensuring the continuity of robot navigation and the improvement of environmental adaptability.

[0036] like Figure 2 As shown, the software system is a user-friendly software system based on the ROS system. The user-friendly software system based on the ROS system includes a mapping module and a map saving module. The mapping module builds a map through the laser radar 3 and the industrial computer 5 via a data cable, and the built map is saved in a local folder.

[0037] The user-friendly software system based on the ROS system first builds a visual interface through QT. After the user clicks to start mapping, the system automatically starts the radar and opens the Rviz software to display the scanned map information in real time. Finally, after completing the environmental scan, the user can save the built map in a local folder by clicking the map save button. In addition, the software system is built in the industrial computer 5 and is visualized through the touch display 2.

[0038] As a specific embodiment, Figure 3As shown, the portable map builder of this embodiment adopts an integrated design. The main structure consists of a lightweight alloy frame, and the chassis dimensions are strictly limited to 0.4 meters by 0.4 meters. The handle is precisely positioned at a height of 1.2 meters ± 0.05 meters on the top of the housing, and its curvature conforms to the human hand's grip curve. The lidar module is rigidly mounted on the front end of the chassis at a height of 26 centimeters ± 1 centimeter above the ground. The scanning window is oriented horizontally, effectively covering a measurement radius of 0.1 meters to 40 meters. The housing surface is treated with a medical-grade anti-corrosion coating, and the seams are equipped with an IP54-rated dust and water-resistant seal structure to meet the environmental tolerance requirements of medical facilities. The overall design achieves center of gravity distribution and weight balance through structural topology optimization, maintaining a total weight of less than 10 kilograms while ensuring the device's posture stability during movement. The core design goals of the portable map builder of this invention are lightweight and low power consumption, and it is specifically optimized for typical scenarios such as hospitals with complex spatial layouts and limited movement areas. This map builder is designed to overcome the limitations of traditional mapping equipment in challenging environments such as narrow corridors, densely populated wards, and frequent human traffic. It can provide nursing robots with fast, efficient, and adaptable real-time environmental map creation capabilities, thereby significantly improving the robot's navigation accuracy and operational efficiency in critical medical scenarios.

[0039] Through the above embodiments, the present invention realizes the lightweight, portability and efficient map construction of the portable map builder, significantly improving the environmental perception and navigation capabilities of the nursing robot in medical, elderly care and other scenarios, while reducing the system cost and deployment difficulty.

[0040] Those skilled in the art may make various improvements and changes to the structure, composition or method of use of the present invention under the guidance of the spirit and technical solutions of the present invention, and these improvements should fall within the scope of protection of the present invention.

[0041] The above description is only a preferred embodiment of the present invention and does not limit the scope of protection of the present invention. Any modifications and equivalent substitutions made by those skilled in the art under the guidance of the spirit of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A portable map builder, characterized in that: It includes a mobile chassis, a handle, a laser radar, an industrial computer, and a power supply system; the mobile chassis is provided with a shell, the industrial computer and the power supply system are fixed inside the shell, and a touch display is provided on the upper surface of the shell; a handle is provided on one side of the shell, and a laser radar is provided on the side of the shell away from the handle. The laser radar is used to collect map data and transmit the collected data to the industrial computer, and the industrial computer reads the collected laser radar data in real time and converts the data into map information.

2. A portable map builder according to claim 1, characterized in that: The mobile chassis is made of high-strength lightweight aluminum alloy material, the overall total weight is controlled within 10kg, and the chassis cross-sectional size is limited to no more than 0.4m×0.4m.

3. A portable map builder according to claim 1, characterized in that: The handle adopts a telescopic structure and has a height of 1.2±0.05m.

4. A portable map builder according to claim 1, characterized in that: The laser radar scanning plane is 26±1 cm above the ground, the measurement radius is 0.1m-40m, and the ranging accuracy is ≤5cm.

5. The portable map builder according to claim 1, characterized in that: The industrial computer is used to scan the environment and construct a map. The maximum mapping area is 300m*300m, the mapping accuracy is 0.05m, and the constructed map is saved as a file.

6. A portable map builder according to claim 1, characterized in that: The power supply system includes a rechargeable battery, which can work continuously for more than 3 hours.

7. A portable map builder according to claim 6, characterized in that: The rechargeable battery is connected to a visual power control switch.

8. The portable map builder according to claim 1, characterized in that: It also includes a software system, which includes a user-friendly software system based on the ROS system. The user-friendly software system based on the ROS system uses the QT tool chain to build a multi-threaded visual operation interface, and supports real-time viewing and one-click saving of map data.

9. The portable map builder according to claim 1, characterized in that: The user-friendly software system based on the ROS system includes a mapping module and a map saving module. The mapping module builds a map through the laser radar 3 and the industrial computer 5 via a data cable, and the built map is saved in a local folder.

10. The portable map builder according to claim 9, characterized in that: After the user clicks to start mapping, the lidar is started and the Rviz software is opened to display the scanned map information in real time. Finally, after completing the environment scan, the user can click the map save button to save the built map in a local folder and visualize it through the touch display.

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