Oxygen supplementation robot, oxygen supplementation system and oxygen supplementation method

Abstract

The invention discloses an oxygen supplementation robot, an oxygen supplementation system and an oxygen supplementation method, and the oxygen supplementation robot comprises a mobile robot; the mechanical arm is arranged on the mobile robot; the oxygen supplementing device is arranged on the mechanical arm and is configured to be capable of being moved to the position above the head of the human body by the mechanical arm; wherein the oxygen supplementing device comprises a first air outlet and a second air outlet, the first air outlet is annular so as to form a closed air curtain surrounding the head of the human body, the second air outlet is formed in an area defined by the first air outlet, and the second air outlet is configured to provide oxygen for the space defined by the air curtain. According to the oxygen supplementing robot, the oxygen supplementing system and the oxygen supplementing method, the effective rescue time can be prolonged.

Description

Technical Field

[0001] This invention relates to nursing equipment, and more particularly to an oxygen supplementation robot, an oxygen supplementation system, and a method thereof. Background Technology

[0002] With the accelerating aging process in my country, the elderly population continues to expand, and the number of elderly people living alone is increasing daily. Related data shows that the average daily indoor activity time for the elderly is significantly higher than their outdoor activity time. During this process, accidents such as falls and heart failure occur frequently. Due to the hidden nature of these accidents, coupled with the lack of real-time monitoring in the context of living alone, such accidents are often difficult for children, relatives, or other members of the community to detect in a timely manner.

[0003] When elderly people experience falls or other accidents, their bodies undergo a series of stress responses, such as high levels of stress, transient hypoxia, and a sudden increase in cardiac load. For elderly individuals with pre-existing cardiopulmonary diseases, this can easily lead to irreversible organ damage. Currently, multimodal sensors such as millimeter-wave radar, infrared cameras, and smart bracelets are widely used in elderly health monitoring, enabling precise monitoring of physiological indicators such as heart rate and blood oxygenation, as well as fall-related behaviors, providing technical support for relatives to remotely monitor the elderly's living conditions. However, in practical applications, these monitoring devices can only provide risk warnings; when an accident occurs, relatives are often unable to arrive at the scene in time to provide assistance.

[0004] Furthermore, existing technologies that use mobile robots to deliver water, medicine, and other emergency rescue services rely on the premise that the elderly person retains the ability to seek help after an accident. However, some accidents can cause the elderly person to fall into a coma or experience impaired consciousness, rendering these rescue methods ineffective. Therefore, how to provide effective temporary first aid measures for elderly people living alone who have experienced accidents before medical assistance arrives, and to minimize damage to their physical functions, has become an urgent social problem and technological challenge. Summary of the Invention

[0005] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes an oxygen supplementation robot that can extend the effective rescue time.

[0006] The present invention also proposes an oxygen supplementation system having the above-mentioned oxygen supplementation robot.

[0007] The present invention also proposes an oxygen supplementation method, applicable to oxygen supplementation robots or oxygen supplementation systems.

[0008] An oxygen supplementation robot according to a first aspect of the present invention includes:

[0009] Mobile robots;

[0010] A robotic arm is mounted on the mobile robot;

[0011] An oxygen supplementation device is mounted on the robotic arm and configured to be moved by the robotic arm to above the human head;

[0012] The oxygen supply device includes a first air outlet and a second air outlet. The first air outlet is annular to form a closed air curtain around the human head. The second air outlet is located within the area enclosed by the first air outlet and is configured to provide oxygen to the space enclosed by the air curtain.

[0013] The oxygen supplementation robot according to embodiments of the present invention has at least the following beneficial effects:

[0014] When a fall occurs, the mobile robot can move towards the fallen person and work with the robotic arm to position the oxygen supply device above the person's head. At this time, air is discharged from the first air outlet to form a relatively closed air curtain around the person's head. Oxygen flowing from the second air outlet enters the space enclosed by the air curtain, thereby supplying oxygen to the person. The closed air curtain can reduce the rate at which oxygen diffuses to the surroundings, thereby increasing the oxygen concentration in the enclosed space. This ensures that the person who has fallen can quickly inhale sufficient oxygen, effectively alleviating physical discomfort caused by hypoxia and extending the effective rescue time.

[0015] According to some embodiments of the present invention, the oxygen supplementation device includes a visual sensor for acquiring environmental information.

[0016] According to some embodiments of the present invention, the oxygen supplementation device includes a distance sensor for acquiring distance information between the first air outlet and the human head.

[0017] An oxygen supplementation system according to a second aspect of the present invention includes:

[0018] An environmental sensing sensor, installed on the indoor ceiling, is used to acquire information about human falls.

[0019] The oxygen supplementation robot described in the above embodiments is connected to the environmental perception sensor signal and is configured to move to the target location based on human fall information.

[0020] An oxygen supplementation method according to a third aspect of the present invention, applicable to an oxygen supplementation robot or oxygen supplementation system, includes:

[0021] Once a fall is confirmed, the oxygen supply robot is controlled to obtain the person's first posture information.

[0022] Based on the first posture information of the human body, the oxygen supplementation robot is controlled to move the oxygen supplementation device to the target position, wherein the target position is located above the human head.

[0023] The system controls the airflow from the first air outlet to form a closed air curtain around the human head, and controls the airflow from the second air outlet to provide oxygen to the space enclosed by the air curtain.

[0024] According to some embodiments of the present invention, the step of confirming a human fall and controlling an oxygen supplementation robot to acquire information about the human fall includes:

[0025] The control environment perception sensor acquires the first posture information of the human body;

[0026] Based on the first posture information, confirm whether the person has fallen;

[0027] If a fall is confirmed, the oxygen supply robot is controlled to obtain the first posture information of the human body.

[0028] According to some embodiments of the present invention, the oxygen supplementation device includes a visual sensor;

[0029] After controlling the oxygen supplementation robot to move the oxygen supplementation device to the target location, the following steps are included:

[0030] Control the vision sensor to acquire the second pose information of the human body;

[0031] Based on the second pose information, confirm the oxygen replenishment rate of the second air outlet.

[0032] According to some embodiments of the present invention, the second pose information includes the orientation of the human face;

[0033] The step of determining the oxygen replenishment rate of the second air outlet based on the second pose information includes:

[0034] With your face facing upwards, confirm that the oxygen supply rate of the second air outlet is the first preset value;

[0035] When the face is turned to the side, confirm that the oxygen replenishment speed of the second air outlet is the second preset value, which is greater than the first preset value;

[0036] With the face down, confirm that the oxygen replenishment rate of the second air outlet is the third preset value, which is greater than the second preset value.

[0037] According to some embodiments of the present invention, the second pose information includes facial information of the human body;

[0038] After confirming the oxygen supply rate of the second air outlet based on the second pose information, the following is included:

[0039] Based on the second pose information, obtain at least one of the lip color and the mouth opening / closing state;

[0040] Determine if the body is lacking oxygen based on at least one of the following: lip color and mouth opening / closing status.

[0041] If oxygen deficiency is confirmed, confirm that the oxygen replenishment rate of the second air outlet is the third preset value.

[0042] According to some embodiments of the present invention, after confirming the oxygen replenishment rate of the second air outlet based on the second pose information, the process includes:

[0043] Monitor pose information, and when the second pose information changes, judge whether the human body's condition has improved based on preset judgment rules;

[0044] If the assessment result indicates that the patient's condition has improved, then reduce the oxygen supply rate of the second air outlet.

[0045] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0046] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0047] Figure 1 This is a schematic diagram of the oxygen supplementation system according to an embodiment of the present invention;

[0048] Figure 2 This is a schematic diagram of the structure of the oxygen supplementation device in the oxygen supplementation system according to an embodiment of the present invention;

[0049] Figure 3 This is a schematic diagram illustrating the working state of the oxygen supplementation system according to an embodiment of the present invention;

[0050] Figure 4 This is a schematic diagram showing the charging state of the oxygen supplementation system according to an embodiment of the present invention;

[0051] Figure 5 This is a flowchart illustrating the oxygen supplementation method according to an embodiment of the present invention. Figure 1 ;

[0052] Figure 6 This is a flowchart illustrating the oxygen supplementation method according to an embodiment of the present invention. Figure 2 ;

[0053] Figure 7 This is a schematic diagram of steps S260 and S270 of the oxygen supplementation method according to an embodiment of the present invention.

[0054] Figure label:

[0055] 100. Mobile robot; 200. Robotic arm; 300. Oxygen supplementation device; 300a. First air outlet; 300b. Second air outlet; 310. Vision sensor; 400. Oxygenator; 101. Environmental perception sensor; 102. Wireless charging device. Detailed Implementation

[0056] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0058] In the description of the embodiments of this application, the technical terms "first," "second," "third," etc., are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0059] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0060] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0061] In the description of the embodiments of this application, the technical terms "top", "bottom", "upper", "lower", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0062] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0063] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, and can be direct contact, contact through an intermediate medium layer, contact between two contacting parties with substantially no interaction force, or contact between two contacting parties with interaction force.

[0064] Please refer to Figures 1-4 This application provides an oxygen supplementation robot, including a mobile robot 100, a robotic arm 200, and an oxygen supplementation device 300.

[0065] The mobile robot 100 is mobile, with a robotic arm 200 and an oxygen supply device 300 mounted on it. The mobile robot 100 can carry the robotic arm 200 and the oxygen supply device 300 to a target location. The oxygen supply device 300 is configured to be moved by the robotic arm 200 to above the human head to supply oxygen from top to bottom. The robotic arm 200 includes multiple folding arm segments that are sequentially hinged. The robotic arm 200 has a working state and a retracted state. In the retracted state, the folding arm segments are folded sequentially to reduce the space occupied. In the working state, the folding arm segments are unfolded to ensure that the oxygen supply device 300 is stably suspended above the human head.

[0066] Please refer to Figure 2 and Figure 3 The oxygen supplementation device 300 includes a first air outlet 300a and a second air outlet 300b. The first air outlet 300a is annular to form a closed air curtain surrounding the human head. The air curtain is a closed annular shape. The second air outlet 300b is disposed within the area enclosed by the first air outlet 300a and is configured to provide oxygen to the space enclosed by the air curtain. The oxygen supplementation device 300 includes an air outlet surface, and the first air outlet 300a is disposed on the air outlet surface, specifically as an annular gap within the air outlet surface. The second air outlets 300b are disposed on the air outlet surface and distributed within the area enclosed by the first air outlets 300a. To improve uniformity, in some embodiments, the second air outlet 300b is a plurality of spaced-apart through holes.

[0067] Understandably, when a fall occurs, the mobile robot 100 can move towards the fallen person and cooperate with the robotic arm 200 to position the oxygen supply device 300 above the person's head. At this time, air is discharged from the first air outlet 300a to form a relatively closed air curtain around the person's head. Oxygen flowing from the second air outlet 300b enters the space enclosed by the air curtain, thereby supplying oxygen to the person. The closed air curtain can reduce the rate at which oxygen diffuses to the surroundings, thereby increasing the oxygen concentration in the enclosed space. This ensures that the person who has fallen can quickly inhale sufficient oxygen, effectively alleviating physical discomfort caused by hypoxia and extending the effective rescue time.

[0068] Please refer to Figures 1-4 This application also provides an oxygen supplementation system, including an environmental sensing sensor 101 and an oxygen supplementation robot. The environmental sensing sensor 101 is installed on the indoor ceiling and is used to acquire information about human falls. The oxygen supplementation robot is signal-connected to the environmental sensing sensor 101 and is configured to move to a target location based on the information about human falls.

[0069] The fall information includes the location information of the fallen person. The environmental perception sensor 101 transmits the fall information to the oxygen supply robot. After receiving the fall information, the oxygen supply robot activates its movement function and moves to the target location according to the fall information. The robotic arm 200 quickly extends to the working state and suspends the oxygen supply device 300 above the person's head. The first air outlet 300a forms a closed air curtain, and the second air outlet 300b efficiently supplies oxygen to ensure that the person who has fallen quickly obtains sufficient oxygen.

[0070] The environmental perception sensor 101 can be a millimeter-wave radar. The oxygen replenishment robot can be placed in a corner of the room that does not obstruct daily life. The robot is capable of moving indoors and has a lidar sensor to create a two-dimensional map of the indoor space. The environmental perception sensor 101 and the two-dimensional map are used for joint calibration and positioning. In other words, the environmental perception sensor 101 can acquire environmental information and match and compare it with the previously created two-dimensional map, thereby assisting in locating the position of the oxygen replenishment robot and the position of obstacles, thus enabling precise navigation and oxygen replenishment. The number of environmental perception sensors can be adjusted according to the house's layout and size.

[0071] The target location is determined based on the specific location of the person who has fallen and the layout of the indoor space. For example, the target location is determined based on the principle of minimizing the distance the oxygen robot can move, provided that the oxygen robot can move above the person's head.

[0072] In some embodiments, the oxygen replenishment device 300 includes a vision sensor 310 for acquiring environmental information. Specifically, when the mobile robot 100 enters the room where the fallen person is located, the vision sensor 310 operates and acquires the person's third pose information, thereby assisting in confirming the fallen person's position and calibrating the target position. After the oxygen replenishment robot moves to the target position, the robotic arm 200 is controlled to move the oxygen replenishment device 300 above the person's head, allowing the vision sensor 310 to acquire second pose information and thereby confirm the oxygen replenishment speed of the second air outlet 300b.

[0073] In some specific embodiments, the vision sensor 310 is disposed within the enclosure area of ​​the first air outlet 300a.

[0074] In some embodiments, the oxygen supplementation device 300 includes a distance sensor for acquiring distance information between the first air outlet 300a and the human head. The distance sensor monitors the distance to ensure that the oxygen supplementation device 300 maintains an optimal distance from the head or the ground.

[0075] In some specific embodiments, the distance sensor is located within the area enclosed by the first air outlet 300a.

[0076] In some specific embodiments, the oxygen supplementation device 300 includes a fan connected to a first air outlet 300a to provide airflow to the first air outlet 300a to form an air curtain. A heating device and a temperature sensor may be installed between the fan and the first air outlet 300a. The heating device automatically adjusts the temperature based on feedback from the temperature sensor to ensure that the air curtain is warm and comfortable, and to prevent the low-temperature airflow from causing secondary injury to the person who has fallen.

[0077] In some specific embodiments, the oxygen supplementation device 300 further includes an oxygenator 400, which is connected to the second air outlet 300b to provide high-concentration oxygen to the second air outlet 300b. The oxygenator 400 is an oxygen generator or a device with an oxygen cylinder, and is mounted on the mobile robot 100. A heating device and a temperature sensor may also be installed between the oxygenator 400 and the second air outlet 300b.

[0078] In some embodiments, the oxygen supplementation system also includes a wireless charging device 102, which is located indoors. When the oxygen supplementation robot is within the effective charging range of the wireless charging device 102, it automatically charges to ensure continuous working capability.

[0079] This application also provides an oxygen supplementation method, applicable to oxygen supplementation robots.

[0080] Please refer to Figure 5 and Figure 6 This application also provides an oxygen supplementation method applicable to oxygen supplementation systems.

[0081] The methods of oxygen supplementation include:

[0082] The S100 controls the oxygen supplementation robot to acquire the first posture information of the human body.

[0083] The first piece of information includes the location of the person who fell and the posture in which they fell.

[0084] Based on the first posture information of the human body, S200 controls the oxygen supply robot to move the oxygen supply device to the target position, which is located above the human head.

[0085] The S300 controls the robotic arm to move the oxygen supply device above the human head, so that the first air outlet forms an air curtain around the human head, and the second air outlet provides oxygen to the space enclosed by the air curtain.

[0086] In some embodiments, step S100 includes:

[0087] The S110 controls the environmental perception sensor to acquire the first posture information of the human body.

[0088] Environmental sensing sensors can operate on a timed or continuous basis, and can be triggered by external devices, such as monitoring devices worn by the human body, to acquire the human's first posture information. Specifically, the environmental sensing sensor acquires initial environmental information and, based on this information, confirms the human's first posture information.

[0089] S120 determines whether a person has fallen based on the first posture information. Specifically, the first posture information includes the person's posture, such as whether they are lying on the ground, to determine whether a person has fallen.

[0090] If a fall is confirmed, the S130 controls the oxygen supply robot to obtain the first posture information.

[0091] In this way, when a person falls, the oxygen supply robot can respond quickly to ensure that oxygen is provided to the person in time.

[0092] In some embodiments, step S200 includes:

[0093] Based on the first posture information of the human body, S210 controls the oxygen supply robot to move to the target room, which is the room where the person who fell is located.

[0094] The S220 controls the vision sensor to acquire the third pose information of the human body.

[0095] Specifically, the visual sensor in the target room acquires environmental information of the target room, identifies the person who has fallen based on the environmental information of the target room, and then obtains the third pose information of the person who has fallen, namely the position information and posture information of the person who has fallen, so as to more accurately identify the position of the person's head and body.

[0096] S230 determines the position of the human head based on the first and third pose information.

[0097] S240 determines the target location based on the position of the human head. For example, based on the position of the human head, the target location is set directly above the human head, at a preset height from the human head or the ground.

[0098] The S250 controls the movement of the oxygen supplementation robot and causes the robotic arm to drive the oxygen supplementation device to the target location.

[0099] In some embodiments, after step S20, the following steps are included:

[0100] The S260 controls the vision sensor to acquire the second pose information of the human body.

[0101] Based on the second position information, S270 confirms the oxygen replenishment rate of the second air outlet.

[0102] It is understandable that different positions of a person who has fallen will have varying degrees of impact on breathing and blood circulation. Based on the second position information, the oxygen supply rate of the second air outlet can be determined, thereby increasing the oxygen supply rate when the impact is significant and decreasing the oxygen supply rate when the impact is minor, thus prolonging the oxygen supply time.

[0103] Specifically, the second positional information includes face up, face to the side, and face down. When face up, in a supine position, the internal organs are not compressed, and the chest can maintain normal breathing. When face to the side, there are two possibilities: facing left or right. Facing left, in a roughly left-side lying position, the chest cavity can maintain breathing, but the internal organs compress the heart in the left chest cavity, increasing the heart's workload. Facing right, in a roughly right-side lying position, heart function is not affected, but the movement of the right lung is affected. When face down, in a prone position, it compresses the chest cavity, leading to breathing difficulties and cardiac discomfort.

[0104] Step S270 can also be located after step 300, that is, first oxygen is supplied to the second air outlet at a preset speed, and then the oxygen supply speed of the second air outlet is confirmed.

[0105] For further details, please refer to... Figure 7 In some embodiments, step S270 includes:

[0106] S271 When the face is facing upwards, confirm that the oxygen supply speed of the second air outlet is the first preset value.

[0107] S272 When the face is turned to the side, the oxygen replenishment rate of the second air outlet is confirmed to be the second preset value, which is greater than the first preset value. In other words, the oxygen replenishment rate when the face is turned to the side is greater than the oxygen replenishment rate when the face is turned upward.

[0108] S273 When the face is facing down, confirm that the oxygen replenishment rate of the second air outlet is the third preset value, which is greater than the second preset value. In other words, the oxygen replenishment rate when the face is facing down is greater than the oxygen replenishment rate when the face is facing up or to the side.

[0109] In some embodiments, the second pose information includes facial information of the human body.

[0110] Step S270: includes:

[0111] S274 obtains at least one of the lip color and mouth opening / closing state based on the second pose information.

[0112] It should be noted that if the lips are bluish-purple, it generally indicates a surface reduced hemoglobin level >50g / L, suggesting hypoxia. Furthermore, when experiencing hypoxia but not yet fully unconscious, the mouth will remain open to increase the amount of oxygen inhaled.

[0113] S275 determines whether a person is hypoxic based on at least one of the following: the color of the lips and the state of the mouth opening and closing.

[0114] For example, a bluish-purple lip color or an open mouth can indicate oxygen deficiency. Alternatively, both bluish-purple lips and an open mouth can confirm oxygen deficiency. During implementation, the choice can be made based on the individual's health condition; in cases where heart problems cause the lips to remain bluish-purple, an open mouth is used as the confirmation criterion.

[0115] If S276 confirms oxygen deficiency, it confirms that the oxygen supply rate of the second air outlet is the third preset value. That is, if oxygen deficiency is confirmed, oxygen is supplied at the maximum oxygen supply rate.

[0116] Understandably, when oxygen deficiency is confirmed, the direction of the face does not affect the rate of oxygen replenishment.

[0117] Specifically, if steps S271-S273 are executed first, followed by steps S274-S276, and if oxygen deficiency is confirmed, the third preset value is used as the oxygen replenishment rate; if there is no oxygen deficiency, the oxygen replenishment rate confirmed by the face orientation is used as the actual oxygen replenishment rate.

[0118] If steps S274-S276 are executed first, and hypoxia is confirmed, then the third preset value is used as the oxygen supplementation rate, and subsequent steps S271-S273 are not executed. If hypoxia is confirmed, then steps S271-S273 are executed.

[0119] In some embodiments, after step S270, the following steps are included:

[0120] The system monitors the second pose information, and when the second pose information changes, it judges whether the human body's condition has improved based on preset judgment rules.

[0121] The second pose information includes facial orientation and facial information. The preset judgment rule can be whether the facial orientation changes, whether the facial information changes, or whether both change. If both change, the person's condition is judged to have improved. Changes in facial information can be one or more changes in lip color, eye opening / closing state, or lip opening / closing state.

[0122] If the assessment result indicates that the patient's condition has improved, then reduce the oxygen supply rate of the second air outlet.

[0123] In some specific embodiments, when the judgment result is that the human body's condition has improved, after waiting for a preset time (e.g., 5 minutes), the wind speed is reduced by one level to the second preset value or the first preset value, and then after waiting for another preset time, the wind speed is reduced further.

[0124] The oxygen supply device has a switch that can control the closure of the first and second air outlets.

[0125] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and all should be covered within the scope of the specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of protection.

Claims

1. An oxygen supplementation robot, characterized in that, include: Mobile robots; A robotic arm is mounted on the mobile robot; An oxygen supplementation device is mounted on the robotic arm and configured to be moved by the robotic arm to above the human head; The oxygen supply device includes a first air outlet and a second air outlet. The first air outlet is annular to form a closed air curtain around the human head. The second air outlet is located within the area enclosed by the first air outlet and is configured to provide oxygen to the space enclosed by the air curtain.

2. The oxygen supplementation robot according to claim 1, characterized in that, The oxygen supplementation device includes a visual sensor, which is used to acquire environmental information.

3. The oxygen supplementation robot according to claim 1, characterized in that, The oxygen supplementation device includes a distance sensor, which is used to acquire distance information between the first air outlet and the human head.

4. An oxygen supplementation system, characterized in that, include: An environmental sensing sensor, installed on the indoor ceiling, is used to acquire information about human falls. The oxygen supplementation robot as described in any one of claims 1-3 is connected to the environmental perception sensor signal and configured to move to a target location based on human fall information.

5. A method for oxygen supplementation, characterized in that, An oxygen supplementation robot as described in any one of claims 1-3, or an oxygen supplementation system as described in claim 4, comprising: Once a fall is confirmed, the oxygen supply robot is controlled to obtain the person's first posture information. Based on the first posture information of the human body, the oxygen supplementation robot is controlled to move the oxygen supplementation device to the target position, wherein the target position is located above the human head. The system controls the airflow from the first air outlet to form a closed air curtain around the human head, and controls the airflow from the second air outlet to provide oxygen to the space enclosed by the air curtain.

6. The oxygen supplementation method according to claim 5, characterized in that, The steps for confirming a human fall and controlling the oxygen supply robot to obtain fall information include: The control environment perception sensor acquires the first posture information of the human body; Based on the first posture information, confirm whether the person has fallen; If a fall is confirmed, the oxygen supply robot is controlled to obtain the first posture information of the human body.

7. The oxygen supplementation method according to claim 5, characterized in that, The oxygen supplementation device includes a visual sensor; After controlling the oxygen supplementation robot to move the oxygen supplementation device to the target location, the following steps are included: Control the vision sensor to acquire the second pose information of the human body; Based on the second pose information, confirm the oxygen replenishment rate of the second air outlet.

8. The oxygen supplementation method according to claim 5, characterized in that, The second pose information includes the orientation of the human face; The step of determining the oxygen replenishment rate of the second air outlet based on the second pose information includes: With your face facing upwards, confirm that the oxygen supply rate of the second air outlet is the first preset value; When the face is turned to the side, confirm that the oxygen replenishment speed of the second air outlet is the second preset value, which is greater than the first preset value; With the face down, confirm that the oxygen replenishment rate of the second air outlet is the third preset value, which is greater than the second preset value.

9. The oxygen supplementation method according to claim 7, characterized in that, The second pose information includes facial information of the human body; Based on the second pose information, confirm the oxygen replenishment rate of the second air outlet, including: Based on the second pose information, obtain at least one of the lip color and the mouth opening / closing state; Determine if the body is lacking oxygen based on at least one of the following: lip color and mouth opening / closing status. If oxygen deficiency is confirmed, confirm that the oxygen replenishment rate of the second air outlet is the third preset value.

10. The oxygen supplementation method according to claim 6, characterized in that, After confirming the oxygen replenishment rate of the second air outlet based on the second pose information, the process includes: Monitor pose information, and when the second pose information changes, judge whether the human body's condition has improved based on preset judgment rules; If the assessment result indicates that the patient's condition has improved, then reduce the oxygen supply rate of the second air outlet.

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