An accompanying robot system with a chronic disease medicine management function

Abstract

The application discloses a kind of accompanying robot systems with chronic disease medicine management function, system includes main control system, independent phase change microenvironment medicine storage array, free-fall type spectrum physical fingerprint verification channel, thermal coupling spectrum calibration bus, variable-temperature reference lens assembly, medicine dispensing device and directional frequency modulation continuous wave radar, medicine storage array utilizes phase change material and semiconductor refrigeration sheet to realize the independent temperature control of each chamber, variable-temperature reference lens assembly is controlled to thermal coupling spectrum calibration bus, so that its optical interface temperature and medicine storage temperature are synchronous, exclude the interference of condensate and temperature difference to spectrum verification, free-falling medicine is judged after entering medicine buffer cavity by double-weight decision model, radar real-time extracts human posture and swallowing characteristics, when determining posture abnormal or medicine taking overtime, main control system triggers reverse physiological interlock, drives electromagnetic sorting baffle horizontal closure, and medicine is pushed into recovery channel by mechanical push rod along the surface of baffle.The application realizes medicine isolation storage, dynamic spectrum verification and medicine taking safety mechanical interlock blocking.

Description

Technical Field

[0001] This invention relates to the field of intelligent service robot technology, specifically to a companion robot system with chronic disease medication management functions. Background Technology

[0002] With the increasing trend of population aging and the development of Internet of Things technology, intelligent companion robots are gradually entering the field of home medical care. For patients with chronic diseases who miss or take medications due to memory decline, companion robot systems with medication management functions have become routine devices to help patients take medications as prescribed. These systems usually integrate medication storage, timed reminders and automatic dispensing functions in order to improve patients' medication adherence and reduce the care burden on families.

[0003] In existing chronic disease medication management robots or automatic dispensing machines, an integrated medicine bin structure or a rotating compartmentalized medicine box is usually used to classify and centrally store different types of drugs. In actual use, the equipment drives the motor to rotate the medicine box or open the corresponding physical door according to a pre-set time program to release the drug to the receiving port for the patient to take out. In order to ensure the quality of daily storage of medicines, some equipment will install a cooling fan and basic refrigeration devices inside the machine or at the bottom of the medicine bin, thereby providing a uniform low temperature or normal temperature dry environment for the entire internal space of the machine.

[0004] However, patients with chronic diseases often need to take multiple medications at the same time. Medications with different chemical properties have significantly different requirements for storage temperature. Existing medication management equipment can usually only provide a single global storage environment and cannot provide independent and differentiated temperature regulation for different drug storage units. When the equipment operation causes fluctuations in the internal environment temperature, heat will be directly conducted between adjacent drug storage compartments. This cross-interference in temperature can easily cause physical changes or chemical degradation of other temperature-sensitive drugs, failing to meet the storage requirements for the safe coexistence of multiple drugs in the same equipment under complex medication regimens. Summary of the Invention

[0005] The technical problem to be solved by this invention is to provide a companion robot system with chronic disease medication management function to address the shortcomings of the prior art. This system solves problems such as mutual interference of drug storage environment temperature, susceptibility of spectral verification during the falling process to temperature difference and direct light, easy mechanical interference in the sorting and recycling path, and difficulty in interlocking patient medication posture with mechanical actions.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: The first aspect of this invention provides a companion robot system with chronic disease medication management functions. This system includes a main control system, an independent phase-change microenvironment drug storage array, a free-fall spectral physical fingerprint verification channel, a thermally coupled spectral calibration bus, a variable-temperature reference lens assembly, a medication sorting device, and a directional frequency-modulated continuous wave swallowing feature capture radar. The main control system is electrically connected to the independent phase-change microenvironment drug storage array, the free-fall spectral physical fingerprint verification channel, the variable-temperature reference lens assembly, the medication sorting device, and the directional frequency-modulated continuous wave swallowing feature capture radar. The independent phase-change microenvironment drug storage array is disposed in the upper cavity of the companion robot body, and its bottom is connected to the top opening of the free-fall spectral physical fingerprint verification channel, which is vertically installed directly below it, via an inverted conical medication dispensing funnel. The medication sorting device is connected to the free-fall spectral physical fingerprint verification channel... At the bottom of the verification channel, drugs are guided to the external drug receiving area, waste drug isolation chamber, or reverse recycling channel. The variable-temperature reference lens assembly is embedded inside the side wall of the free-fall spectral physical fingerprint verification channel. The input end of the thermally coupled spectral calibration bus is connected to the temperature sensor inside the independent phase change microenvironment drug storage array, and the output end is connected to the variable-temperature reference lens assembly. The directional frequency-modulated continuous wave swallowing feature capture radar is embedded in the front chest panel of the companion robot, with its radio frequency antenna emitting surface facing the space in front of the external drug receiving area. The above technical solution integrates drug storage, spectral detection, drug sorting, and medication posture monitoring into one unit. The main control system controls the temperature of the variable-temperature reference lens assembly through the thermally coupled spectral calibration bus, so that it is correlated with the temperature of the independent phase change microenvironment drug storage array, reducing the interference of environmental temperature difference on the spectral verification process and realizing hardware linkage of the drug management process.

[0007] The second aspect of this invention provides a companion robot system with chronic disease medication management functions. Based on the system structure of the first aspect, an independent phase change microenvironment drug storage array includes multiple drug storage units arranged in a honeycomb pattern, with a heat-insulating filling layer filling the spaces between adjacent drug storage units. Each drug storage unit includes a heat-conducting inner wall, which encloses a sealed drug storage cavity. A phase change material layer covers the outer surface of the heat-conducting inner wall, and a semiconductor cooling chip is fixed to the outer side of the phase change material layer. The cold end face of the semiconductor cooling chip is attached to the outer surface of the phase change material layer, and the hot end face is connected to a heat dissipation component extending to the external space. The above technical solution forms an independent heat transfer path outside the drug storage unit through the structure of the heat-conducting inner wall, the phase change material layer, and the semiconductor cooling chip. The main control system adjusts the working state of the semiconductor cooling chip and, combined with the heat storage and release characteristics of the phase change material layer, achieves independent temperature control of each sealed drug storage cavity. The heat-insulating filling layer reduces heat transfer between adjacent cavities, meets the specific storage temperature requirements of different drugs, and reduces the impact of temperature changes on drug properties.

[0008] The third aspect of this invention provides a companion robot system with chronic disease medication management functions; based on the system structure of the first aspect, the variable temperature reference lens assembly includes a lens body, a heat-conducting ring, a Peltier temperature control circuit, a lens surface temperature sensor, and a heat-insulating fixing seat; the heat-conducting ring is tightly fitted to the outer peripheral edge of the lens body, the Peltier temperature control circuit is fixedly installed on the outer surface of the heat-conducting ring, and the heat-insulating fixing seat covers the outside of the heat-conducting ring and the Peltier temperature control circuit; the main control system sets the internal temperature of the drug storage unit as the target tracking temperature, sets the temperature obtained by the lens surface temperature sensor as the real-time feedback temperature, and outputs the thermal compensation duty cycle parameter and polarity control level to the Peltier temperature control circuit through the thermally coupled spectral calibration bus; in addition, the detection vertical tube wall of the free-fall spectral physical fingerprint verification channel is provided with The first and second light-transmitting windows are at a right angle to each other along the central axis of the detection vertical tube. A variable-temperature reference lens assembly is installed at the first light-transmitting window, with the light-receiving surface of the miniature near-infrared sensor array facing the lens body. The ring light source is fixed outside the second light-transmitting window. In the above technical solution, the temperature of the lens body is regulated by a Peltier temperature control circuit, and the main control system controls the surface temperature of the lens body to be consistent with the temperature of the drug released by the drug storage unit. This temperature compensation method avoids the formation of condensation on the lens surface when the low-temperature drug passes through the detection vertical tube. The first and second light-transmitting windows of the detection vertical tube are arranged at right angles. The detection beam emitted by the ring light source is diffusely reflected on the drug surface and then received by the miniature near-infrared sensor array, avoiding direct transmission light interference caused by the light source directly hitting the sensor.

[0009] The fourth aspect of this invention provides a companion robot system with chronic disease medication management functions; based on the system structure of the first aspect, the main control system has a built-in dual-weight decision model for determining the drug status; the main control system extracts spectral data to construct feature vectors, calculates the similarity value of the spectral sequence and the physical distance error; the main control system multiplies the similarity value by the similarity weight coefficient, subtracts the product of the physical distance error and the distance error penalty coefficient, and obtains the discrimination logic value; the sum of the similarity weight coefficient and the distance error penalty coefficient is a constant; the main control system records the data when the external medication is loaded. The drug attribute information determination coefficient is set; when the discrimination logic value is lower than the judgment threshold, the main control system generates a sorting intervention signal, driving the drug sorting device to make the drug fall into the waste drug isolation chamber; in the above technical solution, the main control system combines the similarity value of spectral features with the physical distance error for judgment; the main control system sets the values ​​of similarity weight coefficient and distance error penalty coefficient according to the drug attribute information; for drugs that are easily hygroscopic and deteriorate, the main control system increases the distance error penalty coefficient; this dual-weight decision model integrates multi-dimensional spectral data, improving the accuracy of judging cross-contamination and deteriorated drugs.

[0010] The fifth aspect of this invention provides a companion robot system with chronic disease medication management functions; based on the system structure of the first aspect, the medication sorting device includes a pre-dispensing buffer chamber, an electromagnetic high-frequency sorting baffle, a waste medication isolation chamber, a reverse recycling channel, an external medication receiving area, and a mechanical recycling push rod transversely passing through the side wall of the pre-dispensing buffer chamber; the electromagnetic high-frequency sorting baffle is installed at the bottom outlet of the pre-dispensing buffer chamber; when the electromagnetic high-frequency sorting baffle deflects to a first angle position, it guides to the external medication receiving area; when it deflects to a second angle position, it guides to the waste medication isolation chamber; when it deflects to a third angle position, it is in a horizontal state and closes the bottom outlet of the pre-dispensing buffer chamber; at the third angle position, the upper surface of the electromagnetic high-frequency sorting baffle is at the same horizontal plane as the bottom inner wall of the reverse recycling channel, constituting the mechanical recycling push rod pushing the medication. The system employs a physical sliding support surface. The main control system extracts the horizontal projection angle of the human torso and compares it to a risk threshold, controlling the electromagnetic high-frequency sorting baffle to be in a third-angle position to intercept the drug. The main control system calculates the temporary storage time of the drug in the pre-discharge buffer chamber. When the temporary storage time reaches the maximum allowable waiting time limit, the opening circuit of the baffle is cut off and the mechanical recovery push rod is driven. This technical solution forms three physical paths—drug reception, disposal, and recovery—through the angle switching of the electromagnetic high-frequency sorting baffle and the linear movement of the mechanical recovery push rod. When the recovery procedure is executed, the upper surface of the electromagnetic high-frequency sorting baffle is flush with the bottom inner wall of the reverse recovery channel. The mechanical recovery push rod pushes the drug laterally into the reverse recovery channel along the upper surface of the electromagnetic high-frequency sorting baffle, avoiding mechanical interference during the recovery process and preventing accidental drug discharge under abnormal postures.

[0011] The sixth aspect of this invention provides a companion robot system with chronic disease medication management functions; based on the system structure of the first aspect, a directional frequency-modulated continuous wave swallowing feature acquisition radar includes a beam focusing controller and a phased array antenna unit; the beam focusing controller receives the physical morphology parameters of the medication, calculates and changes the phase offset of each transmitting antenna element fed to the phased array antenna unit; when the physical morphology parameters of the medication indicate a solid granule dosage form, the main control system reduces the vertical beamwidth of the radio frequency beam; when it indicates a liquid dosage form, the main control system increases the horizontal scanning coverage angle of the radio frequency beam; the main control system extracts instantaneous Doppler from the intermediate frequency signal output by the radar echo. The Doppler shift sequence is used to calculate the physical displacement of the target tissue by integrating the morphological parameters of the sequence over time. The main control system compares the numerical range of the physical displacement with the swallowing baseline data. In the above technical solution, the directional frequency-modulated continuous wave swallowing feature acquisition radar adaptively adjusts the beam according to the physical morphological parameters of the drug. When the drug is a solid granule dosage form, the vertical beam width is reduced for focusing. When the drug is a liquid preparation, the horizontal scanning coverage angle is increased. This control method improves the signal-to-noise ratio of the Doppler signal generated by the swallowing action. The main control system converts the frequency domain features into physical displacement to help determine whether the swallowing action conforms to the normal medication logic.

[0012] The present invention, by adopting the above technical solution, can bring the following beneficial effects: 1. This invention employs an independent phase change microenvironment drug storage array comprising a thermally conductive inner wall, a phase change material layer, and a semiconductor cooling chip layer, as well as a thermal insulation filling layer between adjacent drug storage units. This enables the main control system to independently adjust the internal temperature of each sealed drug storage chamber based on the heat storage and release characteristics of the phase change material layer, and effectively block heat transfer between adjacent chambers. This achieves physical isolation and precise temperature control to meet the differentiated storage needs of drugs with different chemical properties and reduce the impact of temperature cross-interference on drug properties.

[0013] 2. This invention arranges a near-infrared sensor array and a ring light source group at the right-angled optical window of the spectral channel and uses a thermally coupled spectral calibration bus to synchronously compensate the temperature of the drug storage unit to the optical interface of the variable-temperature reference lens assembly. This allows the probe beam to generate diffuse reflection on the drug surface while avoiding direct light source interference and the generation of surface condensation when the low-temperature drug falls. This achieves system optimization that eliminates the influence of environmental temperature difference and direct light path during the verification process, thereby improving the accuracy of multidimensional spectral physical fingerprint acquisition and the reliability of feature verification.

[0014] 3. This invention uses swallowing feature capture radar to extract the tilt angle of the human torso in real time and links it with the angle switching of the electromagnetic sorting baffle and the linear movement of the retrieval push rod in the drug sorting device. This allows the main control system to forcibly close the bottom outlet of the buffer chamber and use the horizontal plane of the baffle to support the push rod to push the drug into the retrieval channel when it determines that the patient is in a posture with a risk of choking or has exceeded the medication time limit. This achieves a reverse interlocking blockage that directly couples the patient's physiological posture for taking medication with the terminal's medication dispensing action, thereby avoiding accidental ingestion due to abnormal posture and ensuring the safe retrieval of untaken medication. Attached Figure Description

[0015] Figure 1 This is a diagram showing the overall hardware architecture of the companion robot system of the present invention; Figure 2 This is a partial diagram of the mechanical and thermodynamic structure of the independent phase change microenvironment drug storage unit of the present invention. Figure 3 This is a diagram of the optical path layout and variable temperature reference lens assembly for the spectral verification channel of the present invention; Figure 4 This is a schematic diagram of the three-way cascaded execution structure of the buffer cavity and the high-frequency electromagnetic sorting baffle of the present invention; Figure 5 This is a logic block diagram of the hardware linkage and signal flow of the companion robot system of the present invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] See attached document Figure 1 The present invention provides a companion robot system with chronic disease medication management function, which may include: a main control system 100, an independent phase change microenvironment drug storage array 200, a free fall spectral physical fingerprint verification channel 300, a thermally coupled spectral calibration bus 400, a variable temperature reference lens assembly 500, a drug dispensing and sorting device 600, and a directional FMCW swallowing feature capture radar 700. The main control system 100 is fixedly installed on the internal frame of the companion robot body. The main control system 100 establishes electrical connections with the independent phase change microenvironment drug storage array 200, the free fall type spectral physical fingerprint verification channel 300, the variable temperature reference lens assembly 500, the drug dispensing and sorting device 600, and the directional FMCW swallowing feature capture radar 700. The main control system 100 is used to send electrical control commands and receive data signals fed back by each hardware component. An independent phase change microenvironment drug storage array 200 is disposed in the upper cavity of the companion robot body. The independent phase change microenvironment drug storage array 200 includes multiple drug storage units 210 arranged in a honeycomb pattern. The outer surface of the drug storage unit 210 is wrapped with a phase change material layer 230 and a semiconductor cooling chip 220 from the inside to the outside. The cold end face of the semiconductor cooling chip 220 is in physical contact with the outer surface of the phase change material layer 230. A temperature sensor 240 is fixed inside the drug storage unit 210. A drug dispensing valve 250 is provided at the bottom of the drug storage unit 210. The semiconductor cooling chip 220, the temperature sensor 240 and the drug dispensing valve 250 are all connected to the main control system 100 through a wiring harness. An inverted conical drug dispensing funnel 260 is connected between the bottom of the independent phase change microenvironment drug storage array 200 and the top of the free fall spectral physical fingerprint verification channel 300. The large opening at the top of the inverted conical drug dispensing funnel 260 covers the bottom of all drug storage units 210, and the small opening at the bottom of the inverted conical drug dispensing funnel 260 faces the top opening of the detection vertical tube 310. The free-fall spectral physical fingerprint verification channel 300 is vertically installed directly below the independent phase change microenvironment drug storage array 200. The free-fall spectral physical fingerprint verification channel 300 includes a sealed detection vertical tube 310, which is used to receive the drug that slides down along the inner wall of the inverted conical drug dispensing funnel 260. A miniature near-infrared sensor array 320 is arranged in a circumferential direction on the inner wall of the detection vertical tube 310. The miniature near-infrared sensor array 320 establishes bidirectional data communication with the main control system 100. The variable temperature reference lens assembly 500 is embedded inside the side wall of the detection vertical tube 310 and located on the optical detection path of the miniature near-infrared sensor array 320. The variable temperature reference lens assembly 500 includes a lens body 510 and a Peltier temperature control circuit 520 that is attached to the edge of the lens body 510. The thermally coupled spectral calibration bus 400 is installed inside the companion robot body. The input end of the thermally coupled spectral calibration bus 400 is connected to the temperature sensor 240 inside the drug storage unit 210, and the output end of the thermally coupled spectral calibration bus 400 is connected to the Peltier temperature control circuit 520 of the variable temperature reference lens assembly 500. The main control system 100 converts the electrical signal collected by the temperature sensor 240 into a power signal to drive the Peltier temperature control circuit 520 through the thermally coupled spectral calibration bus 400. The drug dispensing and sorting device 600 is connected to the bottom of the free-fall spectral physical fingerprint verification channel 300. The drug dispensing and sorting device 600 includes a pre-dispensing buffer chamber 610, an electromagnetic high-frequency sorting baffle 620, a waste drug isolation chamber 630, a reverse recycling channel 640, and an external drug receiving area 650. The top of the pre-dispensing buffer chamber 610 is connected to the bottom opening of the detection vertical pipe 310. The electromagnetic high-frequency sorting baffle 620 is installed at the lower outlet of the pre-dispensing buffer chamber 610 via a rotating shaft. The main control system 100 is connected to... The electromagnetic drive circuit of the electromagnetic high-frequency sorting baffle 620 connects the detection vertical pipe 310 and the external drug receiving area 650 when the electromagnetic high-frequency sorting baffle 620 is in the first mechanical position; when the electromagnetic high-frequency sorting baffle 620 is in the second mechanical position, it connects the detection vertical pipe 310 and the waste drug isolation chamber 630. The inlet end of the reverse recycling channel 640 is connected to the pre-discharge buffer chamber 610, and the outlet end of the reverse recycling channel 640 is connected to the internal safe storage area of ​​the companion robot body. The directional FMCW swallowing feature capture radar 700 is embedded in the front chest panel of the companion robot body. The directional FMCW swallowing feature capture radar 700 is located vertically above the external drug receiving area 650. The radio frequency antenna transmitting surface of the directional FMCW swallowing feature capture radar 700 faces the space area in front of the external drug receiving area 650. The directional FMCW swallowing feature capture radar 700 receives the antenna adjustment parameters sent by the main control system 100 and transmits back the analog waveform signal collected by the radio frequency receiving antenna to the main control system 100. Vertical mounting tilt angle of the directional FMCW swallowing feature acquisition radar 700 The following spatial geometric constraints must be satisfied: In the formula, This indicates the standard height of the human swallowing node from the ground. This indicates the physical installation height above the ground of the directional FMCW swallowing feature acquisition radar 700. This indicates the horizontal physical distance between the center point of the external medication receiving area 650 and the front of the companion robot. The main control system 100 sets the installation tilt angle. Define the physical projection field of the radio frequency antenna; In the hardware operating state, the drug outlet valve 250 in the independent phase change microenvironment drug storage array 200 is opened to allow the internal substances to enter the free fall spectral physical fingerprint verification channel 300. The variable temperature reference lens assembly 500 changes the surface temperature of the lens body 510 according to the signal transmitted by the thermally coupled spectral calibration bus 400. The main control system 100 receives the spectral data collected by the miniature near-infrared sensor array 320 and outputs the level signal to the electromagnetic high-frequency sorting baffle 620. The directional FMCW swallowing feature capture radar 700 emits continuous frequency-modulated waves to the designated spatial area and collects the intermediate frequency echo data generated by physical displacement.

[0018] Furthermore, the present invention provides a working method for a companion robot system with chronic disease medication management function, which may include: the main control system 100 reads the attribute information of the loaded drug and sends temperature control parameters to the independent phase change microenvironment drug storage array 200; the main control system 100 controls the semiconductor cooling chip 220 to change the internal temperature of the corresponding drug storage unit 210 so that the internal environment of the drug storage unit 210 reaches the set temperature control parameters. The main control system 100 calls the miniature near-infrared sensor array 320 to collect the initial diffuse reflectance spectral data of the loaded drug. The main control system 100 stores the initial diffuse reflectance spectral data in local memory as a reference spectral sequence. ; The main control system 100 receives the set dispensing time signal and reads the real-time temperature data collected by the temperature sensor 240 inside the corresponding drug storage unit 210. The main control system 100 transmits real-time temperature data via the thermally coupled spectral calibration bus 400. The data is transmitted to the variable temperature reference lens assembly 500, and the Peltier temperature control loop 520 uses real-time temperature data. Adjust the surface temperature of the lens body 510 so that it matches the real-time temperature data of the drug storage unit 210. Keep in sync; The main control system 100 sends an opening command to the dispensing valve 250 at the bottom of the target drug storage unit 210. The drug detaches from the drug storage unit 210, slides down the inner wall of the inverted conical dispensing funnel 260, and enters the detection vertical tube 310 of the free-fall spectral physical fingerprint verification channel 300. During the descent of the drug through the detection vertical tube 310, the miniature near-infrared sensor array 320 collects real-time diffuse reflectance spectral data of the drug surface. The miniature near-infrared sensor array 320 will display real-time diffuse reflectance spectral data. Send to main control system 100; The main control system calculates real-time diffuse reflectance spectral data. With reference spectral sequence The main control system 100 uses the cosine similarity algorithm to calculate the similarity value. The calculation formula is as follows: In the formula, N represents the total number of spectral sampling channels. This represents the center wavelength corresponding to the i-th channel. When the similarity value is lower than the set safety threshold, the main control system 100 outputs a drive signal to the drug sorting device 600. The electromagnetic high-frequency sorting baffle 620 receives the drive signal and rotates to the second mechanical position, connecting the physical path between the detection vertical pipe 310 and the waste drug isolation chamber 630, so that the drug falls into the waste drug isolation chamber 630. When the similarity value reaches or exceeds the safety threshold, the main control system 100 does not send a drive signal, and the electromagnetic high-frequency sorting baffle 620 remains in the first mechanical position, blocking the drug and temporarily storing the drug in the pre-discharge buffer chamber 610. When the drug is temporarily stored in the pre-discharge buffer chamber 610, the main control system 100 sends an activation command to the directional FMCW swallowing feature capture radar 700. The directional FMCW swallowing feature capture radar 700 transmits a continuous frequency modulated wave to the space area in front of the external drug receiving area 650 and receives the reflected echo generated by the physical displacement in the space area in front of the external drug receiving area 650. The directional FMCW swallowing feature capture radar 700 converts the reflected echo into an intermediate frequency signal and transmits it to the main control system 100. The main control system 100 processes the intermediate frequency signal to extract micro-Doppler mechanical waveform features, and extracts the micro-Doppler frequency shift. The formula is: In the formula, This indicates the center wavelength of the directional FMCW swallowing feature acquisition radar 700. It represents the instantaneous velocity of the target tissue within the spatial region in front of the external drug receiving area 650, and the spatial angle between the radar beam projection direction and the target tissue motion vector direction; The main control system 100 performs time-frequency analysis on the micro-Doppler frequency shift to separate the micro-Doppler mechanical waveform features. The main control system 100 compares the micro-Doppler mechanical waveform features with the physiological posture baseline data stored in the local database. If the matching result is an abnormal posture, the main control system 100 controls the mechanical push rod in the pre-discharge buffer chamber 610 to push the drug into the reverse recovery channel 640. If the matching result is a safe posture, the main control system 100 controls the electromagnetic high-frequency sorting baffle 620 to open, so that the drug falls into the external drug receiving area 650 through the pre-discharge buffer chamber 610. After the medication falls into the external medication receiving area 650, the directional FMCW swallowing feature capture radar 700 continuously collects the micro-Doppler mechanical waveform features of the target tissue. When the micro-Doppler mechanical waveform features match the swallowing model data, the main control system 100 records the current medication administration status as completed in the local memory.

[0019] See attached document Figure 2 The present invention provides a companion robot system with chronic disease medication management function, wherein the independent phase change microenvironment drug storage array 200 may include: an overall support frame 201, a heat insulation filling layer 202, multiple drug storage units 210, a semiconductor cooling chip 220, a heat dissipation component 221, a phase change material layer 230, a temperature sensor 240, a drug dispensing valve 250, and an inverted conical drug dispensing funnel 260; The overall support frame 201 is installed in the upper cavity of the companion robot body. The overall support frame 201 is divided into multiple accommodating cavities with a regular hexagonal cross section. Multiple drug storage units 210 are fixed in the multiple accommodating cavities of the overall support frame 201 to form a honeycomb arrangement structure. A heat insulation filling layer 202 is filled between adjacent drug storage units 210 to block heat conduction between adjacent drug storage units 210. The drug storage unit 210 includes a heat-conducting inner wall 211, which encloses a sealed drug storage cavity 212 for storing drugs. A phase change material layer 230 covers the outer surface of the heat-conducting inner wall 211. A semiconductor cooling chip 220 is fixed to the outer side of the phase change material layer 230. The cold end face of the semiconductor cooling chip 220 is attached to the outer surface of the phase change material layer 230. The hot end face of the semiconductor cooling chip 220 is connected to a heat dissipation assembly 221. The heat dissipation assembly 221 extends to the external space of the overall support frame 201. The semiconductor cooling chip 220 absorbs heat from the heat-conducting inner wall 211 and the inside of the sealed drug storage cavity 212. The thermodynamic heat transfer equation for the drug storage unit 210 when it reaches thermal equilibrium is expressed as: In the formula, This indicates the real-time cooling power of the thermoelectric cooler 220. The value represents the thermal conductivity of the phase change material layer 230, and A represents the effective heat transfer area of ​​the phase change material layer 230. This indicates the temperature of the outer surface of the phase change material layer 230. This indicates the real-time temperature inside the sealed drug storage chamber 212. This indicates the thickness of the phase change material layer 230. This indicates the mass of the phase change material layer 230. t represents the specific heat capacity of phase change material layer 230, and t represents the cooling time; The main control system 100 dynamically adjusts the input current of the semiconductor cooling chip 220 based on the thermodynamic heat transfer equation. The temperature sensor 240 is fixed on the heat-conducting inner wall 211. The probe part of the temperature sensor 240 passes through the heat-conducting inner wall 211 and extends into the sealed drug storage cavity 212. The temperature sensor 240 acquires the temperature data inside the sealed drug storage cavity 212 and transmits the temperature data to the main control system 100. The dispensing valve 250 is installed at the bottom opening of the drug storage unit 210. The dispensing valve 250 includes a sliding plate 251, a miniature push-pull electromagnet 252 and a return spring 253 connected to the sliding plate 251. The miniature push-pull electromagnet 252 is fixed to the outer shell of the dispensing valve 250. The movable telescopic end of the miniature push-pull electromagnet 252 is fixedly connected to one end of the sliding plate 251. The return spring 253 is connected to the other end of the sliding plate 251 and the outer shell of the dispensing valve 250. The main control system 100 outputs control current to the miniature push-pull electromagnet 252. The miniature push-pull electromagnet 252 overcomes the elastic force of the reset spring 253 and drives the translation slide plate 251 to move in the horizontal direction to open the bottom opening of the drug storage unit 210. After the control current is disconnected, the reset spring 253 pushes the translation slide plate 251 to move in the opposite horizontal direction to close the bottom opening of the drug storage unit 210. The top edge of the inverted conical drug dispensing funnel 260 is fixedly connected to the bottom surface of the overall support frame 201. The interior of the inverted conical drug dispensing funnel 260 forms an inclined sliding cavity 261. The dispensing valves 250 of all drug storage units 210 are located vertically above the inclined sliding cavity 261. When the dispensing valve 250 of a specific drug storage unit 210 is opened, the drug inside the drug storage unit 210 falls into the inclined sliding cavity 261 through the bottom opening of the drug storage unit 210. The drug slides down the inner wall of the inverted conical drug dispensing funnel 260 and enters the detection vertical tube 310 of the free fall type spectral physical fingerprint verification channel 300.

[0020] Furthermore, the present invention provides a companion robot system with chronic disease medication management function, wherein the independent phase change microenvironment drug storage array 200 may further include: a radio frequency identification (RFID) reader 270, the RFID reader 270 is installed at the external drug loading port of the independent phase change microenvironment drug storage array 200, and the RFID reader 270 establishes a physical communication connection with the main control system 100. Before the drug is filled into the specific drug storage unit 210, the RFID reader 270 reads the electronic tag data carried on the drug packaging. The RFID reader 270 sends the electronic tag data to the main control system 100. The main control system 100 receives the electronic tag data and performs data query matching in its local memory. The main control system 100 obtains the rated storage temperature threshold corresponding to the electronic tag data and sets the rated storage temperature threshold as the target feedforward temperature of the specific drug storage unit 210. ; Temperature sensor 240 inside specific drug storage unit 210 collects physical temperature parameters inside sealed drug storage chamber 212 in real time. Temperature sensor 240 transmits physical temperature parameters The signal is converted into an electrical signal and continuously transmitted to the main control system 100, which then calculates the target feedforward temperature. With physical temperature parameters Temperature deviation between ; The main control system 100 uses a proportional-integral-derivative control algorithm to control temperature deviation. Perform calculations to obtain the real-time output control voltage. The calculation formula is: In the formula, Represents the proportional gain coefficient. Represents the integral gain coefficient. Represents the differential gain coefficient. Indicates control time. Represents the integral variable; The main control system 100 outputs control voltage in real time. The main control system 100 generates a duty cycle modulation signal and a polarity control level, and outputs the duty cycle modulation signal and the polarity control level to the semiconductor cooling chip 220 attached to the outside of the specific drug storage unit 210. The semiconductor cooling chip 220 receives the polarity control level to switch the cooling mode or heating mode of the attached surface, and the semiconductor cooling chip 220 receives the duty cycle modulation signal to adjust the actual output heat power. The phase change material layer 230 absorbs the cold or heat transferred by the semiconductor cooling chip 220, changing the physical environment inside the sealed drug storage chamber 212 and altering the physical temperature parameters. Dynamically approaching the target feedforward temperature When physical temperature parameters With target feedforward temperature When the absolute error value is continuously less than the preset error constant within the set time period, the main control system 100 determines that the internal environment of the specific drug storage unit 210 has reached thermodynamic steady state, and the main control system 100 records the current state in the local memory as the environment initialization completed state. When the environment initialization is complete, the main control system 100 outputs a single trigger pulse to the dispensing valve 250 at the bottom of the specific drug storage unit 210. The miniature push-pull electromagnet 252 receives the single trigger pulse and overcomes the elastic force of the reset spring 253, driving the translation slide plate 251 to complete one reciprocating mechanical motion. The dispensing valve 250 opens briefly and releases a single test drug into the detection vertical tube 310. The single test drug enters the free fall spectral physical fingerprint verification channel 300. The miniature near-infrared sensor array 320 emits near-infrared light waves at high frequency into the internal space of the detection vertical tube 310. The miniature near-infrared sensor array 320 receives the diffuse reflected light signal from the surface of the test drug during its fall. The miniature near-infrared sensor array 320 converts the diffuse reflected light signal into a photoelectric analog signal and sends it to the main control system 100. The main control system 100 performs analog-to-digital conversion and filtering on the photoelectric analog signal to obtain the light intensity observation value corresponding to each sampling wavelength. ; The main control system 100 calculates the absorbance characteristics of the surface of a single test drug particle. The calculation formula is: In the formula, Indicates the wavelength of near-infrared light. This indicates the pre-stored dark background light intensity value of the detection vertical tube 310 in the main control system 100. This indicates the standard whiteboard reflected light intensity value pre-stored in the main control system (100). The main control system 100 will analyze the absorbance characteristics corresponding to different sampling wavelengths. The system combines and generates a spectral vector containing absorbance characteristics. The main control system 100 writes the spectral vector as a reference spectral sequence into a designated address segment of the local memory. The main control system 100 also stores the reference spectral sequence, the physical number of the specific drug storage unit 210, and the target feedforward temperature. Establish hardware address mapping and binding to complete the spectral physical fingerprint benchmark registration process.

[0021] Furthermore, the present invention provides a companion robot system with chronic disease medication management function, wherein the thermally coupled spectral calibration bus 400 may include: a pre-signal acquisition multiplexer 410, an analog-to-digital conversion module 420, a pulse width modulation drive module 430, a post-power transmission cable 440, and a lens surface temperature sensor 450. The pre-signal acquisition multiplexer 410 is fixed inside the overall support frame 201 of the independent phase change microenvironment drug storage array 200. The multiple input pins of the pre-signal acquisition multiplexer 410 are respectively connected to the temperature sensors 240 inside the multiple drug storage units 210 and the lens surface temperature sensor 450 on the variable temperature reference lens assembly 500. The pre-signal acquisition multiplexer 410 collects the analog voltage signals output by the temperature sensors 240 and the lens surface temperature sensor 450. Both the analog-to-digital converter module 420 and the pulse width modulation drive module 430 are integrated and mounted on the main circuit board of the main control system 100. The output pin of the preamplifier signal acquisition multiplexer 410 is connected to the input terminal of the analog-to-digital converter module 420 through a wiring harness. The analog-to-digital converter module 420 receives analog voltage signals and converts them into digital temperature signals. The main control system 100 reads the digital temperature signals to calculate the output control quantity and converts the output control quantity into the corresponding thermal compensation duty cycle parameters. The main control system calculates the thermal compensation duty cycle parameters. The formula is: In the formula, This indicates the real-time output control voltage calculated by the main control system 100 based on the digital temperature signal. This indicates the rated maximum supply voltage of the pulse width modulation drive module 430; The signal input terminal of the pulse width modulation drive module 430 is connected to the microprocessor data pin of the main control system 100, and the pulse width modulation drive module 430 receives the thermal compensation duty cycle parameter sent by the main control system 100. The power output terminal of the pulse width modulation drive module 430 is connected to the input terminal of the rear power transmission cable 440. The rear power transmission cable 440 is laid along the outer wall of the detection vertical tube 310 of the free fall spectral physical fingerprint verification channel 300. The output terminal of the rear power transmission cable 440 extends to the variable temperature reference lens assembly 500 and is fixedly connected to the positive and negative terminals of the Peltier temperature control circuit 520. The lens surface temperature sensor 450 is attached to the surface of the lens body 510. The signal output cable of the lens surface temperature sensor 450 is laid in reverse along the outer wall of the detection vertical tube 310 and connected to the pre-signal acquisition multiplexer 410. In operation, the pulse width modulation drive module 430 uses the thermal compensation duty cycle parameters. The DC voltage of the power supply inside the companion robot body is converted into a power drive signal with a specified frequency and duty cycle. The rear power transmission cable 440 transmits the power drive signal to the Peltier temperature control circuit 520. The Peltier temperature control circuit 520 receives the power drive signal and establishes a temperature difference between the two ends of the internal semiconductor material. The Peltier temperature control circuit 520 changes the surface physical temperature of the attached lens body 510. The thermally coupled spectral calibration bus 400 thus establishes a direct closed-loop physical control path between the temperature sensor 240 of the drug storage unit 210, the main control system 100, and the Peltier temperature control loop 520 of the variable temperature reference lens assembly 500.

[0022] See attached document Figure 3 The present invention provides a companion robot system with chronic disease medication management function, wherein the variable temperature reference lens assembly 500 may include: lens body 510, Peltier temperature control circuit 520, lens surface temperature sensor 450, heat conduction ring 530 and heat insulation fixing seat 540. The heat-insulating mounting base 540 is fixedly embedded in the through hole of the side wall of the detection vertical tube 310 of the free-fall spectral physical fingerprint verification channel 300. The heat-insulating mounting base 540 has a through optical window at the center. The lens body 510 is fixedly installed inside the optical window. The lens body 510 is made of optical crystal material with high thermal conductivity. The inner surface of the lens body 510 faces the central axis of the detection vertical tube 310, and the outer surface of the lens body 510 faces the miniature near-infrared sensor array 320. A heat-conducting ring 530 is fitted and tightly attached to the outer periphery of the lens body 510. A Peltier temperature control circuit 520 is fixedly installed on the outer surface of the heat-conducting ring 530. The cold or heat generated by the Peltier temperature control circuit 520 is transferred to the lens body 510 through the heat-conducting ring 530. The heat-insulating fixing seat 540 wraps around the outside of the heat-conducting ring 530 and the Peltier temperature control circuit 520, blocking the heat conduction path between the heat-conducting ring 530 and the side wall of the detection vertical tube 310. The lens surface temperature sensor 450 is fixed to the inner surface of the lens body 510. The probe part of the lens surface temperature sensor 450 contacts the optical medium layer of the lens body 510. The lens surface temperature sensor 450 acquires the surface temperature data of the lens body 510 in real time. The lens surface temperature sensor 450 converts the surface temperature data into an analog voltage signal and transmits it to the main control system 100 through the thermal coupling spectral calibration bus 400. The main control system 100 has a built-in thermal balance proportional-integral control model for the variable temperature reference lens assembly 500. The main control system 100 acquires real-time temperature data collected by the temperature sensor 240 inside the specific drug storage unit 210, and sets the real-time temperature data of the specific drug storage unit 210 as the target tracking temperature. The main control system 100 converts the surface temperature data acquired by the lens surface temperature sensor 450 into real-time feedback temperature. ; The main control system 100 calculates the target tracking temperature. With real-time temperature feedback Dynamic temperature deviation between The calculation formula is: The main control system 100 uses a proportional-integral control algorithm to control dynamic temperature deviation. The target control voltage of the Peltier temperature control circuit 520 is obtained through calculation. The calculation formula is: In the formula, This represents the proportional gain constant of the lens control circuit. This represents the integral gain constant of the lens control loop. Indicates the control cycle time. Represents the integral variable; The main control system 100 controls the voltage according to the target. The sign of the value determines the polarity of the control level, when the target control voltage When the voltage is less than zero, the main control system 100 outputs a cooling polarity level; when the target control voltage is greater than zero, the main control system 100 outputs a heating polarity level. The main control system 100 calculates the corresponding thermal compensation duty cycle parameter based on the absolute value of the target control voltage. The main control system 100 sends the thermal compensation duty cycle parameter and polarity control level to the Peltier temperature control circuit 520 through the thermally coupled spectral calibration bus 400. The Peltier temperature control circuit 520 changes the real-time feedback temperature of the lens body 510 based on the received electrical signal, so that the optical interface temperature of the lens body 510 is consistent with the temperature of the drug released by the drug dispensing valve 250.

[0023] Furthermore, the present invention provides a companion robot system with chronic disease medication management function, wherein the free fall type spectral physical fingerprint verification channel 300 may include: detection vertical tube 310, miniature near-infrared sensor array 320, ring light source group 330, first light-shielding sealing ring 341 and second light-shielding sealing ring 342. The detection vertical tube 310 is vertically installed below the inverted conical drug dispensing funnel 260. The top inlet of the detection vertical tube 310 is connected to the bottom outlet of the inverted conical drug dispensing funnel 260. The detection vertical tube 310 is made of opaque polytetrafluoroethylene material. Two optical windows are opened on the tube wall of the detection vertical tube 310, namely the first light-transmitting window 311 and the second light-transmitting window 312. The angle between the first light-transmitting window 311 and the second light-transmitting window 312 on the central axis in the circumferential direction of the detection vertical tube 310 is 90 degrees, so as to eliminate the direct transmission interference of the light emitted by the ring light source group 330 to the miniature near-infrared sensor array 320. A variable-temperature reference lens assembly 500 is installed at the first light-transmitting window 311, and a miniature near-infrared sensor array 320 is installed outside the first light-transmitting window 311. The light-receiving surface of the miniature near-infrared sensor array 320 faces the lens body 510. The miniature near-infrared sensor array 320 includes multiple indium gallium arsenide detection units arranged in a row. The ring light source assembly 330 is fixed to the outside of the second light-transmitting window 312. The ring light source assembly 330 includes multiple alternating near-infrared light-emitting diodes. The detection beam emitted by the ring light source assembly 330 passes through the second light-transmitting window 312 and illuminates the central area of ​​the detection vertical tube 310. The first light-shielding sealing ring 341 is sleeved at the connection between the miniature near-infrared sensor array 320 and the detection vertical tube 310, and the second light-shielding sealing ring 342 is sleeved at the connection between the ring light source group 330 and the detection vertical tube 310. The first light-shielding sealing ring 341 and the second light-shielding sealing ring 342 block external ambient light from entering the internal space of the detection vertical tube 310. Inside the detection vertical tube 310, the center height of the second light-transmitting window 312 is higher than the center height of the first light-transmitting window 311. The radiation optical axis of the ring light source group 330 forms an angle with the vertical axis of the detection vertical tube 310, and the angle ranges from 30 degrees to 60 degrees. The drug undergoes free fall motion inside the detection vertical tube 310. When the drug passes through the intersection area of ​​the first light-transmitting window 311 and the second light-transmitting window 312, the detection beam emitted by the ring light source group 330 generates diffuse reflection on the drug surface. The miniature near-infrared sensor array 320 receives the diffuse reflection signal through the lens body 510. The main control system 100 establishes a transient displacement model during the drug's descent. Based on the drug's free-fall acceleration, the main control system 100 calculates the time interval Δt between the drug's passing through the first light-transmitting window 311. The calculation formula is as follows: In the formula, h represents the vertical distance from the drug dispensing valve 250 to the top of the first light-transmitting window 311, L represents the vertical length of the first light-transmitting window 311, and g represents the gravitational acceleration constant. The main control system 100 controls the sampling frequency of the miniature near-infrared sensor array 320 based on the time interval Δt. sampling frequency The following relationship must be satisfied: In the formula, M represents the total number of spectral frames acquired during the fall of a single drug particle; The main control system 100 generates the final spectral physical fingerprint vector by calculating the arithmetic mean of the spectral features of N frames. The calculation formula is: In the formula, This represents the original diffuse reflectance spectrum obtained from the sampling of the j-th frame. The main control system 100 uses the spectral physical fingerprint vector... To compensate for attitude rollover deviations during the drug's descent; Furthermore, this invention provides a companion robot system with chronic disease medication management functions, wherein the dynamic spectral fingerprint similarity calculation method may include: the main control system 100 acquiring the original diffuse reflectance spectral sequence collected by the miniature near-infrared sensor array 320. ; The main control system 100 uses a maximum-minimum normalization algorithm to process the original diffuse reflectance spectral sequence. Preprocessing is performed to eliminate absolute light intensity fluctuations caused by uneven drug surface roughness, and the spectral components are normalized. The calculation formula is: In the formula, This represents the original light intensity value of the i-th sampling channel. and These represent the maximum and minimum light intensity values ​​in the current spectral sequence, respectively. The main control system 100 extracts the preprocessed absorbance feature components and constructs a real-time spectral physical fingerprint vector. The main control system 100 retrieves the reference spectral sequence of the corresponding drug storage unit 210 from the local memory and converts it into a reference spectral feature vector. Real-time spectral physical fingerprint vector With reference spectral eigenvectors All are N-dimensional vectors, where N is the total number of sampling channels in the miniature near-infrared sensor array 320; The main control system 100 calculates real-time spectral physical fingerprint vectors. With reference spectral eigenvectors The cosine of the angle in the feature space is used to obtain the similarity solution value. The formula for calculating the cosine of the included angle is: In the formula, Represents the real-time spectral physical fingerprint vector The component value of the i-th dimension. Represents the reference spectral eigenvector The component value of the i-th dimension; The main control system 100 performs Euclidean distance verification to assist in determining the morphological offset of the spectral curve, and calculates the real-time spectral physical fingerprint vector. With reference spectral eigenvectors The physical distance error ΔD between them is calculated using the following formula: The main control system 100 establishes a dual-weight decision model to make the final judgment on drug type and quality status. The main control system 100 calculates the similarity values. Substituting the physical distance error ΔD into the discriminant logic function Discriminant logic function The expression is: In the formula, represents the similarity weight coefficient, represents the distance error penalty coefficient, and satisfies the constraint relationship +=1; The main control system 100 determines the coefficient values ​​based on the drug attribute information, increases the similarity weight coefficient for drugs with high chemical stability requirements, and increases the distance error penalty coefficient for drugs that are extremely hygroscopic and deteriorate. The main control system 100 will determine the logic function. The calculation results and the preset judgment threshold A comparison is performed, and the result of the judgment logic function reaches or exceeds the judgment threshold. When the main control system 100 determines that the falling drug is the correct drug and the drug efficacy status is qualified, the main control system 100 controls the drug sorting device 600 to be connected to the external drug receiving area 650. When the result of the discrimination logic function is lower than the judgment threshold When the main control system 100 determines that the falling drug has been incorrectly filled, cross-contaminated, or deteriorated due to moisture absorption, the main control system 100 generates a sorting intervention signal and outputs the sorting intervention signal to the electromagnetic drive circuit of the drug sorting device 600, which drives the electromagnetic high-frequency sorting baffle 620 to switch the physical path, so that the drug falls into the waste drug isolation chamber 630.

[0024] See attached document Figure 4The present invention provides a companion robot system with chronic disease medication management function, wherein the medication sorting device 600 may include: a pre-dispensing buffer chamber 610, an electromagnetic high-frequency sorting baffle 620, a waste medication isolation chamber 630, a reverse recycling channel 640, an external medication receiving area 650, and a mechanical recycling push rod 660. The pre-discharge buffer chamber 610 is installed at the bottom of the detection vertical pipe 310. The internal space of the pre-discharge buffer chamber 610 is cylindrical. A retrieval interface is opened on the side wall of the pre-discharge buffer chamber 610. The retrieval interface is connected to the inlet end of the reverse retrieval channel 640. The mechanical retrieval push rod 660 is horizontally inserted through the side wall of the pre-discharge buffer chamber 610. The power end of the mechanical retrieval push rod 660 is connected to the retrieval motor. The execution end of the mechanical retrieval push rod 660 is located inside the pre-discharge buffer chamber 610. When the main control system 100 determines that the physiological posture is abnormal or the medication timeout has expired, the mechanical retrieval push rod 660 moves in a straight reciprocating motion in the horizontal direction, pushing the drug temporarily stored in the pre-discharge buffer chamber 610 into the reverse retrieval channel 640. The electromagnetic high-frequency sorting baffle 620 is installed at the bottom outlet of the pre-discharge buffer chamber 610 via a rotating shaft 621. One end of the electromagnetic high-frequency sorting baffle 620 is connected to a rotating electromagnet 622, which is fixedly installed on the outer wall of the pre-discharge buffer chamber 610. The rotating electromagnet 622 controls the electromagnetic high-frequency sorting baffle 620 to switch between three deflection angle positions according to the drive current pulse output by the main control system 100. When the electromagnetic high-frequency sorting baffle 620 deflects to the first angle position, the guide surface of the electromagnetic high-frequency sorting baffle 620 forms a first angle with the vertical direction to guide the external drug receiving area 650. When the electromagnetic high-frequency sorting baffle 620 deflects to the second angle position, the guide surface of the electromagnetic high-frequency sorting baffle 620 forms a second angle with the vertical direction to guide the waste drug isolation chamber 630. When the electromagnetic high-frequency sorting baffle 620 deflects to the third angle position, the electromagnetic high-frequency sorting baffle 620 closes the bottom outlet of the pre-discharge buffer chamber 610 in a horizontal state. When the electromagnetic high-frequency sorting baffle 620 is in the third angle position, the upper surface of the electromagnetic high-frequency sorting baffle 620 and the bottom inner wall of the reverse recycling channel 640 are on the same horizontal plane, serving as the physical sliding support surface when the mechanical recycling push rod 660 pushes the drug. The deflection response time of the electromagnetic high-frequency sorting baffle 620 when switching from the first angular position to the second angular position. Satisfy the fall time delay constraint: In the formula, h represents the vertical distance from the dispensing valve 250 to the top of the first light-transmitting window 311. The vertical physical distance from the top of the first light-transmitting window 311 to the top edge of the electromagnetic high-frequency sorting baffle 620 is represented by g, which represents the acceleration due to gravity. The main control system 100 limits the deflection response time. To ensure that the electromagnetic high-frequency sorting baffle 620 completes the physical path switching after the drug passes through the detection vertical tube 310 and before it touches the electromagnetic high-frequency sorting baffle 620, the surface of the electromagnetic high-frequency sorting baffle 620 is covered with a medical-grade silicone buffer pad, which is used to reduce the collision stress generated during the drug's fall. The waste drug isolation chamber 630 is installed on the internal frame of the robot body and is located diagonally below the pre-discharge buffer chamber 610. Under the sorting logic, the main control system 100 controls the deflection angle of the electromagnetic high-frequency sorting baffle 620 by changing the polarity and value of the current output to the rotating electromagnet 622. Driven by the rotating electromagnet 622, the electromagnetic high-frequency sorting baffle 620 selectively guides the drug to the external drug receiving area 650, the waste drug isolation chamber 630, or temporarily stores it in the pre-discharge buffer chamber 610.

[0025] Furthermore, the present invention provides a companion robot system with chronic disease medication management function, wherein the directional FMCW swallowing feature capture radar 700 may include: radio frequency front-end single-chip microcomputer 710, phased array antenna unit 720, voltage-controlled oscillator 730, frequency synthesizer 740 and beam focusing controller 750. The radio frequency front-end single-chip microcomputer 710 is installed inside the front chest panel of the companion robot body. The radio frequency front-end single-chip microcomputer 710 establishes a bidirectional data connection with the main control system 100 through a high-speed serial peripheral interface. The radio frequency front-end single-chip microcomputer 710 receives the physical morphology parameters of the drug transmitted by the main control system 100. The frequency synthesizer 740 is electrically connected to the voltage-controlled oscillator 730. The main control system 100 controls the frequency synthesizer 740 to output a voltage signal that varies linearly with time to the voltage-controlled oscillator 730. The voltage-controlled oscillator 730 generates a high-frequency continuous frequency modulated wave with a center frequency of 77 GHz. The phased array antenna element 720 includes multiple arranged transmitting antenna elements and receiving antenna elements. The transmitting antenna elements convert high-frequency continuous frequency modulated waves into directional radio frequency beams and project them into the space in front of the external drug receiving area 650. A beam focusing controller 750 is installed between the output of the RF front-end microcomputer 710 and the excitation end of the phased array antenna element 720. The beam focusing controller 750 receives focusing depth commands from the main control system 100 based on the physical morphology parameters of the drug. The beam focusing controller 750 calculates and adjusts the phase offset of each transmitting antenna element fed into the phased array antenna element 720. This enables the radio frequency beam to be focused in the target space; Phase offset The calculation formula is: In the formula, d represents the spacing between adjacent transmitting antenna elements in the phased array antenna element 720. This indicates the angle between the RF beam center focusing vector and the horizontal detection axis. This indicates the center wavelength of the directional FMCW swallowing feature acquisition radar 700; When the physical morphology parameters of the drug indicate a solid granule dosage form, the beam focusing controller 750 reduces the vertical beamwidth of the radio frequency beam; when the physical morphology parameters of the drug indicate a liquid dosage form, the beam focusing controller 750 increases the horizontal scanning coverage angle of the radio frequency beam. The beam-focusing controller 750 adjusts the radiation power of the radio frequency beam in real time based on the physical parameters of the drug. radiated power The calculation formula is: In the formula, Indicates the reference transmit power. This represents the radar cross section compensation coefficient corresponding to the physical morphological parameters of the drug. This indicates the angle between the RF beam center focusing vector and the horizontal detection axis; Half-power beamwidth generated by phased array antenna element 720 The following aperture constraint relationship must be satisfied: In the formula, M represents the total number of effective array elements of the phased array antenna unit 720 in the focusing direction. The beam focusing controller 750 adjusts the energy concentration of the radio frequency beam to adapt to different physical morphological parameters of the agent by dynamically configuring the number of active effective array elements M. In beam focusing mode, the receiving antenna element in the phased array antenna unit 720 captures the echo signal reflected by the human neck tissue. The internal mixer of the radio frequency front-end single-chip microcomputer 710 mixes and down-mixes the echo signal with the high frequency continuous frequency modulated wave. The radio frequency front-end single-chip microcomputer 710 outputs the intermediate frequency signal to the main control system 100. The main control system 100 adjusts the directional gain of the phased array antenna element 720 through the beam focusing controller 750, and the directional FMCW swallowing feature acquisition radar 700 optimizes the energy distribution of the radio frequency detection field according to the physical characteristics of the drug identified by the main control system 100.

[0026] See attached document Figure 5 The present invention provides a companion robot system with chronic disease medication management function, wherein the swallowing micro-Doppler frequency shift signal extraction model executed by the main control system 100 may include: intermediate frequency signal sampling module 110, discrete Fourier transform module 120, time spectrum matrix construction module 130, respiratory and heartbeat component suppression filter 140 and micro-Doppler envelope extraction module 150. The intermediate frequency (IF) signal sampling module 110 receives the IF signal output by the directional FMCW swallowing feature capture radar 700. The IF signal sampling module 110 quantizes the IF signal at the sampling frequency. The discrete Fourier transform (DFT) module 120 performs frame processing on the quantized IF signal. For each frame of signal, the DFT module 120 calculates one-dimensional range power spectrum data through windowing and discrete Fourier transform. The DFT module 120 performs cross-period complex average subtraction operation on the one-dimensional range power spectrum data of adjacent frames to filter out zero-velocity clutter components generated by static obstacles in the environment. The time-spectrum matrix construction module 130 extracts the target range cell corresponding to the human neck tissue from the one-dimensional range power spectrum data. The time-spectrum matrix construction module 130 performs a short-time Fourier transform on the phase information of the target range cell. The calculation formula for the short-time Fourier transform is as follows: In the formula, The complex signal sequence representing the target range cell. Indicates that the center is located at The window function at time t, Indicates angular frequency; The time-spectrum matrix construction module 130 generates a time-spectrum matrix describing the distribution of neck movement energy over time and frequency through the above calculations. The respiratory and heartbeat component suppression filter 140 performs frequency domain filtering on the time-spectrum matrix. Since the micro-displacement velocity generated by human respiratory and heartbeat movements is low, the corresponding Doppler frequency shift is distributed in the low-frequency range of 0.1Hz to 5Hz. The respiratory and heartbeat component suppression filter 140 suppresses low-frequency background interference noise in the time-spectrum matrix and retains the high-frequency micro-Doppler characteristics generated by swallowing movements by setting a high-pass filtering algorithm with a cutoff frequency of 8Hz. The micro-Doppler envelope extraction module 150 performs feature extraction on the filtered time-spectrum matrix. The main control system 100 detects the frequency shift of the energy peaks in the time-spectrum matrix over time to derive the instantaneous Doppler frequency shift sequence reflecting hyoid bone elevation and esophageal peristalsis. Instantaneous Doppler frequency shift sequence The solution formula is: In the formula, This represents the instantaneous phase value of the target range cell after phase unwrapping; The micro-Doppler envelope extraction module 150 calculates the energy centroid of the spectral matrix during the swallowing period. The calculation formula is: The main control system extracts energy from the center of gravity. The corresponding time domain width and frequency envelope amplitude are extracted and sent as micro-Doppler mechanical waveform features to the decision layer of the main control system 100. The main control system 100 analyzes the instantaneous Doppler frequency shift sequence. Integrating morphological parameters, the physical displacement of the swallowing action is calculated. The calculation formula is: In the formula, and These represent the start and end times of the swallowing action, respectively. The center wavelength of the directional FMCW swallowing feature capture radar (700) is represented by , and the spatial angle between the radar beam projection direction and the target tissue motion vector direction is represented by . The main control system 100 is based on the physical displacement. The numerical range determines whether the swallowing action conforms to the normal medication logic.

[0027] Furthermore, the present invention provides a companion robot system with chronic disease medication management function, wherein the reverse physiological interlock and drug dispensing mechanical blocking logic executed by the main control system 100 may include: a physiological posture discrimination module 160, a safe drug dispensing timing controller 170, and a retrieval execution logic unit 180. The physiological posture discrimination module 160 receives the spatial point cloud energy distribution data output by the directional FMCW swallowing feature acquisition radar 700. The physiological posture discrimination module 160 performs an angular-dimensional fast Fourier transform on the spatial point cloud energy distribution data to extract the horizontal projection tilt angle of the human torso energy centroid relative to the normal of the directional FMCW swallowing feature acquisition radar 700. The physiological posture discrimination module 160 will project the horizontal tilt angle. Compared with the preset choking risk threshold Perform real-time comparison; The safe drug dispensing timing controller 170 establishes an electrical connection with the rotating electromagnet 622 of the electromagnetic high-frequency sorting baffle 620. When the drug is temporarily stored in the pre-dispensing buffer chamber 610 and the horizontal projection angle is... Greater than the choking risk threshold At this time, the safe drug dispensing timing controller 170 outputs a drive current to the rotating electromagnet 622, which drives the electromagnetic high-frequency sorting baffle 620 to remain at the third angle position, and uses the horizontal upper surface of the electromagnetic high-frequency sorting baffle 620 to physically block the bottom outlet of the pre-dispensing buffer chamber 610. The safe drug dispensing timing controller 170 synchronously starts the safety detection timer. During the running cycle of the safety detection timer, if the physiological posture discrimination module 160 detects the horizontal projection tilt angle... Returning to the preset safe range, the safe drug dispensing timing controller 170 switches the output signal to the drive current pulse, controlling the electromagnetic high-frequency sorting baffle 620 to rotate to the first angle position, so that the drug is released to the external drug receiving area 650. The recycling execution logic unit 180 is connected to the recycling motor of the mechanical recycling push rod 660. If the safety detection timer reaches the preset overflow time constant... Furthermore, if the physiological posture discrimination module 160 does not detect a safe posture signal, the recovery execution logic unit 180 triggers the drug forced recovery process. The recovery execution logic unit 180 outputs a drive pulse sequence to the recovery motor, which drives the mechanical recovery push rod 660 to perform reciprocating linear motion in the horizontal direction. The execution end of the mechanical recovery push rod 660 contacts the drug temporarily stored in the pre-discharge buffer chamber 610, pushing the drug along the horizontal upper surface of the electromagnetic high-frequency sorting baffle 620 into the reverse recovery channel 640. The horizontal upper surface of the electromagnetic high-frequency sorting baffle 620 provides physical support for the drug to move from the pre-discharge buffer chamber 610 to the reverse recovery channel 640. The main control system 100 calculates the temporary storage time of the drug in the pre-discharge buffer chamber 610. Execution timeout blocking, the timeout blocking judgment logic satisfies the following constraints: In the formula, Indicates the operator that allows drug dispensing. This indicates the preset maximum allowed waiting time. When the value equals 0, the main control system 100 forcibly cuts off the opening circuit of the rotating electromagnet 622 and activates the recycling execution logic unit 180; The main control system 100 achieves direct coupling and interlocking of the detection results of the directional FMCW swallowing feature capture radar 700 and the operation status of the drug sorting device 600 at the physical level through a reverse physiological interlocking mechanism.

Claims

1. A companion robot system with chronic disease medication management function, characterized in that, The system includes: The system includes a main control system (100), an independent phase change microenvironment drug storage array (200), a free-fall spectral physical fingerprint verification channel (300), a thermally coupled spectral calibration bus (400), a variable temperature reference lens assembly (500), a drug dispensing and sorting device (600), and a directional FMCW swallowing feature capture radar (700). The main control system (100) establishes electrical connections with the independent phase change microenvironment drug storage array (200), the free fall spectral physical fingerprint verification channel (300), the variable temperature reference lens assembly (500), the drug dispensing and sorting device (600), and the directional FMCW swallowing feature capture radar (700), respectively. The independent phase change microenvironment drug storage array (200) is set in the upper cavity of the companion robot body, and its bottom is connected to the top opening of the free fall type spectral physical fingerprint verification channel (300) which is vertically installed directly below it via an inverted conical drug dispensing funnel (260). The drug sorting device (600) is connected to the bottom end of the free-fall spectral physical fingerprint verification channel (300) and is used to guide the drug to the external drug receiving area (650), the waste drug isolation chamber (630) or the reverse recycling channel (640). The variable temperature reference lens assembly (500) is embedded inside the side wall of the free-fall spectral physical fingerprint verification channel (300). The input end of the thermally coupled spectral calibration bus (400) is connected to the temperature sensor (240) inside the independent phase change microenvironment drug storage array (200), and the output end is connected to the variable temperature reference lens assembly (500). The directional FMCW swallowing feature capture radar (700) is embedded in the front chest panel of the companion robot body, with its radio frequency antenna emitting surface facing the space area in front of the external drug receiving area (650).

2. The companion robot system with chronic disease medication management function according to claim 1, characterized in that: The independent phase change microenvironment drug storage array (200) includes multiple drug storage units (210) arranged in a honeycomb pattern, and a heat insulation filling layer (202) is filled between adjacent drug storage units (210). The drug storage unit (210) includes a thermally conductive inner wall (211) that encloses a sealed drug storage cavity (212). A phase change material layer (230) covers the outer surface of the thermally conductive inner wall (211). A semiconductor cooling chip (220) is fixed to the outer side of the phase change material layer (230). The cold end face of the semiconductor cooling chip (220) is attached to the outer surface of the phase change material layer (230). The hot end face is connected to a heat dissipation component (221) that extends to the external space.

3. The companion robot system with chronic disease medication management function according to claim 1, characterized in that: The variable temperature reference lens assembly (500) includes a lens body (510), a thermally conductive ring (530), a Peltier temperature control circuit (520), a lens surface temperature sensor (450), and a heat-insulating mounting base (540). The heat-conducting ring (530) is fitted and tightly attached to the outer periphery of the lens body (510), the Peltier temperature control circuit (520) is fixedly installed on the outer surface of the heat-conducting ring (530), and the heat-insulating fixing seat (540) wraps around the outside of the heat-conducting ring (530) and the Peltier temperature control circuit (520). The main control system (100) sets the internal temperature of the drug storage unit (210) to the target tracking temperature, sets the temperature obtained by the lens surface temperature sensor (450) to the real-time feedback temperature, and outputs the thermal compensation duty cycle parameter and polarity control level to the Peltier temperature control circuit (520) through the thermal coupling spectral calibration bus (400) so that the optical interface temperature of the lens body (510) is consistent with the drug temperature.

4. The companion robot system with chronic disease medication management function according to claim 1, characterized in that: The free-fall spectral physical fingerprint verification channel (300) includes a detection vertical tube (310), a miniature near-infrared sensor array (320), a ring light source group (330), a first light-shielding sealing ring (341), and a second light-shielding sealing ring (342). The detection vertical tube (310) has two optical windows on its wall, namely a first light-transmitting window (311) and a second light-transmitting window (312). The angle between the first light-transmitting window (311) and the second light-transmitting window (312) on the central axis in the circumferential direction of the detection vertical tube (310) is 90 degrees. The variable temperature reference lens assembly (500) is installed at the first light-transmitting window (311), and the miniature near-infrared sensor array (320) is installed outside the first light-transmitting window (311) with its light-receiving surface facing the lens body (510). The ring light source group (330) is fixed to the outside of the second light-transmitting window (312).

5. A companion robot system with chronic disease medication management function according to claim 4, characterized in that: The main control system (100) establishes a dual-weight decision model to make a final judgment on the drug type and quality status, and calculates the similarity value. Substituting the physical distance error ΔD into the discriminant logic function Its expression is: In the formula, represents the similarity weight coefficient, represents the distance error penalty coefficient, and satisfies the constraint relationship +=1; When the result of the discrimination logic function is lower than the judgment threshold, the main control system (100) generates a sorting intervention signal and drives the drug sorting device (600) to make the drug fall into the waste drug isolation chamber (630).

6. A companion robot system with chronic disease medication management function according to claim 1, characterized in that: The drug sorting device (600) includes a pre-discharge buffer chamber (610), an electromagnetic high-frequency sorting baffle (620), a waste drug isolation chamber (630), a reverse recycling channel (640), an external drug receiving area (650), and a mechanical recycling push rod (660) that is transversely inserted through the side wall of the pre-discharge buffer chamber (610). The electromagnetic high-frequency sorting baffle (620) is installed at the bottom outlet of the pre-discharge buffer chamber (610) via a rotating shaft (621), and one end of it is connected to a rotating electromagnet (622). When the electromagnetic high-frequency sorting baffle (620) is deflected to the first angle position, it guides the external drug receiving area (650); when it is deflected to the second angle position, it guides the waste drug isolation chamber (630); when it is deflected to the third angle position, it closes the bottom outlet of the pre-discharge cavity buffer (610) in a horizontal state, and its upper surface is at the same level as the bottom inner wall of the reverse recycling channel (640), serving as the physical sliding support surface when the mechanical recycling push rod (660) pushes the drug.

7. A companion robot system with chronic disease medication management function according to claim 1, characterized in that: The directional FMCW swallowing feature capture radar (700) includes a radio frequency front-end single-chip microcomputer (710), a phased array antenna unit (720), a voltage-controlled oscillator (730), a frequency synthesizer (740), and a beam focusing controller (750). The radio frequency front-end single-chip microcomputer (710) receives the physical morphology parameters of the drug transmitted by the main control system (100), and the beam focusing controller (750) receives the focusing depth command. By calculating and changing the phase offset of each transmitting antenna element fed to the phased array antenna unit (720), the radio frequency beam is focused in the target space. When the physical morphology parameters of the drug indicate a solid granule dosage form, reduce the vertical beamwidth of the radio frequency beam; when it indicates a liquid dosage form, increase the horizontal scanning coverage angle of the radio frequency beam.

8. A companion robot system with chronic disease medication management function according to claim 1, characterized in that: The main control system (100) is configured to extract the intermediate frequency signal output by the directional FMCW swallowing feature capture radar (700) to obtain an instantaneous Doppler frequency shift sequence reflecting hyoid bone elevation and esophageal peristalsis. By integrating morphological parameters, the physical displacement of the swallowing action can be calculated. The calculation formula is: ； In the formula, and These represent the start and end times of the swallowing action, respectively. denoted by the center wavelength of the directional FMCW swallowing feature capture radar (700), and denoted by the spatial angle between the radar beam projection direction and the target tissue motion vector direction.

9. A companion robot system with chronic disease medication management function according to claim 6, characterized in that: The main control system (100) executes reverse physiological interlock and drug dispensing mechanical blocking logic, including a physiological posture discrimination module (160), a safe drug dispensing timing controller (170), and a recovery execution logic unit (180). The physiological posture discrimination module (160) extracts the horizontal projection angle of the energy centroid of the human torso and compares it with the preset cough risk threshold in real time. When the drug is temporarily stored in the pre-discharge buffer chamber (610) and the horizontal projection angle is greater than the choking risk threshold, the safe discharge timing controller (170) drives the electromagnetic high-frequency sorting baffle (620) to remain in the third angle position; if the preset conditions are met, the recycling execution logic unit (180) drives the mechanical recycling push rod (660) to push the drug into the reverse recycling channel (640) along the horizontal upper surface of the electromagnetic high-frequency sorting baffle (620).

10. A companion robot system with chronic disease medication management function according to claim 9, characterized in that: The main control system (100) calculates the temporary storage time of the drug in the pre-discharge buffer chamber (610). Execution timeout blocking, the timeout blocking judgment logic satisfies the following constraints: In the formula, Indicates the operator that allows drug dispensing. This indicates the preset maximum allowed waiting time; when When the value is 0, the main control system (100) forcibly cuts off the opening circuit of the rotating electromagnet (622) and activates the recycling execution logic unit (180).

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