An intelligent robot for delivering meals to isolation wards

Abstract

The utility model discloses an intelligent robot of serving meal to isolation ward, including car body and set up its main control module, power module, patrol line module, obstacle avoidance module, display module, voice module and power management module. Main control module adopts STM32F103C8T6 singlechip, and power module includes L298N drive module and direct current motor, and patrol line module adopts a plurality of infrared reflection sensor, and obstacle avoidance module adopts obstacle avoidance sensor, and display module is OLED display screen, and voice module includes voice synthesis chip and loudspeaker. The utility model discloses a hardware modularization design to replace laser radar with low -cost infrared sensor, combines fixed route patrol, has realized the contactless, low -cost automation meal serving of isolation ward, and has the advantages such as simple structure, high reliability, strong practicality.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot technology, specifically to a food delivery robot suitable for medical isolation environments, and in particular to a low-cost, high-reliability intelligent food delivery robot based on an STM32F103C8T6 microcontroller, employing infrared sensing and fixed-route tracking. Background Technology

[0002] Currently, meal delivery in isolation wards mainly relies on manual labor. This method is not only inefficient but also poses a significant risk of cross-infection, contradicting the safety requirements of the isolation environment. To replace manual labor, robotics technology has been introduced into this field. However, existing food delivery robots are mostly general-purpose modifications, generally lacking aseptic design and specific adaptation for medical scenarios, making it difficult to meet the stringent requirements of the isolation environment.

[0003] In terms of technical implementation, existing solutions often employ high-cost components, hindering widespread adoption. For example, Chinese patent document CN202421288079.8, "A Precision Food Delivery Robot Based on LiDAR," discloses a solution using LiDAR for navigation. While this solution is precise, its reliance on expensive LiDAR sensors results in high overall system hardware costs and complexity.

[0004] To address the shortcomings of existing technologies, this invention aims to provide a low-cost intelligent food delivery cart solution based on the STM32F103C8T6 microcontroller. Compared to existing technologies, the core innovation of this solution lies in eliminating the expensive LiDAR and instead employing multiple infrared obstacle avoidance modules in conjunction with a fixed route for navigation and obstacle avoidance. This design significantly reduces hardware costs and system complexity while ensuring real-time path planning and obstacle avoidance. Furthermore, this invention integrates OLED display and voice interaction functions, enhancing the overall intelligence level and user experience, making it particularly suitable for isolation ward scenarios.

[0005] Therefore, there is an urgent need in the field for an intelligent food delivery robot, as described in this invention, that combines low cost, high adaptability, sterile design, and the ability to meet the precise delivery needs of isolated environments. Summary of the Invention

[0006] Based on the shortcomings of the aforementioned background technology, the technical problem to be solved by this utility model is to provide an intelligent robot for delivering meals to isolation wards, so as to solve the problems of cross-infection risk and low efficiency caused by the reliance on manual labor in existing meal delivery solutions, as well as the problems of high system cost, complex structure, and lack of dedicated design for medical isolation scenarios caused by the use of expensive sensors such as lidar in existing meal delivery robots.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] An intelligent robot for delivering meals to isolation wards includes a vehicle body and a main control module, a power module, a line-following module, an obstacle avoidance module, a display module, a voice module, and a power management module installed on the vehicle body;

[0009] The main control module is an STM32F103C8T6 microcontroller; the power module is connected to the main control module, and the power module includes a motor drive module and a DC motor; the line-following module is connected to the STM32F103C8T6 microcontroller via GPIO ports, and the line-following module includes multiple sets of infrared reflection sensors installed at the bottom of the vehicle body; the obstacle avoidance module is connected to the STM32F103C8T6 microcontroller via GPIO ports, and the obstacle avoidance module includes at least one obstacle avoidance sensor installed at the front end of the vehicle body; the display module is connected to the main control module, and the display module is an OLED display screen; the voice module is connected to the main control module, and the voice module includes a voice synthesis chip and a speaker; the power management module includes a battery unit, a buck regulator unit, and a low-dropout linear regulator unit.

[0010] Furthermore, the motor drive module is an L298N drive module, and the DC motor is a TT DC motor; the two motor output channels of the L298N drive module are respectively connected to one of the TT DC motors.

[0011] Furthermore, the battery unit is an 18650 lithium battery, the step-down voltage regulator unit is a Mini step-down module, and the low-dropout linear regulator unit is a 3.3V LDO voltage regulator chip. The 18650 lithium battery provides 5V voltage to the L298N drive module, obstacle avoidance sensor, and voice module through the Mini step-down module, and provides 3.3V voltage to the STM32F103C8T6 microcontroller, infrared reflection sensor, and OLED display through the 3.3V LDO voltage regulator chip.

[0012] Furthermore, the infrared reflection sensor is a TCRT5000 sensor, and the line-following module contains five sets of this sensor.

[0013] Furthermore, the obstacle avoidance sensor is a KY-032 sensor, and the obstacle avoidance module contains two of these sensors, which are respectively installed on the left and right sides of the front of the vehicle body.

[0014] Furthermore, the display module is connected to the STM32F103C8T6 microcontroller via an I2C interface.

[0015] Furthermore, the speech synthesis chip in the speech module is connected to the STM32F103C8T6 microcontroller via a UART interface.

[0016] Furthermore, the speech synthesis chip is a SYN6288 chip.

[0017] Furthermore, the 3.3V LDO regulator chip is an AMS1117-3.3 chip.

[0018] Furthermore, the upper part of the vehicle body is provided with a lunch box for holding meals.

[0019] Compared with existing technologies, the intelligent food delivery robot provided by this invention has the following advantages:

[0020] (1) Low cost and simplified structure: By using STM32F103C8T6 as the main control chip and replacing the expensive LiDAR with a combination of multiple low-cost infrared sensors, a specific hardware structure is formed. This structure significantly reduces the hardware cost and structural complexity of the entire system while ensuring the robot's basic line-following navigation and obstacle avoidance functions.

[0021] (2) High real-time performance and reliability: Based on the interface characteristics and computing power of this series of microcontrollers, the complex data processing links are reduced through the layout of multiple sensors at the hardware level (such as the specific arrangement of five sets of line-following sensors and two sets of obstacle avoidance sensors) and the direct GPIO level signal acquisition structure. This hardware architecture enables the robot to achieve fast signal response and reliable physical obstacle avoidance when facing dynamic environments.

[0022] (3) Excellent user experience: By integrating specific hardware units such as OLED display and voice module, a human-computer interaction structure combining audiovisual elements is constructed. This structure can intuitively display the food delivery status and provide clear voice broadcasts, improving ease of use and reducing misoperations caused by unclear instructions.

[0023] (4) System stability and security: The system adopts a modular hardware design, with each functional module connected to the main controller through a standard physical interface, facilitating assembly and maintenance. The power management module has specific multi-level voltage regulation and protection circuit hardware, ensuring the stable operation of different power consumption modules under various operating conditions, thereby improving the reliability and security of the entire system. Attached Figure Description

[0024] Figure 1 This is a top view structural diagram of the intelligent food delivery robot described in this utility model.

[0025] Figure 2 This is a bottom view structural diagram of the intelligent food delivery robot described in this utility model.

[0026] Figure 3 This is a side view structural diagram of the intelligent food delivery robot described in this utility model.

[0027] Explanation of annotations in the image:

[0028] 1-Speaker;

[0029] 2-L298N driver module;

[0030] 3-Speech synthesis chip;

[0031] 4-OLED display;

[0032] 5-18650 lithium battery;

[0033] 6-STM32F103C8T6 microcontroller;

[0034] 7-KY-032 obstacle avoidance sensor;

[0035] 8-TCRT5000 infrared reflection sensor. Detailed Implementation

[0036] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the implementation of the present invention is not limited thereto.

[0037] like Figures 1 to 3 As shown, the food delivery robot of this utility model includes a vehicle body, and a main control module, a power module, a line-following module, an obstacle avoidance module, a display module, a voice module, and a power management module mounted on the vehicle body. Using an STM32F103C8T6 microcontroller as the control core, the overall hardware system consists of the power module, line-following module, obstacle avoidance module, display module, voice module, and power management module. Each module is connected to the main control microcontroller through a standardized physical interface, forming a complete mechatronics system.

[0038] (a) Power Module

[0039] Hardware composition: Three 18650 lithium batteries are connected in series to form a battery pack as the main power source. This battery pack is connected to a Mini step-down module to provide working voltage for the L298N drive module 2. The two motor output channels of the L298N drive module 2 are directly connected to two TT DC motors through wires. The two motors drive the left and right rear wheels of the car through gearboxes.

[0040] Working principle: The STM32F103C8T6 microcontroller sends direction control signals to the IN1-IN4 pins of the L298N driver module 2 through its GPIO port, and adjusts the motor speed by inputting PWM signals through the ENA and ENB pins.

[0041] (II) Line Inspection Module

[0042] Hardware composition: Five sets of TCRT5000 infrared reflection sensors are arranged along the centerline of the vehicle chassis, located at the front, front-middle, middle, rear-middle, and rear positions respectively. The output of each sensor module is connected to the STM32F103C8T6 microcontroller via a GPIO port, and the power supply is provided by a 5V voltage from a Mini step-down module.

[0043] Working principle: The TCRT5000 infrared reflection sensor 8 emits infrared light through its emitting tube, and the receiving tube detects the intensity of the reflected light. When the ground below the sensor is white, the reflectivity is high, and the output level is low; when the ground below the sensor is black navigation lines, the reflectivity is low, and the output level is high.

[0044] (III) Obstacle Avoidance Module

[0045] Hardware components: A KY-032 obstacle avoidance sensor 7 is installed on each of the left and right front sides of the vehicle. The sensor output is connected to the STM32F103C8T6 microcontroller 6 via GPIO ports, and the power supply is provided by a Mini step-down module at 5V.

[0046] Working principle: The KY-032 obstacle avoidance sensor 7 detects obstacles ahead through an ultrasonic transmitting and receiving circuit. It outputs a high level when there are no obstacles within the detection range and a low level when an obstacle is detected.

[0047] (iv) Display and voice module

[0048] OLED display module: It adopts a 0.96-inch I2C interface OLED display screen 4, which is connected to the I2C interface of the STM32F103C8T6 microcontroller 6 through the SDA and SCL pins.

[0049] Voice module: It adopts SYN6288 Chinese speech synthesis chip 3, which is connected to STM32F103C8T6 microcontroller 6 through UART interface, and connected to speaker 1 for voice broadcast.

[0050] (v) Power Management Module

[0051] Hardware components include: 5 18650 lithium batteries, a Mini step-down module, a 3.3V LDO voltage regulator chip, and an overcurrent protection fuse with a rated current of 3A.

[0052] Power distribution structure: The 12V voltage output from the 18650 lithium battery 5 is converted to 5V by the Mini step-down module to power the L298N driver module 2, the KY-032 obstacle avoidance sensor 7, and the voice synthesis chip 3; the 5V voltage is then converted to 3.3V by the 3.3V LDO regulator chip to power the STM32F103C8T6 microcontroller 6, the TCRT5000 infrared reflection sensor 8, and the OLED display 4.

[0053] The entire operation of this food delivery robot is achieved through the coordinated work of the aforementioned hardware modules:

[0054] Command reception and confirmation: Staff members issue food delivery commands via physical buttons. After the STM32F103C8T6 microcontroller detects the button signal through the GPIO port, it sends preset text data to the speech synthesis chip 3 through the UART interface. The speech module outputs speech through the speaker 1. At the same time, it sends display data to the OLED display screen 4 through the I2C interface.

[0055] Navigation and Obstacle Avoidance: The TCRT5000 infrared reflection sensor 8 of the line-following module collects ground information in real time and inputs it to the STM32F103C8T6 microcontroller 6 via GPIO ports in the form of high and low voltage levels. Based on the combination of these voltage levels, the STM32F103C8T6 microcontroller 6 sends corresponding control signals to the L298N driver module 2 via GPIO ports. The KY-032 obstacle avoidance sensor 7 monitors obstacles ahead in real time. When its output voltage level changes from high to low, the STM32F103C8T6 microcontroller 6 sends a stop signal to the L298N driver module 2 via GPIO ports.

[0056] Status indication: Throughout the operation, the STM32F103C8T6 microcontroller 6 updates the display content of the OLED display screen 4 through the I2C interface according to the level status of each sensor input and the working stage of each module, and controls the voice synthesis chip 3 to broadcast the corresponding status prompts through the UART interface.

[0057] This invention can also be adapted to form various specific implementation schemes by replacing or adding / removing some hardware modules. These implementation schemes are all based on the same hardware structure principle, and can be adapted to different application scenarios and performance requirements by simplifying or enhancing the modules. Specifically, they include, but are not limited to, the following three implementation schemes:

[0058] 1. Basic Implementation Plan

[0059] This solution is suitable for scenarios with simple routes and limited budgets, and achieves the core food delivery function by simplifying hardware configuration.

[0060] Line-following module: The number of sensors is simplified to 1-3 sets of TCRT5000 infrared reflective sensors, which are installed at key positions on the centerline of the vehicle body. Basic line-following function is achieved through the level signals of a single or a small number of sensors.

[0061] Power module: It adopts a single TT DC motor with mechanical differential structure to replace the dual motor drive solution, thereby reducing cost and power consumption.

[0062] Interaction module: Only the OLED display screen 4 is retained, while the speech synthesis chip 3 and speaker 1 are omitted. Status feedback is completed through visual display.

[0063] Through the aforementioned hardware structure adjustments, this solution significantly reduces system cost and complexity while retaining the core line-following and food delivery functions.

[0064] 2. Standard Implementation Plan

[0065] This solution is the preferred solution described in detail in the above specific embodiments, and is suitable for most hospital ward corridor environments, balancing cost and performance.

[0066] Line tracking module: Includes 5 sets of TCRT5000 infrared reflection sensors, distributed along the front, middle and rear positions of the bottom of the vehicle body, and improves line tracking accuracy through the combination of multi-sensor level signals.

[0067] Power module: The L298N drive module 2 is used in conjunction with two TT DC motors to achieve dual-wheel differential drive, ensuring turning flexibility and control precision.

[0068] Interactive module: It fully includes an OLED display screen 4, a voice synthesis chip 3, and a speaker 1, realizing dual audio-visual interactive functions.

[0069] This solution, through the aforementioned hardware configuration, forms a stable and fully functional food delivery robot system.

[0070] 3. Enhanced Implementation Plan

[0071] This solution is suitable for scenarios with high reliability requirements, complex environments, or high load demands, and improves system performance through hardware enhancements.

[0072] Line tracking module: Based on the standard version of 5 sets of TCRT5000 infrared reflection sensors, 1-2 sets of spare sensors are added to improve system reliability through hardware redundancy design; at the same time, higher precision infrared sensor models can be used.

[0073] Power module: The basic L298N drive module 2 is replaced with a drive module that supports output current of 3A and above, and with a DC motor with higher torque, the load capacity is increased to more than 3kg.

[0074] Interaction module: Based on the standard version, an HC-05 Bluetooth communication module is added to expand the wireless communication function through a hardware interface; it can also be upgraded to a larger size and higher resolution color OLED display screen.

[0075] Power module: It adopts a combination of 5 high-capacity 18650 lithium batteries, and the power specifications of the Mini step-down module and voltage regulator chip are upgraded accordingly.

[0076] This solution significantly improves the system's reliability, load capacity, and user experience through the enhancement and expansion of the aforementioned hardware modules.

[0077] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An intelligent robot for delivering meals to isolation wards, characterized in that, Including the vehicle body and the components mounted on the vehicle body: The main control module is an STM32F103C8T6 microcontroller; A power module, connected to the main control module, includes a motor drive module and a DC motor; The line-following module is connected to the STM32F103C8T6 microcontroller via a GPIO port. The line-following module includes multiple sets of infrared reflection sensors, which are installed on the bottom of the vehicle body. The obstacle avoidance module is connected to the STM32F103C8T6 microcontroller via a GPIO port. The obstacle avoidance module includes at least one obstacle avoidance sensor, which is installed at the front end of the vehicle body. A display module is connected to the main control module, and the display module is an OLED display screen. A voice module, connected to the main control module, includes a voice synthesis chip and a speaker; And a power management module, which includes a battery unit, a buck regulator unit and a low-dropout linear regulator unit.

2. The intelligent robot according to claim 1, characterized in that, The motor drive module is an L298N drive module, and the DC motor is a TT DC motor; the two motor output channels of the L298N drive module are respectively connected to one of the TT DC motors.

3. The intelligent robot according to claim 2, characterized in that, The battery unit is an 18650 lithium battery, the step-down voltage regulator unit is a Mini step-down module, and the low-dropout linear regulator unit is a 3.3V LDO regulator chip. The 18650 lithium battery provides 5V voltage to the L298N drive module, obstacle avoidance sensor, and voice module through the Mini step-down module, and provides 3.3V voltage to the STM32F103C8T6 microcontroller, infrared reflection sensor, and OLED display through the 3.3V LDO regulator chip.

4. The intelligent robot according to claim 1, characterized in that, The infrared reflection sensor is a TCRT5000 sensor, and the line-following module contains five sets of this sensor.

5. The intelligent robot according to claim 1, characterized in that, The obstacle avoidance sensor is a KY-032 sensor, and the obstacle avoidance module contains two of these sensors, which are respectively installed on the left and right sides of the front of the vehicle body.

6. The intelligent robot according to claim 1, characterized in that, The display module is connected to the STM32F103C8T6 microcontroller via an I2C interface.

7. The intelligent robot according to claim 1, characterized in that, The speech synthesis chip in the speech module is connected to the STM32F103C8T6 microcontroller via a UART interface.

8. The intelligent robot according to claim 1 or 7, characterized in that, The speech synthesis chip is the SYN6288 chip.

9. The intelligent robot according to claim 3, characterized in that, The 3.3V LDO regulator chip is an AMS1117-3.3 chip.

10. The intelligent robot according to claim 1, characterized in that, The upper part of the vehicle body is equipped with a lunch box for holding meals.

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