Intelligent medicine delivery robot

Abstract

According to the intelligent medicine delivery robot, on the basis of the SLAM technology, the laser radar can be used for scanning the surrounding environment in real time, an environment map is built, and the control module is used for controlling the robot to accurately arrive at a designated place to complete corresponding events. The robot is small in size, can adapt to the ground of a traditional building, can map and navigate at the same time, and is good in environmental adaptability and high in stability. Meanwhile, the robot carries the medicine chest device and the voice module, after the robot runs to a designated place and receives an instruction, the medicine chest device can be opened and closed through remote voice operation, and the instruction is played at the same time. The medicine box device can effectively contain a certain number of medicines, and non-contact distribution of the medicines is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent robots, and in particular to an intelligent medicine delivery robot. Background Art

[0002] The medical needs of modern society are increasing day by day, and there is a large gap between the number of medical staff and the number of patients. In hospitals, the current model is generally for nurses or medical staff to prepare and deliver medicines for patients according to the medical records, which leads to long preparation time, heavy workload, and reduced patient experience. At the same time, when medical staff provide some basic medical services to patients, such as temperature measurement, they will inevitably come into contact with infectious diseases, posing the risk of virus transmission. Utility Model Content

[0003] The present application provides an intelligent medicine delivery robot to solve the problems in the prior art that medical staff have a heavy workload in delivering medicines, have low efficiency, and have the risk of infection when in contact with patients.

[0004] The present application provides an intelligent medicine delivery robot, comprising the following steps:

[0005] Robot body;

[0006] A laser radar module, which is arranged at the top and rear end of the robot body to scan the surrounding environment and construct an environmental map to achieve navigation;

[0007] A voice module, which is arranged at the front end of the top of the robot body and broadcasts preset content when a preset condition is met;

[0008] A motor drive module, which is disposed inside the robot body and drives the robot body to reach a destination according to a preset route trajectory and a real-time environment map;

[0009] A control module, which is disposed inside the robot body and controls the laser radar module, the voice module and the motor drive module;

[0010] A power module, which is arranged inside the robot body and supplies power to the laser radar module, the voice module, the motor drive module and the control module;

[0011] A medicine box device is arranged in the middle of the robot body.

[0012] In the present application, the robot body is provided with three layers of support plates in parallel from bottom to top, namely, a first support plate, a second support plate and a third support plate, and the first support plate and the second support plate, and the second support plate and the third support plate are supported by a plurality of columns;

[0013] A pair of driving wheels and a universal wheel are arranged in parallel at the bottom of the first support plate, and a control box and the power module are arranged on the top of the first support plate along the radial direction of the driving wheel;

[0014] The control box is provided with the control module and the motor drive module, and the control module includes an upper computer Raspberry pi4B and a lower computer Arduino;

[0015] The medicine box device is arranged between the second support plate and the third support plate;

[0016] The laser radar module and the voice module are arranged on the top of the third supporting plate.

[0017] In the present application, the laser radar module is fixed on the top of the third support plate through a plurality of columns.

[0018] In the present application, the power module is a lithium battery pack with an output voltage of 12V.

[0019] In the present application, the host computer Raspberry pi4B and the slave computer Arduino process the obtained signals through a preset program and switch functions to drive the robot body to move forward, backward, and stop; the laser radar module is connected to the host computer Raspberry pi4B signal to store the surrounding environment data scanned by the laser radar module into the host computer Raspberry pi4B; the voice module is connected to the host computer Raspberry pi4B to interact with data and play sound.

[0020] In this application, the lower computer Arduino is connected to the signal of the motor drive module, and the drive motor of the drive wheel group selects MG513P30_12V DC reduction motor with Hall encoder. The rear shaft of the motor rotates one circle and outputs 13 pulses. The motor reduction ratio is 1:30.

[0021] In this application, the motor drive module selects the TB6612FNG motor drive chip, which allows two motors to be driven simultaneously and supports four control modes: forward, reverse, brake and stop.

[0022] In the present application, the medicine box device is provided with a charging module and a feeding module, which are placed in parallel on the top of the second support plate. The charging module is divided into a guide rail and a support block; the feeding module is divided into a servo, a servo support frame and a rack; the servo is fixed to the side of the servo support frame, and is matched with the rack through the output shaft gear. The servo is connected to the lower computer Arduino signal. According to different needs, the upper computer Raspberry pi4B publishes topic instructions, and the lower computer Arduino subscribes to the topic to obtain the execution instruction and sends a periodic high-level signal to drive the servo to work. The servo realizes the forward, reverse and stop functions and then drives the rack forward, backward and stop.

[0023] In the present application, the feed module servo is an SG90PRO servo with a working torque of 2KG / cm. It is fixed on the side of the servo support frame, and the end gear is a cylindrical gear with 27 teeth, a module 1, and a pressure angle of 20; the rack is a support rack with a module 1, and the end of the rack is connected to the medicine box device.

[0024] The intelligent medicine delivery robot of the embodiment of the present application, based on SLAM technology, can use laser radar to scan the surrounding environment in real time and build an environmental map, and use the upper and lower computers of the control module to control the robot to accurately reach the designated location and complete the corresponding event. The robot is small in size and can adapt to the ground of traditional buildings. It can build maps and navigate at the same time. It has good environmental adaptability and high stability. At the same time, the robot is equipped with a medicine box device and a voice module. After the robot runs to the designated location and receives instructions, it can open and close the medicine box device through remote voice operation, and play instructions at the same time. The medicine box device can effectively accommodate a certain number of medicines and realize contactless delivery of medicines.

[0025] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0027] Figure 1 This is a schematic diagram of the overall structure of the intelligent medicine delivery robot according to the present application;

[0028] Figure 2 This is a schematic diagram of the bottom structure of the intelligent medicine delivery robot according to the present application;

[0029] Figure 3 This is a PCB schematic diagram of the motor drive module and power module of the intelligent medicine delivery robot according to the present application;

[0030] Figure 4This is a schematic diagram of the circuit structure of the Raspberry pi4B host computer and its components of the intelligent medicine delivery robot according to the present application;

[0031] Figure 5 This is a schematic diagram of the tail structure of the intelligent medicine delivery robot according to the present application;

[0032] Figure 6 The figure is a flow chart of speech recognition of the intelligent medicine delivery robot according to the present application. DETAILED DESCRIPTION

[0033] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0034] like Figure 1 As shown, the intelligent medicine delivery robot of the present application includes:

[0035] Robot body;

[0036] The laser radar module 3 is arranged at the top rear end of the robot body to scan the surrounding environment and build an environmental map to realize navigation;

[0037] The voice module 4 is arranged at the front end of the top of the robot body, and broadcasts the preset content when the preset conditions are met;

[0038] The motor drive module is arranged inside the robot body and drives the robot body to reach the destination according to the pre-set route trajectory and real-time environment map;

[0039] A control module is arranged inside the robot body and controls the laser radar module 3, the voice module 4 and the motor drive module;

[0040] A power module 7 is provided inside the robot body to supply power to the laser radar module 3, the voice module 4, the motor drive module and the control module;

[0041] The medicine box device 5 is arranged in the middle of the robot body.

[0042] In the embodiments of the present application, Figure 1 As shown, the robot body is provided with three layers of support plates in parallel from bottom to top, namely the first support plate 21, the second support plate 22 and the third support plate 23. The first support plate 21 and the second support plate 22, and the second support plate 22 and the third support plate 23 are supported by a plurality of columns 6.

[0043] like Figure 2 As shown, a pair of driving wheels 12 and a universal wheel 11 are arranged in parallel at the bottom of the first support plate 21. A control box 8 and a power supply module 7 are arranged along the radial direction of the driving wheel 12 at the top of the first support plate 21.

[0044] The control box 8 is provided with a control module and a motor drive module. The control module includes a host computer Raspberry pi4B and a slave computer Arduino.

[0045] In the embodiment of the present application, the host computer adopts Raspberry Pi 4B and the slave computer adopts Arduino mega2560.

[0046] A medicine box device 5 is arranged between the second support plate 22 and the third support plate 23 .

[0047] A laser radar module 3 and a voice module 4 are arranged on the top of the third supporting plate 23 .

[0048] like Figure 1 As shown, the laser radar module is fixed on the top of the third support plate through multiple columns.

[0049] like Figure 3 As shown, the PCB structure of the motor drive module and the power module is shown, wherein the power module supplies power to the upper computer Raspberry pi4B and the lower computer Arduino mega2560, and the power module can be a lithium battery pack with an output voltage of 12V.

[0050] like Figure 4 As shown, in the embodiment of the present application, the host computer Raspberry pi4B and the lower computer Arduino process the obtained signal through a preset program and switch the function to drive the robot body to move forward, backward, and stop; the laser radar module 3 is connected to the host computer Raspberry pi4B signal to store the surrounding environment data scanned by the laser radar module 3 into the host computer Raspberry pi4B; the voice module 4 is connected to the host computer Raspberry pi4B to interact with the data and play the sound. For example, after the robot arrives at the destination, it plays "Please take medicine", "Please open the medicine box device", "The medicine box device is open" or "The medicine box device is closed", etc. In the embodiment of the present application, the model of the voice module can be Tianwen-ASR01.

[0051] In the embodiment of the present application, the signal of the lower computer Arduino is connected to the motor drive module. The drive motor of the drive wheel group selects MG513P30_12V DC reduction motor with Hall encoder. The rear shaft of the motor outputs 13 pulses for one rotation. The motor reduction ratio is 1:30, and the number of pulses for one rotation of the output shaft is 390 pulses. After the software 4-fold frequency increase, the number of pulses per rotation is 1560.

[0052] The motor driver module selects the TB6612FNG motor driver chip, which can drive two motors at the same time and supports four control modes: forward, reverse, brake and stop.

[0053] like Figure 2 As shown, the intelligent medicine delivery robot of the present application is provided with a pair of symmetrical driving wheels 12 on the left and right sides, and a universal wheel 11 is provided in parallel in the front. A 12V power supply is used to drive the TB6612FNG motor driver chip, and then drive the MG513P30_12V DC reduction motor.

[0054] like Figure 5 As shown, in the embodiment of the present application, the medicine box device 5 is provided with a charging module and a feeding module, which are placed in parallel on the top of the second support plate 22, and the charging module is divided into a guide rail 55 and a support block 54. The feeding module is divided into a servo 51, a servo support frame 53 and a rack 52. The servo 51 is fixed to the side of the servo support frame 53, and is matched with the rack 52 through the output shaft gear. The servo 51 is connected to the lower computer Arduino mega2560 by signal. According to different needs, the upper computer Raspberry pi4B publishes topic instructions, and the lower computer Arduino mega2560 subscribes to the topic to obtain the execution instruction and sends a periodic high-level signal to drive the servo 51 to work. The servo 51 realizes the forward, reverse and stop functions and drives the rack 52 to move forward, backward and stop.

[0055] The feed module servo 51 in the medicine box device 5 is a SG90PRO servo with a working torque of 2KG / cm, fixed on the side of the servo support frame 53; the end gear is a cylindrical gear with 27 teeth, module 1, and pressure angle 20; the rack 52 is a support rack with module 1; the end of the rack 52 is connected to the medicine box device 5. Figure 6As shown, the voice module 4 can receive voice commands by constructing a voice model, transmit high and low level signals to the Arduino mega2560, and then issue an execution control medicine box device 5. First, the voice model preset by the voice module is set to build a model that meets the requirements. The model can perform voice analysis for the required entries. Finally, according to the comparison between the recognized voice and the preset model, the "open medicine box device" voice command is recognized, a high level is output, and the voice "the medicine box device is turned on" is broadcast; the "close medicine box device" voice command is recognized, a low level is output, and the voice "the medicine box device is turned off" is broadcast.

[0056] In this application, the laser radar module 3 selects RPLIDAR A1. The RPLIDAR A1 laser radar calculates the flight time of the laser beam based on the TOF ranging principle to achieve the purpose of measuring distance; at the same time, it scans the environment within the range to obtain point cloud information. The surrounding environment map is constructed in conjunction with the laser radar through SLAM technology (Simultaneous Localization and Mapping, a technology that simultaneously performs autonomous positioning and map construction). The robot can accurately run to the destination through the control of the host computer or remote control through the PC. In terms of usage scenarios, the robot can adapt to new environments in a timely manner, use dynamic path planning algorithms, and navigate while building maps to achieve autonomous exploration of the environment and plan routes.

[0057] The robot connects to the LiDAR module 3 through the host computer Raspberry pi4B to obtain point cloud data, uses the sensor_msgs / LaserScan message type in ROS to receive LiDAR data, and uses the gampping mapping algorithm (Gmapping is a SLAM algorithm based on 2D LiDAR that uses the RBPF (Rao-Blackwellized Particle Filters) algorithm to complete the construction of a two-dimensional grid map) to build a two-dimensional grid map based on the received LiDAR data. The driving wheel group wheel 12 is connected to the lower computer Arduino mega2560 signal. When the vehicle is moving, the encoder sends a pulse. The lower computer Arduino mega2560 decodes the pulse signal through the program and publishes the speed topic to the upper computer Raspberry pi4B. The upper computer Raspberry pi4B processes the speed message through the algorithm and compares it with the scene map, and feeds back the speed topic signal to the lower computer Arduino mega2560. The driving wheel group 12 drives the universal wheel 11 to move. When the robot approaches the target point, the move_base node will detect whether the robot has arrived near the designated location. Once it arrives near the designated location, the upper computer Raspberry pi4B sends a high-level signal and the robot stops moving.

[0058] Furthermore, the present application can compare the preset trajectory with the scene map constructed by the lidar module. If there are obstacles on the trajectory, the existing obstacle avoidance algorithm is used to avoid them and a new trajectory is replanned.

[0059] It is understandable that the obstacle avoidance algorithm or planning algorithm or other algorithms used can be implemented using existing methods.

[0060] The intelligent medicine delivery robot of the present application, based on SLAM technology, can use laser radar to scan the surrounding environment in real time and build an environmental map, and use the upper and lower computers of the control module to control the robot to accurately reach the designated location and complete the corresponding event. The robot is small in size and can adapt to the ground of traditional buildings. It can build maps and navigate at the same time. It has good environmental adaptability and high stability. At the same time, the robot is equipped with a medicine box device and a voice module; after the robot runs to the designated location and receives instructions, it can open and close the medicine box device through remote voice operation, and play instructions at the same time. The medicine box device can effectively accommodate a certain amount of medicines to achieve contactless delivery of medicines.

[0061] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0062] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

Claims

1. An intelligent medicine delivery robot, characterized in that: include: Robot body; A laser radar module, which is arranged at the top and rear end of the robot body to scan the surrounding environment and construct an environmental map to achieve navigation; A voice module, which is arranged at the front end of the top of the robot body and broadcasts preset content when a preset condition is met; A motor drive module, which is disposed inside the robot body and drives the robot body to reach a destination according to a preset route trajectory and a real-time environment map; A control module, which is disposed inside the robot body and controls the laser radar module, the voice module and the motor drive module; A power module, which is arranged inside the robot body and supplies power to the laser radar module, the voice module, the motor drive module and the control module; A medicine box device is arranged in the middle of the robot body.

2. The intelligent medicine delivery robot according to claim 1, characterized in that: The robot body is provided with three layers of support plates in parallel from bottom to top, namely a first support plate, a second support plate and a third support plate, and the first support plate and the second support plate, and the second support plate and the third support plate are supported by a plurality of columns; A pair of driving wheels and a universal wheel are arranged in parallel at the bottom of the first support plate, and a control box and the power module are arranged on the top of the first support plate along the radial direction of the driving wheel; The control box is provided with the control module and the motor drive module, and the control module includes a host computer Raspberry pi4B and a slave computer Arduino; The medicine box device is arranged between the second support plate and the third support plate; The laser radar module and the voice module are arranged on the top of the third supporting plate.

3. The intelligent medicine delivery robot according to claim 2, characterized in that: The laser radar module is fixed on the top of the third support plate through a plurality of columns.

4. The intelligent medicine delivery robot according to claim 1, characterized in that: The power module is a lithium battery pack with an output voltage of 12V.

5. The intelligent medicine delivery robot according to claim 2, characterized in that: The upper computer Raspberry pi4B and the lower computer Arduino process the obtained signals through a preset program and switch functions to drive the robot body to move forward, backward, and stop; the laser radar module is connected to the upper computer Raspberry pi4B signal to store the surrounding environment data scanned by the laser radar module into the upper computer Raspberry pi4B; the voice module is connected to the upper computer Raspberry pi4B to interact with data and play sound.

6. The intelligent medicine delivery robot according to claim 5, characterized in that: The lower computer Arduino is connected to the signal of the motor drive module. The driving motor of the driving wheel group selects MG513P30_12V DC reduction motor with Hall encoder. The rear shaft of the motor rotates one circle and outputs 13 pulses. The motor reduction ratio is 1:

30.

7. The intelligent medicine delivery robot according to claim 6, characterized in that: The motor driver module uses the TB6612FNG motor driver chip, which allows two motors to be driven simultaneously and supports four control modes: forward, reverse, brake and stop.

8. The intelligent medicine delivery robot according to claim 2, characterized in that: The medicine box device is provided with a charging module and a feeding module, which are placed in parallel on the top of the second support plate. The charging module is divided into a guide rail and a support block; the feeding module is divided into a servo, a servo support frame and a rack; the servo is fixed to the side of the servo support frame, and cooperates with the rack through the output shaft gear. The servo is connected to the lower computer Arduino signal. According to different needs, the upper computer Raspberry pi4B publishes topic instructions, and the lower computer Arduino subscribes to the topic to obtain the execution instruction and sends a periodic high-level signal to drive the servo to work. The servo realizes the forward, reverse and stop functions and then drives the rack to move forward, backward and stop.

9. The intelligent medicine delivery robot according to claim 8, characterized in that: The feed module servo is an SG90PRO servo with a working torque of 2KG / cm. It is fixed on the side of the servo support frame, and the end gear is a cylindrical gear with 27 teeth, a module 1, and a pressure angle of 20; the rack is a support rack with a module 1, and the end of the rack is connected to the medicine box device.

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