The management robot and its control method of community medical service center's inquiry into expensesTechnical field
The invention belongs to intellect service robot field more particularly to a kind of pipes of community medical service center's inquiry into expensesManage robot and its control method.
Background technique
With the development of industrial automation technology and the continuous improvement of IT application in enterprises degree, for guest-meeting robot weDo not think strange already, novel admiration scientific and technological level development from the beginning is fast, passes judgement on till now guest-meeting robotDifferent, being primarily due to guest-meeting robot, structure is complicated, but has a single function.
Summary of the invention
The present invention overcomes above-mentioned the deficiencies in the prior art, provide a kind of management of community medical service center's inquiry into expensesRobot and its control method, while realizing basic welcome's function, clients can also carry out in touch display screenInquiry into expenses solves the technical issues of guest-meeting robot has a single function in the prior art.
Technical solution of the present invention:
A kind of guest-meeting robot for service centre's inquiry into expenses, including robot head, body trunk, chassis are wheeledMobile device and control system；The robot head includes that loudspeaker, MP3 playing module, head shell connect branch with incidenceFrame, the loudspeaker connect MP3 playing module, are mounted on head shell, and the head shell passes through incidence connecting bracket and instituteBody trunk connection is stated, the body trunk is installed on chassis wheeled mobile device；
The body trunk includes touch display screen, touch display screen control mainboard, battery, mainboard bracket, back-supportedAnd infrared distance sensor；The touch display screen and the control of display control mainboard connect, the touch display screen control masterPlate is fixedly connected with mainboard bracket, and the back-supported is fixedly connected with mainboard bracket, and touch display screen is fixed on back-supportedOn the chassis wheeled mobile device, the infrared distance sensor is mounted on edge in touch display screen, and the battery is placedAbove the wheeled mobile device of chassis, power for robot；
The control system is mounted on chassis wheeled mobile device, and the control system and MP3 playing module, chassis are wheeledMobile device is connected with infrared distance sensor.
Further, the robot head further includes RGB dot matrix display screen；The RGB dot matrix display screen is mounted on headPortion's shell.
Further, the chassis wheeled mobile device includes chassis support structure and running gear, the chassis supportsStructure includes the first support plate and the second support plate, and four supports connecting for the first support plate with the second support plateBar；
Further, the running gear includes controller, directive wheel, brushless direct-current decelerating motor, shaft coupling, drivingWheel, worm gear mechanism, electric machine support, fixed bracket and chain-drive mechanism；The controller and brushless direct-current decelerating motor connectIt connects, the brushless direct-current decelerating motor is fixed in second support plate by electric machine support, and the brushless direct-current slows down electricThe output shaft of machine is connected by the worm screw input terminal of shaft coupling and worm gear mechanism, the output end of the worm gear mechanism withThe input terminal of chain-drive mechanism connects, and the output end of the chain-drive mechanism and the driving wheel are affixed, and chain-drive mechanism passes throughFixed bracket is fixedly connected with the second support plate, and the directive wheel is fixed on the position of the second support pan bottom middle.
Further, the brushless direct-current decelerating motor, shaft coupling, driving wheel, worm gear mechanism, electric machine support, solidFixed rack and chain-drive mechanism quantity are 2.
Further, the controller includes direct current generator drive module；OUT1, OUT2 of direct current generator drive module,OUT3, OUT4 pin are connect with the control signal of two brushless direct-current decelerating motors, the IN1 of direct current generator drive module,IN2, IN3, IN4, ENA, ENB pin and PB15, PB14, PB13, PB12, PB9, PB8 pin of control system connect.
Further, the robot head further includes RGB dot matrix display screen；The RGB dot matrix display screen is mounted on headPortion's shell, 2,3 pins of the input terminal of the RGB dot matrix display screen and PA8, PA11 pin of the control system with connect.
Further, the body trunk further includes LED light；The LED light is fixed on the two sides of touch display screen, describedNo. 2 pins of control terminal of the LED light are connect with PA4, PA5 pin of the control system.
Further, PB0, PB1 of the control system connect with 2, No. 3 pins of the control terminal of MP3 playing module respectivelyIt connects, the PB6 pin of the control system and No. 2 pins of infrared distance sensor connect.
It is a kind of based on a kind of control method that the guest-meeting robot for service centre's inquiry into expenses is realized, featureIt is, comprising the following steps:
Step a, infrared distance sensor acquires the distance of surrounding clients in real time；
Step b, when infrared distance sensor is detected apart from clients 5m, triggering chassis wheeled mobile device is to medicalPerson pedestrian direction is mobile；
Step c, robot is managed when infrared distance sensor is detected apart from clients 3m stops movement, control systemTriggering MP3 playing module plays the welcome's voice realized and be stored in mp3 format inside SD card；
Step d, when infrared distance sensor is detected apart from 1 meter of clients, control system stops playing welcome's voice,For clients before touch display screen when query information, touch display screen control mainboard calls the corresponding of mainboard hardboard the inside databaseContent is shown in touch display screen, and when clients leave community medical service center, control system triggering MP3 playing module is broadcastIt puts and realizes that be stored in mp3 format inside SD card sees voice off, and trigger chassis wheeled mobile device and move backward.
The present invention has the advantages that compared with the existing technology
The present invention provides a kind of management robot of community medical service center's inquiry into expenses and its control methods, in realityWhile now basic welcome's function, clients can also carry out inquiry into expenses in touch display screen, solve the prior artThe technical issues of middle guest-meeting robot has a single function；
The touch display screen that the present invention uses is controlled by touch display screen control mainboard, when clients inquire drug, expenseWhen information, display control mainboard calls the corresponding contents of database inside mainboard hardboard to be shown in touch display screen, canAuxiliary community medical service center completes the publicity of drug and clients carry out the function of inquiry into expenses at any time, and is able to achieve and takesTouch display screen is carried, stablizes management robot in the state of bearing a heavy burden larger mobile to reach welcome's function；
The present invention is sequentially connected using brushless direct-current decelerating motor by shaft coupling and worm gear mechanism, in optimal controlOn the basis of algorithm, the impact that transmission system when starting and stopping brings entire robot is further mitigated, robot is made to existStable movement still may be implemented in the case that load is very big.
Detailed description of the invention
Fig. 1 is apparatus of the present invention structure chart；
Fig. 2 is wheeled mobile device structure chart in chassis of the present invention；
Fig. 3 is head local structural graph of the present invention；
Fig. 4 is control structure figure of the present invention；
Fig. 5 is main control chip circuit diagram of the present invention；
Fig. 6 is direct current generator drive module circuit diagram of the present invention；
Fig. 7 is playing module circuit diagram of the present invention；
Fig. 8 is LED lamp circuit figure on the left of the present invention；
Fig. 9 is RGB dot matrix display screen circuit diagram of the present invention；
Figure 10 is LED lamp circuit figure on the right side of the present invention；
Figure 11 is infrared distance sensor circuit diagram of the present invention.
In figure: 1 robot head, 2 body trunks, 3 chassis wheeled mobile devices, 4 control systems, 1-1RGB lattice displayScreen, 1-2 loudspeaker, 1-3MP3 playing module, 1-4 head shell, 1-5 incidence connecting bracket, 2-1 touch display screen, 2-2 are touchedDisplay screen control mainboard, 2-3LED lamp, 2-4 battery, 2-5 mainboard bracket, 2-6 back-supported, 2-7 infrared distance sensor, 3-1Chassis load carrier, 3-2 running gear, the first support plate of 3-11, the second support plate of 3-12,3-13 support rod, 3-21 controller,3-22 directive wheel, 3-23 brushless direct-current decelerating motor, 3-24 shaft coupling, 3-25 driving wheel, 3-26 worm gear mechanism, 3-27 electricityMachine support, 3-28 fixed bracket, 3-29 chain-drive mechanism.
Specific embodiment
Below with reference to attached drawing, the present invention is described in detail.
Specific embodiment one
A kind of management robot of community medical service center's inquiry into expenses, as shown in figures 1 and 3, including robot headPortion 1, body trunk 2, chassis wheeled mobile device 3 and control system 4；The robot head 1 is played including loudspeaker 1-2, MP3Module 1-3, head shell 1-4 and incidence connecting bracket 1-5, the loudspeaker 1-2 connection MP3 playing module 1-3 are mounted on headPortion shell 1-4, the head shell 1-4 are connect by incidence connecting bracket 1-5 with the body trunk 2, the body bodyDry 2 are installed on chassis wheeled mobile device 3；
The body trunk 2 includes touch display screen 2-1, touch display screen control mainboard 2-2, battery 2-4, mainboard bracket2-5, back-supported 2-6 and infrared distance sensor 2-7；The touch display screen 2-1 and display control mainboard 2-2 control connectsIt connects, the touch display screen control mainboard 2-2 is fixedly connected with mainboard bracket 2-5, the back-supported 2-6 and mainboard bracket 2-5 are fixedly connected, and touch display screen 2-1 is fixed on back-supported 2-6 and the chassis wheeled mobile device 3, the infrared surveyIt is mounted on edge on touch display screen 2-1 away from sensor 2-7, the battery 2-4 is placed on 3 top of chassis wheeled mobile device, isRobot power supply；
The control system 4 is mounted on chassis wheeled mobile device 3, the control system 4 and MP3 playing module 1-3, bottomDisk wheeled mobile device 3 is connected with infrared distance sensor 2-7.
Specific embodiment two
A kind of management robot of community medical service center's inquiry into expenses, as shown in Figure 1, Figure 3, including robot head1, body trunk 2, chassis wheeled mobile device 3 and control system 4, the robot head 1 include RGB dot matrix display screen 1-1,Loudspeaker 1-2, MP3 playing module 1-3, head shell 1-4, incidence connecting bracket 1-5, the head shell 1-4 pass through neckPortion connecting bracket 1-5 and the body trunk 2 are affixed, and the MP3 playing module 1-3 is connect with loudspeaker 1-2 is placed in the headThe apery mouth position of portion shell 1-4, the RGB dot matrix display screen 1-1 are placed in the position of head shell 1-4 eyes.
The body trunk 2 includes touch display screen 2-1, touch display screen control mainboard 2-2, LED light 2-3, battery 2-4, mainboard bracket 2-5, back-supported 2-6 and infrared distance sensor 2-7, the touch display screen 2-1 and display control are ledPlate 2-2 control connection, the display control mainboard 2-2 and mainboard bracket 2-5 are affixed, the back-supported 2-6 and mainboard branchFrame 2-5 is affixed, touches and realizes that screen 2-1 is fixed on back-supported 2-6 and the chassis wheeled mobile device 3, the LED light 2-3 are fixed on the two sides of touch display screen 2-1, and the infrared distance sensor 2-7 is mounted on edge on touch display screen 2-1, describedBattery 2-4 is placed on 3 top of chassis wheeled mobile device and powers to whole system.
As shown in Fig. 2, the chassis wheeled mobile device 3 includes chassis support structure 3-1 and running gear 3-2, it is describedChassis support structure 3-1 includes the first support plate 3-11 and the second support plate 3-12, and for the first support plate 3-11 and theFour support rods 3-13, the running gear 3-2 of two support plate 3-12 connections include controller 3-21, directive wheel 3-22, nothingBrush DC speed-reducing 3-23, shaft coupling 3-24, driving wheel 3-25, worm gear mechanism 3-26, electric machine support 3-27, fixed branchFrame 3-28, chain-drive mechanism 3-29；The controller 3-21 includes direct current generator drive module, the controller 3-21 with it is brushlessDC speed-reducing 3-23 connection, the brushless direct-current decelerating motor 3-23 are fixed on described second by electric machine support 3-27On support plate 3-12, the output shaft of the brushless direct-current decelerating motor 3-23 passes through shaft coupling 3-24's and worm gear mechanism 3-26The connection of worm screw input terminal, the output end of the worm gear mechanism 3-26 is connect with the input terminal of chain-drive mechanism 3-29, describedThe output end of chain-drive mechanism 3-29 and the driving wheel 3-25 are affixed, and wherein chain-drive mechanism 3-29 passes through fixed bracket 3-28It is fixedly connected with the second support plate 3-12, the directive wheel 3-22 is fixed on the position of the second bottom support plate 3-12 middle.
The brushless direct-current decelerating motor (3-23), shaft coupling (3-24), driving wheel (3-25), worm gear mechanism (3-26), electric machine support (3-27), fixed bracket (3-28) and chain-drive mechanism (3-29) quantity are 2.
The control system 4 is STM32F407ZET6 chip, direct current generator drive module model L298N；
As shown in Figure 1 to 11, control system 4 and RGB dot matrix display screen 1-1, LED light 2-3, running gear 3-2 andInfrared distance sensor 2-7 control connection, touch display screen control mainboard 2-2 and touch display screen 2-1 control connect, describedPB0, PB1 of STM32F407ZET6 chip are connect with 2, No. 3 pins of the control terminal of the MP3 playing module 1-3 respectively, institutePA8, PA11 pin for stating STM32F407ZET6 chip are connect with 2,3 pins of the input terminal of the RGB dot matrix display screen 1-1,PA4, PA5 pin of the STM32F407ZET6 chip are connected respectively at No. 2 pins of control terminal of two sides LED light 2-3, describedPB15, PB14, PB13, PB12, PB9, PB8 pin of STM32F407ZET6 chip respectively with direct current generator drive module L298NIN1, IN2, IN3, IN4, ENA, ENB pin connection, OUT1, OUT2, OUT3, OUT4 of direct current generator drive module L298NPin is connect with the control signal of two brushless direct-current decelerating motors respectively, the PB6 pin of the STM32F407ZET6 chipIt is connect with No. 2 pins of the infrared distance sensor 2-7.
RGB dot matrix display screen 1-1 is the prior art in present embodiment, and manufacturer is the limited public affairs of the diligent easily science and technology in ShenzhenDepartment, model SK6812RGB.
MP3 playing module 1-3 is the prior art in present embodiment, and manufacturer is Foshan Xu Sheng Electrical Appliances Co., Ltd,Model MINIMP3507.
Touch display screen 2-1 is the prior art in present embodiment, and manufacturer is that Dongguan City hat quotient's electronics technology is limitedCompany, model FF-Y-B.
Touch display screen control mainboard 2-2 is the prior art in present embodiment, and manufacturer is Han Zhi star scientific & technical corporation,Model N29_2L.
LED light 2-3 is the prior art in present embodiment, and manufacturer is Shenzhen Yongchang Science and Technology Ltd., model12VLED5050。
Infrared distance sensor 2-7 is the prior art in present embodiment, and manufacturer is that Shenzhen's auspicious electronics of letter is limitedCompany, model TFMINI.
Brushless direct-current decelerating motor 3-23 is the prior art in present embodiment, and manufacturer is Beijing epoch preeminent electric applianceScience and Technology Ltd., model 40BL100S15-230TF9.
Working principle: two brushless direct-current decelerating motor 3-23 and direct current generator drive module in the running gear 3-2L298N control connection, PB15, PB14, PB13, PB12, PB9, PB8 pin of the STM32F407ZET6 chip are respectively and directlyFlow IN1, IN2, IN3, IN4, ENA, ENB pin connection of motor drive module L298N, the PB10 of STM32F407ZET6 chipIt is connect for exporting PWM with ENA, ENB pin of direct current generator drive module L298N with PB11 pin, direct current generator drives mouldOUT1, OUT2-, OUT3, OUT4 of block L298N is connect with the positive and negative Wiring port of the brushless direct-current decelerating motor respectively, controlThe revolving speed of wheel processed and steering.When infrared distance sensor 2-7 is detected apart from clients 5m, triggering chassis wheel type mobile dress3 are set to the movement of clients pedestrian direction, stop when infrared distance sensor 2-7 is detected apart from clients 3m mobile and is triggeredMP3 playing module 1-3 plays the welcome's voice realized and be stored in mp3 format inside SD card, and the STM32F407ZET6 chipThe output of brushless direct-current decelerating motor 3-23 torque is interrupted, simultaneously STM32F407ZET6 chip passes through PA8, PA11 pinThe dynamic expression inside RGB dot matrix display screen display expression library is controlled, is simutaneously arranged and is flashed in touch display screen two sides LED light,When infrared distance sensor 2-7 is detected apart from 1 meter of clients, stop playing welcome's voice, clients are in touch display screenBefore 2-1 when query information, touch display control mainboard 2-2 calls the corresponding contents of database inside mainboard hardboard to be shown in touchingIt touches on display screen 2-1, when clients leave community medical service center, triggering MP3 playing module 1-3 plays realization and is stored in SDCard the inside mp3 format sees voice off, and triggers robot chassis mobile device 3 and move backward.
Specific embodiment three
A kind of control method that the management robot based on a kind of community medical service center's inquiry into expenses realizes, packetInclude following steps:
Step a, infrared distance sensor 2-7 acquires the distance of surrounding clients in real time；
Step b, when infrared distance sensor 2-7 is detected apart from clients 5m, triggering chassis wheeled mobile device 3 toClients pedestrian direction is mobile；
Step c, robot is managed when infrared distance sensor 2-7 is detected apart from clients 3m stops movement, controlSystem 4 triggers MP3 playing module 1-3 and plays the welcome's voice realized and be stored in mp3 format inside SD card；
Step d, when infrared distance sensor 2-7 is detected apart from 1 meter of clients, control system 4 stops playing welcomeVoice, before touch display screen 2-1 when query information, touch display screen control mainboard 2-2 is called inside mainboard hardboard clientsThe corresponding contents of database are shown on touch display screen 2-1, when clients leave community medical service center, control system 4Triggering MP3 playing module 1-3, which is played, realizes that be stored in mp3 format inside SD card sees voice off, and triggers chassis wheel type mobileDevice 3 moves backward.