A kind of tele-medicine auxiliary robotTechnical field
The present invention relates to medical robot technical field, and in particular to a kind of tele-medicine auxiliary robot.
Background technology
With China the elderly be on the increase and social life rhythm continuous quickening.This brings to China nowGreat hidden danger.Because present many elderlys children that get along well are living together, thus present old man's generally existing this seeSick difficult the problem of.This prevents old man from timely being seen a doctor, and also causes children from understanding father and mother's currently strong wellHealth state.In addition, in the place of some home for the aged's classes also due to caregiver and being led by the number mismatch problem of caregiverCause can not understand each in time by the health of caregiver.For these problems, society, which occurs in that, now is much used forThe medicine equipment and Medical Devices of long distance monitoring.
At present, the existing intelligent hardware devices for gathering Personal medical data of in the market, such as electronic sphygmomanometer, BOLD contrastEtc. a certain specific detection function can only be realized, and it is limited to the writing function of medical data, it is impossible to historical data is looked intoAsk.And the structure of some Telemedicine System proposed in sphere of learning, mostly using PC as domestic medicine server,The medical data of user is obtained in combination with the medical data acquisition sensor on other peripheries.It is this to be taken using PC as familyThe system of business device, it is impossible to realize mobile function, must be requested that user's active operation, and require that user can use computer,Because its requirement to user is higher, the use requirement of the elderly in general can not be met.
The content of the invention
In order to solve above-mentioned problem, the present invention provides a kind of tele-medicine auxiliary robot.
The present invention is to be achieved through the following technical solutions：
A kind of tele-medicine auxiliary robot, including robot body, the robot body are provided with head shell, shoulder shellBody, trunk shell, mechanical arm, pedestal and universal wheel, the shoulder housing are arranged on trunk shell upper end both sides, the headHousing is arranged on trunk shell upper end, and the mechanical arm is arranged on trunk shell both sides, the pedestal peace by motorMounted in trunk shell bottom, the universal wheel, which is arranged on pedestal lower end, the pedestal, installs avoidance sensor；The head shellBody front end is provided with facial housing, and the facial housing is provided with display screen, imaging sensor, loudspeaker and voice input port, instituteFacial housing both sides are stated provided with camera, installs and is set inside infrared coordinate locator, the trunk shell on the shoulder housingThere is control box；Heartbeat sensor, blood pressure inductor, blood glucose monitor are installed on the mechanical arm；
Provided with CPU processor, motor drive module, power module, display module, memory module, alarm mould in the control boxBlock, collecting sensor signal module, sound identification module, avoidance module and wireless transport module, described image sensor, heartbeatSensor, blood pressure inductor, blood glucose monitor are connected at CPU processor, the CPU by collecting sensor signal module respectivelyReason device be also respectively connected with motor drive module, power module, display module, memory module, alarm module, sound identification module,Avoidance module, infrared coordinate locator, the avoidance module connect avoidance sensor, and the CPU processor is by being wirelessly transferredModule connects medical monitoring terminal and personal intelligent terminal.
It is preferred that, the avoidance module includes schmidt trigger phase inverter A, schmidt trigger phase inverter B, schmidt triggerPhase inverter C, the schmidt trigger phase inverter A inputs connect resistance A one end, electric capacity A one end and crystal oscillator one end respectively, describedSchmidt trigger phase inverter A output ends connection resistance B one end, the resistance B other ends connect the crystal oscillator other end, electric capacity B one end respectively,The electric capacity B other ends and the electric capacity A other ends are grounded, and the schmidt trigger phase inverter B inputs connect the resistance A other ends, defeatedGo out end connection resistance C one end, the resistance C other ends connect diode A positive poles and schmidt trigger phase inverter C inputs, applied respectivelyMi Te triggering phase inverter C output end connection potentiometers one end, the potentiometer other end is slided by resistance D connection power ends, potentiometerMoved end connecting triode A base stages, triode A emitter stages connection resistance G one end, grounded collector, the resistance G other ends connect two polesPipe B negative poles, diode B positive poles connection resistance E one end, the resistance E other ends connect infrared receiving tube and electric capacity C one end respectively, electricityHold C other ends ground connection, infrared receiving tube connects power end by resistance F.
It is preferred that, the wireless transport module uses 4G modules or WIFI module.
It is preferred that, its application method comprises the following steps：
A, in use, handicapped user is moved by phonetic entry control instruction control machine people, robot is according to redOuter coordinate setting device is moved to user by the side of；
B, user extend hand in mechanical arm, and heartbeat sensor, blood pressure inductor on mechanical arm, blood glucose monitor are adoptedCollect heartbeat, blood pressure and the blood glucose information of human body；Transmitted afterwards by wireless transport module to personal intelligent terminal；Image is passed simultaneouslySensor gathers the live image of the user and transmitted to personal intelligent terminal in real time；
Once D, appearance are abnormal, robot immediately sends alarm signal to medical monitoring terminal and personal intelligent terminal, is easy toHealthcare givers is handled in time.
Compared with prior art, the beneficial effects of the invention are as follows：Structure of the present invention is novel, with positioning, voice reminder,A variety of functions such as remote control, can fast and effectively detect the physiological characteristic information of user, and send in real time to nursePeople's terminal and medical terminal；The demand of handicapped user can be met well, be suitable for family and used；In the present inventionThe avoidance module strong antijamming capability of use, is quick on the draw, the effective avoiding obstacles in moving process, it is ensured that robot is justOften work.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is control principle block diagram of the present invention；
Fig. 3 is avoidance module principle figure of the present invention.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings：
As shown in Figure 1, Figure 2, Figure 3 shows, on a kind of tele-medicine auxiliary robot, including robot body, the robot bodyProvided with head shell 1, shoulder housing 2, trunk shell 3, mechanical arm 4, pedestal 5 and universal wheel 6, the shoulder housing 2 is installedIn the upper end both sides of trunk shell 3, the head shell 1 is arranged on the upper end of trunk shell 3, and the mechanical arm 4 is by driving electricityMachine is arranged on the both sides of trunk shell 3, and the pedestal 5 is arranged on the bottom of trunk shell 3, and the universal wheel 6 is arranged under pedestal 5Avoidance sensor 7 is installed on end, the pedestal 5；The front end of head shell 1 is provided with facial housing 8, the facial housing 8Provided with display screen 9, imaging sensor 10, loudspeaker 11 and voice input port 12, the facial both sides of housing 8 are provided with camera13, infrared coordinate locator 14 is installed, the inside of trunk shell 3 is provided with control box 33 on the shoulder housing 2；The machineryHeartbeat sensor 15, blood pressure inductor 16, blood glucose monitor 17 are installed on arm 4；
Provided with CPU processor 18, motor drive module 19, power module 20, display module 21, storage mould in the control box 33Block 22, alarm module 23, collecting sensor signal module 24, sound identification module 25, avoidance module 26 and wireless transport module27, described image sensor 10, heartbeat sensor 15, blood pressure inductor 16, blood glucose monitor 17 pass through sensor signal respectivelyAcquisition module 24 connect CPU processor 18, the CPU processor 18 be also respectively connected with motor drive module 19, power module 20,Display module 21, memory module 22, alarm module 23, sound identification module 25, avoidance module 26, infrared coordinate locator 14,The connection avoidance of avoidance module 26 sensor 7, it is whole that the CPU processor 18 connects medical monitoring by wireless transport module 27End 28 and personal intelligent terminal 29；Wireless transport module 27 uses 4G modules or WIFI module.
In the present invention, avoidance module 26 includes schmidt trigger phase inverter A1c, schmidt trigger phase inverter B2c, SchmidtTrigger phase inverter C3c, the schmidt trigger phase inverter A1c inputs connect respectively resistance A1a one end, electric capacity A1c one end andThe one end of crystal oscillator 30, described schmidt trigger phase inverter A1c output ends connection resistance B2a one end, the resistance B2a other ends are connected respectivelyThe other end of crystal oscillator 30, electric capacity B2b one end, the electric capacity B2b other ends and the electric capacity A1b other ends are grounded, and the schmidt trigger is anti-Phase device B2c inputs connect the resistance A1a other ends, and output end connection resistance C3a one end, the resistance C3a other ends connect two respectivelyPole pipe A1d positive poles and schmidt trigger phase inverter C3c inputs, schmidt trigger phase inverter C3c output ends connection potentiometer 31One end, the other end of potentiometer 31 passes through resistance D4a connection power ends, the sliding end connecting triode A1e base stages of potentiometer 31, three polesPipe A1e emitter stages connection resistance G7a one end, grounded collector, resistance G7a other ends connection diode B2d negative poles, diodeB2d positive poles connection resistance E5a one end, the resistance E5a other ends connect infrared receiving tube 32 and electric capacity C3b one end, electric capacity C3b respectivelyThe other end is grounded, and infrared receiving tube 32 connects power end by resistance F6a.Crystal oscillator Y collocation resistance, electric capacity produce the 38KHZ of oneModulated signal, by the buffering end of Schmidt trigger buffering transmission to motor module, to control luminous tube diodeTransmitting, and control the size of drive signal to be to change distance of reaction size by potentiometer.
The application method of the present invention comprises the following steps：
A, in use, handicapped user is moved by phonetic entry control instruction control machine people, robot is according to redOuter coordinate setting device is moved to user by the side of；
B, user extend hand in mechanical arm, and heartbeat sensor, blood pressure inductor on mechanical arm, blood glucose monitor are adoptedCollect heartbeat, blood pressure and the blood glucose information of human body；Transmitted afterwards by wireless transport module to personal intelligent terminal；Image is passed simultaneouslySensor gathers the live image of the user and transmitted to personal intelligent terminal in real time；
Once D, appearance are abnormal, robot immediately sends alarm signal to medical monitoring terminal and personal intelligent terminal, is easy toHealthcare givers is handled in time.
Structure of the present invention is novel, with a variety of functions such as positioning, voice reminder, remote control, can fast and effectively examineThe physiological characteristic information of user is surveyed, and is sent in real time to ward's terminal and medical terminal；Action can be met wellThe demand of the user of inconvenience, is suitable for family and uses；The avoidance module strong antijamming capability used in the present invention, reaction spiritIt is quick, the effective avoiding obstacles in moving process, it is ensured that robot normal work.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry shouldUnderstand, the present invention is not limited to the above embodiments, the original for simply illustrating the present invention described in above-described embodiment and specificationReason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvementsIt all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circleIt is fixed.