Hospital intelligent inspection robot driving control system

Abstract

The utility model relates to the technical field of control circuits, and discloses a hospital intelligent inspection robot driving control system, which comprises a sensor unit, a motion processing unit, a motor driving unit, a photovoltaic charging unit and a main control unit, the sensor unit comprises a sensor control module, and a temperature and humidity sensor, an ultraviolet sensor, an air quality sensor, a gas sensor, an infrared temperature measurement sensor and a heart rate and blood oxygen sensor which are connected with the sensor control module, and the motor driving unit comprises a buffer circuit, a driving H-bridge circuit and a driving connection circuit. The buffer circuit is connected with the main control unit, the buffer circuit is connected with the driving connection circuit through the driving H-bridge circuit, and the driving connection circuit is connected with a driving motor of the robot; cruising of the robot is guaranteed, and the utilization rate is increased; therefore, the robot can greatly improve the efficiency of medical services, reduce the workload of medical staff, and provide more intelligent nursing experience for patients.

Description

Technical Field

[0001] This utility model relates to the field of control circuit technology, specifically to a drive control system for a hospital intelligent inspection robot. Background Technology

[0002] With global population growth, aging, and an increase in chronic diseases, healthcare demands are constantly rising. As technology advances, the application of healthcare robots will expand further. In the future, robots will not only play a supporting role in the healthcare system but may also become an important component of a fully automated healthcare system. This trend is expected to alleviate the global shortage of healthcare workers and improve the accessibility and equity of healthcare services, especially in regions with limited medical resources. With the continuous development of robotics technology, intelligent inspection robots are gradually becoming a reality. These robots can autonomously inspect hospitals, monitor the operational status of various facilities and equipment in real time, promptly detect anomalies and issue alarms, improving the efficiency and accuracy of inspections. However, there is currently no specific control system for hospital inspection robots. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a drive control system for a hospital intelligent inspection robot.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A drive control system for a hospital intelligent inspection robot includes a sensor unit, a motion processing unit, a motor drive unit, a photovoltaic charging unit, and a main control unit. The sensor unit includes a sensor control module and connected to it a temperature and humidity sensor, an ultraviolet sensor, an air quality sensor, a gas sensor, an infrared temperature sensor, and a heart rate and blood oxygen sensor. The motor drive unit includes a buffer circuit, a drive H-bridge circuit, and a drive connection circuit. The buffer circuit is connected to the main control unit and, through the drive H-bridge circuit, to the drive connection circuit. The drive connection circuit is connected to the robot's drive motor. The photovoltaic charging unit includes a solar charging control circuit, a Type-C charging circuit, and a lithium battery charging protection circuit. The photovoltaic charging unit is connected to the battery and supplies power to the overall circuit.

[0006] In this utility model, preferably, a communication unit is also included, the communication unit including a wireless communication device U16, the wireless communication device U16 being connected to the main control unit, and the main control unit communicating with the cloud platform through the wireless communication device U16.

[0007] In this utility model, preferably, the main control unit includes a main controller U27 and a first peripheral circuit connected to the main controller U27. The first peripheral circuit includes a first crystal oscillator circuit, a first reset circuit, a power indicator circuit, and a serial debugging circuit. Pins 12 and 13 of the main controller U27 are connected to the first crystal oscillator circuit, pin 14 is connected to the first reset circuit, pin 84 is connected to the power indicator circuit, and pins 72 and 76 are connected to the serial debugging circuit.

[0008] In this invention, preferably, the sensor control module includes a controller OSC1 and a second peripheral circuit connected to the controller OSC1. The main controller uses an STM32F4 series chip. The second peripheral circuit includes a crystal oscillator circuit, a reset circuit, and a download circuit. Pins 5 and 6 of the controller OSC1 are connected to the crystal oscillator circuit. Pin 7 of the controller OSC1 is connected to the reset circuit. When this pin receives a low-level signal, the internal circuits and registers of the MCU are reset to their initial state, which is commonly used for system startup or fault recovery. Pins 34 and 37 of the controller OSC1 are connected to the download circuit.

[0009] In this utility model, preferably, the buffer circuit includes a buffer chip U40 and a buffer chip U41. Pins 2, 5, 9, and 12 of the buffer chip U40 are connected to pins 40, 42, 44, and 45 of the main controller U27, and pins 2, 5, 9, and 12 of the buffer chip U41 are connected to pins 91, 92, 95, and 96 of the main controller U27.

[0010] In this utility model, preferably, the driving H-bridge circuit includes drivers U35, U36, U37 and U38. Drivers U35, U36, U37 and U38 are connected to buffer chips U40 and U41. Each driver is connected to four power transistors. The circuit structure of each driver and the four power transistors is the same. The drivers and power transistors together realize the forward and reverse rotation control of the motor.

[0011] In this invention, preferably, the driving H-bridge circuit includes power transistors Q37, Q39, Q41, and Q42. Pins 1 to 3 of power transistors Q37 and Q39 are connected to pins 20 and 21 of driver U37. Pins 5 to 9 of power transistor Q37 are connected to pin 23 of driver U37. Pins 5 to 9 of power transistor Q39 are connected to pin 18 of driver U37. Pins 1 to 4 of power transistor Q41 are connected to pin 23 of driver U37. Pins 5 to 9 of power transistor Q41 are connected to the VIN terminal. Pins 5 to 9 of power transistor Q42 are also connected to the VIN terminal. Pins 1 to 4 of power transistor Q42 are connected to pin 18 of driver U37.

[0012] In this invention, preferably, power transistor Q41 and power transistor Q37 output signal RS_A, power transistor Q42 and power transistor Q39 output signal RS_B, and signals RS_A and RS_B are connected to the drive connection circuit.

[0013] In this invention, preferably, the drive connection circuit includes several connectors and transient voltage suppression diodes. Signals RS_A and RS_B are connected to ports 1 and 6 of connector CN11. The transient voltage suppression diode is connected between ports 1 and 6. A capacitor C151 is connected between ports 2 and 5 of connector CN11. A 5V power supply and a ground terminal are also connected to the two ends of capacitor C151, respectively.

[0014] In this invention, preferably, a display unit is also included, the display unit including an OLED display, and the OLED display is connected to a camera interface, a voice interface and a Bluetooth interface.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] This system enables drive control of the robot, allowing for direction adjustment and speed control. Its simplified circuit structure, through the integration of various chips, enables comprehensive data collection from the ward and other environments, as well as the collection and detection of personnel's body temperature, heart rate, and blood oxygen levels. By incorporating a solar charging control circuit and a Type-C charging circuit, it achieves multi-mode charging of the robot, ensuring its endurance and improving utilization. This allows the robot to significantly enhance the efficiency of medical services, reduce the workload of medical staff, and provide patients with a more intelligent nursing experience. Attached Figure Description

[0017] Figure 1This is a structural block diagram of a hospital intelligent inspection robot drive control system according to the present invention.

[0018] Figure 2 This is a circuit diagram of the sensor unit described in this invention.

[0019] Figure 3 This is a circuit diagram of the solar charging circuit described in this invention.

[0020] Figure 4 This is a schematic diagram of the Type-C charging circuit described in this invention.

[0021] Figure 5 This is a circuit diagram of the lithium battery charging protection circuit described in this invention.

[0022] Figure 6 This is a circuit diagram of the communication unit described in this invention.

[0023] Figure 7 This is a circuit diagram of the main control unit described in this invention.

[0024] Figure 8 This is a circuit diagram of the main control unit described in this invention.

[0025] Figure 9 This is the first peripheral circuit diagram described in this invention.

[0026] Figure 10 This is a circuit diagram of the buffer circuit described in this invention.

[0027] Figure 11 This is a circuit diagram of the driving H-bridge circuit described in this invention.

[0028] Figure 12 This is another circuit diagram of the driving H-bridge circuit described in this invention.

[0029] Figure 13 This is a circuit diagram of the display unit described in this invention. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is described as "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is described as "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] Please see Figure 1 This utility model provides a preferred embodiment of a hospital intelligent inspection robot drive control system, including a sensor unit, a motion processing unit, a motor drive unit, a photovoltaic charging unit, and a main control unit. The sensor unit includes a sensor control module and connected to it a temperature and humidity sensor, an ultraviolet sensor, an air quality sensor, a gas sensor, an infrared temperature sensor, and a heart rate and blood oxygen sensor. The motor drive unit includes a buffer circuit, a drive H-bridge circuit, and a drive connection circuit. The buffer circuit is connected to the main control unit and, through the drive H-bridge circuit, to the drive connection circuit. The drive connection circuit is connected to the robot's drive motor. The photovoltaic charging unit includes a solar charging control circuit, a Type-C charging circuit, and a lithium battery charging protection circuit. The photovoltaic charging unit is connected to the battery and supplies power to the overall circuit. The motion processing unit includes a 6-axis motion tracker with a three-axis gyroscope and a three-axis accelerometer, and a DMP (Digital Motion Processor). The motion processing unit is used to detect the robot's posture, movement, tilt, and vibration.

[0034] Specifically, such as Figure 2The sensor unit uses a sensor detection integrated circuit board, which integrates multiple sensors, including but not limited to an infrared non-contact human body temperature sensor, a human heart rate and blood oxygen detection sensor, a high-precision SHT30 environmental temperature and humidity sensor, an MQ3 alcohol concentration sensor, an MQ135 air quality sensor, and an ultraviolet intensity sensor. Each sensor is used to collect data on temperature, humidity, ultraviolet intensity, air quality, and human heart rate and blood oxygen levels in the ward. The collected data is aggregated to the sensor control module, which then transmits the data to the main control unit. The main control unit can drive the robot to perform inspections or rapid medication delivery through the motion processing unit and the motor drive unit. The photovoltaic charging unit is equipped with multiple different charging methods to ensure the normal operation of the robot. The solar charging control circuit used can achieve simultaneous charging and operation, improving the utilization rate of the robot.

[0035] Specifically, such as Figure 3 The solar charging control circuit includes connector DC1, through which the solar panel is connected. DC1 is also connected to a transient voltage suppressor diode D1, which prevents damage to the circuit from instantaneous high voltage, providing overvoltage protection. Connector DC1 is also connected to terminal block U1. The solar charging control circuit also includes a buck charging integrated manager U4. Pin 15 of the buck charging integrated manager U4 is connected to a protector Q1, and pin 14 is connected to the battery. Protector Q1 further ensures the safety of the input circuit. The buck charging integrated manager U4 controls the charging current and voltage by detecting the battery status (such as voltage and temperature), ensuring safe and efficient battery charging. LEDs 1 and 2 connected to the buck charging integrated manager U4 are used to indicate the charging status.

[0036] Specifically, such as Figure 4 As shown, the Type-C charging circuit offers multiple charging methods and uses the TPS4056 charging management chip, enabling stable charging of lithium batteries. For example... Figure 5 As shown, the lithium battery charging protection circuit is used to protect the battery during charging, ensuring more stable and reliable charging. It uses the DW06 charging protection IC to prevent unexpected situations such as overcharging, over-discharging, and overcurrent.

[0037] Specifically, the U4 buck charging integrated manager uses the CN3791 series charging point manager, which can realize three charging modes: trickle charging, constant current charging, and constant voltage charging, as well as MPPT charging mode, to track the maximum power point of the solar photovoltaic panel. Furthermore, considering situations where sunlight is insufficient at night but the product still needs charging, charging can be performed via a Type-C charging circuit using the TPS4056 charging management chip, ensuring stable charging of the lithium battery. To further ensure stable and reliable charging, we have also implemented charging protection, employing the DW06 charging protection IC to prevent overcharging, over-discharging, overcurrent, and other unexpected situations.

[0038] In this embodiment, such as Figure 6 As shown, it also includes a communication unit, which includes a wireless communication device U16. The wireless communication device U16 is connected to the main control unit. The main control unit communicates with the cloud platform through the wireless communication device U16 and can summarize and send the collected data of the ward and patients to the cloud platform.

[0039] In this embodiment, such as Figure 7 As shown, the main control unit includes a main controller U27 and a first peripheral circuit connected to the main controller U27. The first peripheral circuit includes a first crystal oscillator circuit, a first reset circuit, a power indicator circuit, and a serial debugging circuit. Pins 12 and 13 of the main controller U27 are connected to the first crystal oscillator circuit, pin 14 is connected to the first reset circuit, pin 84 is connected to the power indicator circuit, and pins 72 and 76 are connected to the serial debugging circuit.

[0040] In this embodiment, the main control unit can be a Raspberry Pi development board and use OpenMV for line tracking. At the same time, the main control unit loads YOLO convolutional neural network to achieve visual recognition and ASR PRO to achieve voice interaction.

[0041] In this embodiment, such as Figure 8-9 As shown, the sensor control module includes a controller OSC1 and a second peripheral circuit connected to the controller OSC1. The main controller uses an STM32F4 series chip. The second peripheral circuit includes a crystal oscillator circuit, a reset circuit, and a download circuit. Pins 5 and 6 of the controller OSC1 are connected to the crystal oscillator circuit. Pin 7 of the controller OSC1 is connected to the reset circuit. When this pin receives a low-level signal, the internal circuits and registers of the MCU are reset to their initial state, which is commonly used for system startup or fault recovery. Pins 34 and 37 of the controller OSC1 are connected to the download circuit.

[0042] In this embodiment, such as Figure 10 As shown, the buffer circuit includes buffer chip U40 and buffer chip U41. Pins 2, 5, 9 and 12 of buffer chip U40 are connected to pins 40, 42, 44 and 45 of the main controller U27. Pins 2, 5, 9 and 12 of buffer chip U41 are connected to pins 91, 92, 95 and 96 of the main controller U27.

[0043] In this embodiment, such as Figure 11-12As shown, the driving H-bridge circuit includes drivers U35, U36, U37 and U38. Drivers U35, U36, U37 and U38 are connected to buffer chips U40 and U41. Each driver is connected to four power transistors. The circuit structure of each driver and the four power transistors is the same. The drivers and power transistors together realize the forward and reverse rotation control of the motor.

[0044] Specifically, taking one H-bridge circuit as an example, the driving H-bridge circuit includes power transistors Q37, Q39, Q41, and Q42. Pins 1 to 3 of power transistors Q37 and Q39 are connected to pins 20 and 21 of driver U37. Pins 5 to 9 of power transistor Q37 are connected to pin 23 of driver U37. Pins 5 to 9 of power transistor Q39 are connected to pin 18 of driver U37. Pins 1 to 4 of power transistor Q41 are connected to pin 23 of driver U37. Pins 5 to 9 of power transistor Q41 are connected to the VIN terminal. Pins 5 to 9 of power transistor Q42 are also connected to the VIN terminal. Pins 1 to 4 of power transistor Q42 are connected to pin 18 of driver U37. By alternately turning on one pair of power transistors (Q37 and Q42) and another pair (Q39 and Q41) in the driving H-bridge circuit, the forward and reverse rotation control of the motor is achieved.

[0045] Specifically, such as Figure 10 As shown, power transistor Q41 and power transistor Q37 output signal RS_A, and power transistor Q42 and power transistor Q39 output signal RS_B. Signals RS_A and RS_B are connected to the drive connection circuit.

[0046] Specifically, such as Figure 10 As shown, the drive connection circuit includes several connectors and transient voltage suppression diodes. Signals RS_A and RS_B are connected to ports 1 and 6 of connector CN11. The transient voltage suppression diode is connected between ports 1 and 6. Capacitor C151 is connected between ports 2 and 5 of connector CN11. The two ends of capacitor C151 are also connected to a 5V power supply and ground, respectively.

[0047] Specifically, such as Figure 13 As shown, it also includes a display unit, which comprises an OLED display. The OLED display is connected to a camera interface, a voice interface, and a Bluetooth interface. A voice recognition chip, such as an ASRPRO chip, is connected via the voice interface to achieve functions such as voice recognition, voiceprint recognition, voice enhancement, and voice detection.

[0048] The above description is a detailed description of the preferred embodiments of the present utility model. However, the embodiments are not intended to limit the scope of the patent application of the present utility model. All equivalent changes or modifications made under the technical spirit of the present utility model should fall within the patent scope covered by the present utility model.

Claims

1. A hospital intelligent inspection robot driving control system, characterized in that, The application relates to a robot, which comprises a sensor unit, a motion processing unit, a motor driving unit, a photovoltaic charging unit and a main control unit, wherein the sensor unit comprises a sensor control module and humidity and temperature sensors, ultraviolet sensors, air quality sensors, gas sensors, infrared temperature sensors and heart rate and blood oxygen sensors connected with the sensor control module; the motor driving unit comprises a buffer circuit, a driving H-bridge circuit and a driving connection circuit; the buffer circuit is connected with the main control unit; the buffer circuit is connected with the driving H-bridge circuit through the driving connection circuit; the driving connection circuit is connected with a driving motor of the robot; the photovoltaic charging unit comprises a solar charging control circuit, a Type-c charging circuit and a lithium battery charging protection circuit; the photovoltaic charging unit is connected with a battery for supplying power to the overall circuit.

2. The driving control system of the intelligent hospital inspection robot according to claim 1, wherein The application further comprises a communication unit, which comprises a wireless communicator U16 connected with the main control unit; the main control unit is connected with a cloud platform through the wireless communicator U16.

3. The driving control system of the intelligent hospital inspection robot according to claim 2, wherein, The main control unit comprises a main controller U27 and a first peripheral circuit connected with the main controller U27; the first peripheral circuit comprises a first crystal oscillator circuit, a first reset circuit, a power supply indication circuit and a serial debugging circuit; the 12th and 13th pins of the main controller U27 are connected with the first crystal oscillator circuit; the 14th pin is connected with the first reset circuit; the 84th pin is connected with the power supply indication circuit; the 72nd and 76th pins are connected with the serial debugging circuit.

4. The driving control system of the intelligent hospital inspection robot according to claim 3, characterized in that, The sensor control module comprises a controller OSC1 and a second peripheral circuit connected with the controller OSC1; the main controller adopts an STM32F4 series chip; the second peripheral circuit comprises a crystal oscillator circuit, a reset circuit and a downloading circuit; the 5th and 6th pins of the controller OSC1 are connected with the crystal oscillator circuit; the 7th pin of the controller OSC1 is connected with the reset circuit; the 34th and 37th pins of the controller OSC1 are connected with the downloading circuit.

5. The driving control system of the intelligent hospital inspection robot according to claim 3, wherein, The buffer circuit comprises buffer chips U40 and U41; the 2nd, 5th, 9th and 12th pins of the buffer chip U40 are connected with the 40th, 42nd, 44th and 45th pins of the main controller U27; the 2nd, 5th, 9th and 12th pins of the buffer chip U41 are connected with the 91st, 92nd, 95th and 96th pins of the main controller U27.

6. The driving control system of a hospital intelligent inspection robot according to claim 5, characterized in that, The driving H-bridge circuit comprises drivers U35, U36, U37 and U38; the drivers U35, U36, U37 and U38 are connected with the buffer chip U40 and the buffer chip U41; each driver is connected with four power transistors; each driver is connected with the four power transistors in the same circuit structure; the drivers and the power transistors together realize forward and reverse rotation control of the motor.

7. The driving control system of a hospital intelligent inspection robot according to claim 6, characterized in that, The driving H-bridge circuit comprises power transistors Q37, Q39, Q41 and Q42, the 1st to 3rd pins of the power transistors Q37 and Q39 are connected to the 20th and 21st pins of the driver U37, the 5th to 9th pins of the power transistor Q37 are connected to the 23rd pin of the driver U37, the 5th to 9th pins of the power transistor Q39 are connected to the 18th pin of the driver U37, the 1st to 4th pins of the power transistor Q41 are connected to the 23rd pin of the driver U37, the 5th to 9th pins of the power transistor Q41 are connected to the VIN end, the 5th to 9th pins of the power transistor Q42 are also connected to the VIN end, and the 1st to 4th pins of the power transistor Q42 are connected to the 18th pin of the driver U37.

8. The driving control system of the intelligent hospital inspection robot according to claim 7, characterized in that, The power transistor Q41 and the power transistor Q37 output a signal RS_A, the power transistor Q42 and the power transistor Q39 output a signal RS_B, and the signal RS_A and the signal RS_B are connected to the driving connection circuit.

9. The driving control system of the intelligent hospital inspection robot according to claim 8, characterized in that, The driving connection circuit comprises a plurality of connectors and transient voltage suppression diodes, the signal RS_A and the signal RS_B are connected to the 1st and 6th ports of the connector CN11, the transient voltage suppression diodes are connected between the 1st and 6th ports, the 2nd and 5th ports of the connector CN11 are connected to the capacitor C151, and the capacitor C151 is further connected to the 5V power supply and the ground end.

10. The driving control system of the intelligent hospital inspection robot according to claim 9, wherein, The display unit comprises an OLED display, and the OLED display is connected to a camera interface, a voice interface and a Bluetooth interface.

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