CN111449757B

Movatterモバイル変換

Info

Publication number: CN111449757B
Application number: CN202010279038.2A
Authority: CN
Inventors: 于占泉
Original assignee: BOE Technology Group Co Ltd
Current assignee: BOE Technology Group Co Ltd
Priority date: 2020-04-10
Filing date: 2020-04-10
Publication date: 2022-01-11
Anticipated expiration: 2040-04-10
Also published as: CN111449757A

Abstract

Translated fromChinese

本说明书一个或多个实施例提供一种远程医疗机器人、控制方法及其充电方法。具体地，所述远程医疗机器人包括：具有多个自由度的调整平台；机械手，设置于所述调整平台的端部，被配置为操作检测设备对患者进行医学检测；交互模块，设置于所述调整平台，被配置为实现与远端控制设备间的多媒体信息交互；以及控制模块，被配置为：获取远端控制设备发送的控制指令，并根据所述控制指令，控制所述调整平台、所述机械手和所述交互模块的工作状态。通过获取远端控制设备发送的控制指令，即可控制所述调整平台、所述机械手和所述交互模块的工作状态，进而实现患者和医生间的远程检查、诊断，解决农村或偏远地区的患者求医治病难的问题。

One or more embodiments of the present specification provide a telemedicine robot, a control method and a charging method thereof. Specifically, the telemedicine robot includes: an adjustment platform with multiple degrees of freedom; a manipulator, arranged at the end of the adjustment platform, configured to operate a detection device to perform medical detection on a patient; an interaction module, arranged on the An adjustment platform, configured to realize multimedia information interaction with a remote control device; and a control module, configured to: obtain a control command sent by the remote control device, and control the adjustment platform, all the devices according to the control command the working status of the manipulator and the interaction module. By obtaining the control instructions sent by the remote control device, the working state of the adjustment platform, the manipulator and the interaction module can be controlled, thereby realizing remote inspection and diagnosis between patients and doctors, and solving the problems of patients in rural or remote areas. Seek medical treatment for difficult problems.

Description

Telemedicine robot, control method and charging method thereof

Technical Field

One or more embodiments of the present disclosure relate to the field of medical technology, and in particular, to a remote medical robot, a control method, and a charging method thereof.

Background

Medical levels in all regions are different at present, so that high-level doctors in developed regions are centralized, and high-level doctors in remote regions are lack. For patients in rural or remote areas, it is not easy to seek medical attention to treat the disease. Often the patient needs to travel long distances to reach the hospital, whereas the physician visit time may be only ten or more minutes. The spatial distance between the patient and the doctor not only increases the physical burden of the patient, but also increases the economic burden of the patient.

Disclosure of Invention

In view of the above, an object of one or more embodiments of the present disclosure is to provide a remote medical robot, a control method and a charging method thereof, so as to solve the problem that patients in rural areas or remote areas are difficult to seek medical attention to treat diseases.

In view of the above object, a first aspect of embodiments of the present specification provides a telemedicine robot, including:

an adjustment stage having a plurality of degrees of freedom;

the manipulator is arranged at the end part of the adjusting platform and is configured to operate a detection device to carry out medical detection on the patient;

the interaction module is arranged on the adjusting platform and is configured to realize multimedia information interaction with the remote control equipment; and

a control module configured to: and acquiring a control instruction sent by remote control equipment, and controlling the working states of the adjusting platform, the manipulator and the interaction module according to the control instruction.

Further, the adjusting platform includes:

the rotating assembly is connected with the manipulator and is configured to drive the manipulator to rotate so as to adjust the posture of the manipulator;

the linear moving assembly is connected with the rotating assembly and is configured to drive the rotating assembly and the manipulator to move linearly so as to adjust the position of the manipulator; and

and the moving chassis is configured to bear the linear moving assembly and drive the linear moving assembly, the rotating assembly and the manipulator to move.

Further, the mobile chassis specifically includes:

a tray body, comprising: the device comprises a first surface, a second surface and an outer peripheral surface, wherein the first surface and the second surface are oppositely arranged, and the outer peripheral surface is connected with the first surface and the second surface; the first surface is used for arranging the linear moving component;

the obstacle avoidance sensors are uniformly arranged on the peripheral surface; and

and the moving wheel is arranged on the second surface.

Further, the rotating assembly specifically includes:

a first rotation unit connected to the manipulator and configured to adjust an angle of the manipulator in a first plane;

the second rotating unit is connected with the first rotating unit and is configured to adjust the angle of the first rotating unit in a second plane; wherein the second plane is perpendicular to the first plane; and

a third rotation unit connected to the second rotation unit and configured to adjust an angle of the second rotation unit in a third plane; wherein the third plane is perpendicular to the first plane and the second plane.

Further, the linear moving assembly specifically includes:

a first moving unit connected to the rotating assembly and configured to adjust a position of the rotating assembly in a first direction;

a second moving unit connected to the first moving unit and configured to adjust a position of the first moving unit in a second direction; wherein the second direction is perpendicular to the first direction; and

a third moving unit disposed on the moving chassis and connected to the second moving unit, configured to adjust a position of the second moving unit in a third direction; wherein the third direction is perpendicular to the second direction and the first direction.

Further, the control instructions include movement instructions, and the control module is further configured to:

and controlling the adjusting platform to correspondingly move according to the moving instruction so as to adjust the relative position of the adjusting platform and the patient.

Further, the detection device includes a pressure sensor; the control module further configured to:

acquiring pressure information provided by a pressure sensor and multimedia information provided by the interaction module in a corresponding time period;

comparing the pressure information with a pressure grade library corresponding to a login account of the remote control equipment to determine the pressure grade corresponding to the pressure information;

transmitting said pressure level and said multimedia information to said remote control device;

and acquiring a feedback instruction of the remote control equipment, and controlling the manipulator to adjust the pressure sensor according to the feedback instruction.

Further, the detection device comprises a skin color plate;

before the interaction module is used for realizing the multimedia information interaction with the remote control equipment, the control unit is further configured to:

acquiring a first image comprising a patient's face and the skin tone plate;

extracting pixel information corresponding to the skin color plate in the first image;

determining a color temperature corresponding to the first image according to the pixel information;

and adjusting the white balance of the image in the multimedia information interaction based on the color temperature.

In a second aspect of embodiments of the present specification, there is further provided a charging method for a telemedicine robot of any one of the preceding claims, the telemedicine robot further including a power supply module, the charging method including:

acquiring the residual electric quantity of the battery;

comparing the residual electric quantity with a preset safe electric quantity;

if the residual electric quantity is smaller than the preset safe electric quantity, acquiring a charging path;

moving to a target charging dock based on the charging path;

determining the target charging seat and positioning for charging by using the induction signal; wherein the induction signal is sent out by the target charging seat.

Further, the step of obtaining the charging path specifically includes:

acquiring a current position, and searching a target charging seat according to a preset rule based on the current position;

and determining the charging path according to the current position and the position of the target charging seat.

Further, the step of determining the target charging seat and positioning charging by using the sensing signal specifically includes:

searching for an induction signal, and determining the target charging seat based on the induction signal;

and adjusting the relative position of the telemedicine robot and the target charging seat until the induction signal of a preset angle is acquired.

Further, the method also comprises the following steps:

storing a corresponding pre-charge state when the residual electric quantity is less than the preset safe electric quantity;

monitoring the electric quantity of the battery in the charging process;

if the electric quantity of the battery reaches the maximum value of the preset safe electric quantity, stopping charging;

and restoring the state of the telemedical robot according to the saved pre-charge state.

In a third aspect of embodiments herein, there is further provided a control method for a telemedicine robot of any one of the preceding claims, wherein the adjustment platform comprises a laser navigation radar; the interaction module comprises a camera; the remote medical diagnosis robot further comprises a photoelectric encoder;

the control method specifically comprises the following steps:

acquiring environmental information by using at least one of the laser navigation radar and the camera; acquiring the moving mileage information by using the photoelectric encoder;

obtaining a local map based on a synchronous positioning and map building method according to the environment information and the moving mileage information;

acquiring a control instruction sent by a remote controller, wherein the control instruction comprises target position information;

determining a movement path of the telemedicine robot to the target location based on the target location information, the local map, and telemedicine robot positioning information; wherein the telemedicine robot positioning information is determined based on the local map and current environmental information;

and controlling the telemedicine robot to move to the target position according to the moving path.

Further, controlling the telemedicine robot to move to the target position according to the moving path includes:

determining the moving distance of the remote medical robot according to the positioning information corresponding to the starting and stopping moments of a preset time period;

and if the moving distance is smaller than the preset distance, re-determining the moving path.

Further, the step of controlling the telemedicine robot to move to the target position according to the moving path includes:

acquiring roadblock data by using an obstacle avoidance sensor;

and controlling the remote medical robot to avoid the obstacle according to the roadblock data and the moving path.

From the foregoing, it can be seen that one or more embodiments of the present disclosure provide a telemedicine robot including an adjustment platform having multiple degrees of freedom, a manipulator, an interaction module, and a control module. The position and the posture of the manipulator are adjusted through the multi-degree-of-freedom adjusting platform, and the manipulator operates the detection equipment to perform medical detection on the patient. Meanwhile, multimedia information interaction with the remote control equipment is realized through the interaction module. The doctor sends a control instruction to the control module through the remote control equipment, and the control module can control the working states of the adjusting platform, the manipulator and the interaction module according to the control instruction, so that remote examination and diagnosis between a patient and the doctor are realized.

Drawings

In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only one or more embodiments of the present specification, and that other drawings may be obtained by those skilled in the art without inventive effort from these drawings.

FIG. 1 is a schematic diagram of a telemedicine robot provided in one or more embodiments herein;

FIG. 2 is a schematic structural diagram of a mobile chassis provided in one or more embodiments of the present disclosure;

FIG. 3 is a schematic structural diagram of a portion of an adjustment platform according to one or more embodiments of the present disclosure;

fig. 4 is a schematic flow diagram of a charging method provided in one or more embodiments of the present disclosure;

fig. 5 is a schematic flow chart of obtaining a charging path according to one or more embodiments of the present disclosure;

FIG. 6 is a schematic flow chart of a control method provided in one or more embodiments of the present disclosure;

fig. 7 is a schematic structural diagram of a SLAM module according to one or more embodiments of the present disclosure.

Detailed Description

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present specification should have the ordinary meaning as understood by those of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in one or more embodiments of the specification is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

At present, remote medical equipment is mostly static, for example, remote audio and video equipment, doctors and patients are only in video call communication, doctors cannot control local detection equipment, patients cannot be observed flexibly at multiple angles, and detection records such as relevant physical signs of patients cannot be acquired. Furthermore, with some detection devices, the patient is often not aware of the operation, especially for the elderly, children, or persons with mobility difficulties, even if the doctor is guided by video, to use the relevant detection device correctly.

With the application of the 5G technology, the information transmission speed is greatly improved, a reliable data transmission basis is provided for remote medical treatment, and a doctor can remotely control the medical treatment terminal.

Therefore, in order to fundamentally solve the problem that a patient is difficult to seek medical treatment, in the first aspect of the specification, a telemedicine robot is provided. As shown in fig. 1, the telemedicine robot includes:

anadjustment platform 1 with multiple degrees of freedom.

Here, theadjustment platform 1 is capable of providing adjustment of the respective degrees of freedom of the telemedicine robot, including but not limited to relative position with the patient, relative position with the detection device.

And themanipulator 2 is arranged at the end part of theadjusting platform 1 and is configured to operate a detection device to carry out medical detection on the patient.

It should be noted that, by using theadjusting platform 1, the position and posture of themanipulator 2 can be adjusted, so as to ensure that the detection device is located at a proper position, and the doctor detection on the patient can be conveniently completed.

Theinteraction module 3 is arranged on theadjusting platform 1 and is configured to realize multimedia information interaction with the remote control equipment; and

a control module (not shown in the figures) configured to: and acquiring a control instruction sent by remote control equipment, and controlling the working states of the adjusting platform, the manipulator and the interaction module according to the control instruction.

As can be seen from the above-mentioned embodiments, the position and posture of themanipulator 2 are adjusted by the multi-degree-of-freedom adjustment platform 1, and themanipulator 2 operates the detection device to perform medical detection on the patient. Meanwhile, multimedia information interaction with the remote control equipment is realized through theinteraction module 3. The doctor sends a control instruction to the control module through the remote control equipment, and the control module can control the working states of the adjusting platform, the manipulator and the interaction module according to the control instruction, so that remote examination and diagnosis between a patient and the doctor are realized.

Further, theinteraction module 3 includes a camera, a speaker, a microphone and a display screen. The camera is used for collecting image information of the patient, the detection equipment, the environment and the like. The microphone is used for collecting sound information of a patient, detection equipment, environment and the like. The multimedia information of the patient, the detection equipment and the environment collected by the camera and the microphone is sent to the remote control equipment through the control module, so that a doctor using the remote control equipment can acquire the multimedia information related to the patient. Simultaneously, control module can also acquire doctor's that the remote control equipment gathered multimedia information, utilizes speaker and display screen to demonstrate, and like this, the patient can acquire doctor's relevant multimedia information.

It should be understood that the remote control device may include any terminal device such as a mobile phone, a tablet computer, a PDA (Personal Digital Assistant), a POS (Point of Sales), a vehicle-mounted computer, a pc (Personal computer), etc.

Optionally, the detection device may include any detection device such as a stethoscope, a tongue depressor, an oximeter, a sphygmomanometer, a pressure sensor, a thermometer, a skin color plate, a flashlight, an electrocardiograph, and the like.

As an alternative embodiment, the doctor determines the position of the required detection device through the image information collected by theinteraction module 3, thereby controlling the telemedicine robot to acquire the corresponding detection device by using the manipulator. It should be understood that the detection device is a detection device commonly used in hospitals, and additional procurement is not required, which is beneficial to reducing medical cost. It will be appreciated that if the patient or other surrounding personnel, such as a nurse or the like, is able to assist in providing the detection device, then there is no need for the physician to determine the location of the detection device from the image information.

Of course, as an alternative embodiment, the detection device may also be integrated on the manipulator, such as a pressure sensor, a skin plate, etc. In such a mode, the manipulator has better and comprehensive functions, can save the time for additionally acquiring the detection equipment, and is favorable for improving the detection diagnosis and treatment efficiency of doctors and patients.

It should be noted that the type and arrangement form of the detection device are not particularly limited. The remote medical robot can be flexibly set according to the use environment of the remote medical robot and the characteristics of the detection equipment.

Referring to fig. 3, in one or more embodiments of the present description, theadjustment platform 1 includes:

arotating component 11 connected with themanipulator 2 and configured to drive themanipulator 2 to rotate so as to adjust the posture of themanipulator 2;

the linear movingassembly 12 is connected with the rotatingassembly 11 and is configured to drive the rotatingassembly 11 and themanipulator 2 to move linearly so as to adjust the position of themanipulator 2; and

and the movingchassis 13 is configured to carry the linear movingassembly 12 and drive the linear movingassembly 12, the rotatingassembly 11 and themanipulator 2 to move.

Through removingchassis 13, realize telemedicine robot's bulk movement, very big improvement telemedicine robot's flexibility for telemedicine robot not only can be close to the patient, can be located patient's not equidirectional moreover, is favorable to the doctor to carry out comprehensive observation to the patient. Further, the linear movingassembly 12 and the rotatingassembly 11 are utilized to adjust the position and the posture of themanipulator 2, so that the detection equipment on themanipulator 2 can conveniently detect the patient at a proper position and angle. With the help of telemedicine robot, the doctor can realize the remote detection to the patient, and need not patient's operation, and the patient experiences well, has extensive suitability.

As shown in fig. 2, in one or more embodiments of the present specification, the movingchassis 13 specifically includes:

thetray body 131 includes: the device comprises a first surface, a second surface and an outer peripheral surface, wherein the first surface and the second surface are oppositely arranged, and the outer peripheral surface is connected with the first surface and the second surface; the first surface is used for arranging the linear movingcomponent 12;

obstacle avoidance sensors 132 uniformly arranged on the outer peripheral surface; and

and a movingwheel 133 disposed on the second surface.

Here, theobstacle avoidance sensor 132 may include an ultrasonic sensor, an infrared sensor, a laser sensor, and the like. It should be understood that theobstacle avoidance sensor 132 may be a single sensor or a plurality of sensors, and is not limited herein. The obstacle is detected through the obstacle avoidance sensor, the control module utilizes the obstacle information to control themovable chassis 13 to automatically avoid the obstacle, manual control is not needed, and high-efficiency intelligence is achieved.

Alternatively, the moving wheel may be a motor driven wheel. The control module can control the movement of the movable chassis by controlling the working state of the motor driving wheel. The linear moving assembly is borne by combining the moving chassis, so that the position movement of the whole telemedicine robot is realized. It should be understood that the positional shift herein includes not only front-back, left-right, but also pivot rotation.

By the aid of the structural arrangement, the remote medical robot can be guaranteed to automatically move under the control of the control module, so that the remote medical robot has high flexibility.

Referring to fig. 3, in one or more embodiments of the present disclosure, the rotatingassembly 11 specifically includes:

afirst rotation unit 111 connected to themanipulator 2 and configured to adjust an angle of themanipulator 2 in a first plane;

asecond rotation unit 112 connected to thefirst rotation unit 111, configured to adjust an angle of thefirst rotation unit 111 in a second plane; wherein the second plane is perpendicular to the first plane; and

a thirdrotating unit 113 connected to the secondrotating unit 112 and configured to adjust an angle of the secondrotating unit 112 in a third plane; wherein the third plane is perpendicular to the first plane and the second plane.

Through the technical scheme, the rotatingassembly 11 can realize the angle adjustment of themanipulator 2 in three mutually perpendicular planes, so that the posture of themanipulator 2 meets the requirement of operating detection equipment.

Further, thefirst rotation unit 111, thesecond rotation unit 112, and thethird rotation unit 113 may have the same structure, such as a power-driven turntable. Specifically, the electric turntable comprises a motor and a worm gear reducer; the motor drives the worm gear speed reducer to realize rotary motion, and the rotation number of the motor is reduced to the required rotation number by the worm gear speed reducer, so that the angle is adjusted.

As shown in fig. 3, in one or more embodiments of the present disclosure, the linear movingassembly 12 specifically includes:

a first movingunit 121 connected to the rotatingassembly 11 and configured to adjust a position of the rotating assembly in a first direction; specifically, the first movingunit 121 is connected to the thirdrotating unit 113.

A second movingunit 122 connected to the first movingunit 121, configured to adjust a position of the first movingunit 121 in a second direction; wherein the second direction is perpendicular to the first direction; and

a third movingunit 123 disposed on the movingchassis 13 and connected to the second movingunit 122, and configured to adjust a position of the second movingunit 122 in a third direction; wherein the third direction is perpendicular to the second direction and the first direction.

As a more specific example, the third direction is a vertical direction, and the second direction and the first direction are two mutually perpendicular directions within a horizontal plane.

It can be seen that, in combination with the movingchassis 13, the linear moving assembly can flexibly adjust the spatial position of the rotatingassembly 11, so that themanipulator 2 can be aligned with different parts of the patient, and the patient can be conveniently detected by using the detection device. Here, the different parts may be a head, an abdomen, a leg, and the like.

Further, the first movingunit 121, the second movingunit 122 and the third movingunit 123 may be electric slide table adjustment. Specifically, the electric sliding table comprises a motor, a ball screw and a guide rail. Here, the ball screw is used to convert the axial rotation of the motor into linear motion, thereby realizing adjustment of the linear position. It should be understood that the arrangement direction of the guide rails corresponds to the first direction, the second direction and the third direction, respectively, and will not be described in detail herein.

Optionally, the electric sliding table may further include a belt, and the belt is connected to the motor and the ball screw. Through setting up the belt, the position of setting that can be nimble the motor for the structure of wholerectilinear movement subassembly 12 is more balanced, firm.

Through theinteraction module 3, a doctor operating the remote control device can obtain multimedia information of the environment in which the telemedicine robot is located, including but not limited to the position of the telemedicine robot relative to the patient. Based on this, in one or more embodiments of the present description, the control instructions include movement instructions, the control module further configured to:

Here, the movement instruction includes, but is not limited to, forward, backward, left, right, rotation, and the like.

Through such technical scheme, the doctor can direct control telemedicine robot's removal makes it be close to, keep away from or aim at the patient with characteristic angle, realizes doctor to patient's multi-angle, nimble observation.

When a doctor examines a patient, the doctor can contact the body of the patient through hands besides using a detection instrument, and observe whether the corresponding body part of the patient has physiological reactions such as pain under actions such as pressing and pressing.

In one or more embodiments of the present description, a robotic manipulation pressure sensor may be utilized to detect a patient. As previously mentioned, the detection device comprises a pressure sensor. In particular, the robot presses the pressure sensor against the patient's body, which generates a reaction force on the pressure sensor, which can be picked up by the pressure sensor. The doctor feels the reaction force of the patient's body to the hands differently due to the difference in the experience and hand strength of each doctor.

To enable the physician to accurately determine the condition of the patient's body, the control module is further configured to:

acquiring pressure information provided by a pressure sensor and multimedia information provided by the interaction module in a corresponding time period; here, the pressure information is a reaction force of the patient's body against the pressure sensor.

And comparing the pressure information with a pressure grade library corresponding to the login account of the remote control equipment, and determining the pressure grade corresponding to the pressure information.

It should be noted that, a doctor logs in the remote control device through a personal account, so that the doctor using the remote control device can be determined according to the login account of the remote control device. Here, the pressure level library includes a correspondence relationship between pressure information and a level of pressure (reaction force of the patient's body) felt by the doctor.

It should be understood that the pressure level library can be established through multiple tests when the personal account of the doctor is established, so that the corresponding relation between the pressure level felt by the doctor and the pressure information is defined. Alternatively, based on experimentation, the pressure ranges typically experienced by a physician are determined and sub-ranges are drawn, each sub-range corresponding to a pressure level. And determining the pressure grade according to the sub-range of the pressure information. Obviously, the pressure level experienced by the physician may be quite different for the same pressure information.

Therefore, the pressure information is converted into the pressure level which corresponds to the experience of the doctor and is convenient to judge, and the doctor can accurately judge the physical condition of the patient according to the experience.

And transmitting the pressure level and the multimedia information to the remote control equipment.

Here, the doctor using the remote control device can acquire not only the pressure level information but also multimedia information of the patient at the pressure level, including but not limited to expression, sound, etc., so that the doctor can determine the next operation according to the reaction of the patient, for example, the manipulator continues to press the pressure sensor toward the patient.

Therefore, according to the technical scheme, the doctor can perform palpation detection on the patient by using the pressure sensor, so that the physical condition of the patient can be more comprehensively known.

In addition to palpation detection, doctors also often determine the physical condition of a patient by observing the facial complexion, mental state, etc. of the patient. In the remote medical treatment process, the image information provided by the interaction module is influenced by ambient light, has the possibility of distortion, and cannot truly reflect the facial complexion of the patient.

To solve this technical problem, in one or more embodiments of the present description, the detection device comprises a skin tone plate. By utilizing the skin color plate, the adjustment of image information is realized, so that a doctor can accurately obtain the face color information of a patient, and misjudgment caused by image distortion is avoided.

Specifically, before the interaction module is used to implement multimedia information interaction with a remote control device, the control unit is further configured to:

a first image including a patient's face and the skin tone plate is acquired.

Here, the flesh tone plate includes a plurality of flesh tone pixel points.

Alternatively, the skin tone plate may be placed by a robotic arm in close proximity to the patient's face.

Further, as an alternative, the flesh tone plate is provided on the robot arm. When the skin color plate is used, the manipulator is only required to be placed on the face accessory of the patient.

And extracting pixel information corresponding to the skin color plate in the first image.

And determining the color temperature corresponding to the first image according to the pixel information.

It should be understood that, under different color temperatures, the pixel information of the skin color is located in different areas, and the color temperature of the surrounding environment can be determined according to the area where the pixel information is located. There are various ways to determine the color temperature based on the pixel information, not just to mention one.

Here, the adjusted image can reflect the real face of the patient, helping the doctor to judge the physical condition of the patient.

To facilitate free movement of the telemedicine robot, independent of the power supply, the telemedicine robot in one or more embodiments of the present description further comprises a power module. The power module is configured to supply power to the control module, themanipulator 2, theconditioning platform 1 and theinteraction module 3.

Optionally, the power module includes at least one charging socket, a battery, and a power management unit. The power management unit comprises a charging management subunit, an electric quantity detection subunit, a power conversion subunit and a distribution subunit.

Further, in a second aspect of the present specification, there is also provided a charging method. As shown in fig. 4, the charging method specifically includes:

step 101: and acquiring the residual capacity of the battery.

Here, with the electric power detecting subunit, the remaining electric power of the battery can be acquired.

Step 102: and comparing the residual electric quantity with a preset safety electric quantity.

It should be noted that the preset safe electric quantity can be set according to the use environment of the telemedicine robot. For example, if the range of motion of the telemedicine robot is small, the preset safe electric quantity may be set to be low, for example, 10%; the range of motion of telemedicine robot is big, then it can be higher that preset safe electric quantity sets up, for example 20% to ensure telemedicine robot to keep enough electric quantity to move to the position of charging seat.

Step 103: and if the residual electric quantity is less than the preset safe electric quantity, acquiring a charging path.

It should be understood that if the remaining power is greater than or equal to the preset safe power, a charging path does not need to be acquired.

For the charging path, it may be determined by the remote control device.

For example, if the remaining power is less than the preset safe power, the control module sends a charging request to a remote control device. And the remote control equipment searches the target charging seat by using a local map (where the telemedicine robot is located) and formulates a charging path.

Step 104: and moving to the target charging seat based on the charging path.

Step 105: determining the target charging seat and positioning for charging by using the induction signal; wherein the induction signal is sent out by the target charging seat.

In this step, in the process of approaching the target charging seat, the remote medical robot can conveniently determine the target charging seat and perform positioning charging by using the induction signal. Here, the sensing signal may be an infrared signal.

One or more embodiments of the present disclosure further provide another method for acquiring a charging path, referring to fig. 5, where the step of acquiring the charging path specifically includes:

step 201: and acquiring the current position, and searching the target charging seat according to a preset rule based on the current position.

It should be noted that, since the number of the charging seats may be plural, the target charging seat needs to be searched. Here, the preset rule may be the shortest distance or the shortest time, or may be another rule, for example, the shortest obstacle, which is not limited herein.

Step 202: and determining the charging path according to the current position and the position of the target charging seat.

According to the technical scheme, the remote medical robot can independently complete charging without the participation of remote control equipment, and is more intelligent and efficient.

It should be appreciated that in this manner of obtaining a charging path, a charging notification may be sent to the remote control device. In this way, a doctor using the remote control apparatus can know the state of the telemedicine robot in time.

and searching induction signals, and determining the target charging seat based on the induction signals.

Here, although the remote medical robot knows the general position of the target charging stand while approaching the target charging stand, other objects may exist around the remote medical robot, and thus it is necessary to determine the target charging stand using an induction signal.

It should be appreciated that the target charging dock and the telemedicine robot are aligned to enable charging. Here, the alignment may be charging contact alignment, or the telemedicine robot may be in a range in which charging can be achieved (suitable for contactless charging). When the induction signal is detected at a preset angle, the remote medical robot is indicated to be aligned with the target charging seat, so that the remote medical robot can be charged after positioning is completed.

In one or more embodiments of the present invention, the charging method further includes:

monitoring the electric quantity of the battery in the charging process;

By the technical scheme, the remote medical robot can automatically complete the recovery of the state and continue the action before charging without the intervention of a doctor.

In a third aspect of the present specification, there is also provided a control method of the telemedicine robot described in any one of the foregoing. The adjustment platform comprises a laser navigation radar 134 (refer to fig. 2), and thelaser navigation radar 134 can be arranged on themobile chassis 13; the interaction module comprises a camera; the remote medical diagnosis robot further comprises a photoelectric encoder. Further, as shown in fig. 6, the control method specifically includes:

step 301: acquiring environmental information by using at least one of the laser navigation radar and the camera; and acquiring the moving mileage information by using the photoelectric encoder.

Step 302: and obtaining a local map based on a synchronous positioning and map building method according to the environment information and the moving mileage information.

It should be noted that synchronous positioning and Mapping (SLAM), also called instant positioning and Mapping (CML), is used.

Specifically, the SLAM module is used for executing a synchronous positioning and mapping method. As shown in fig. 7, the SLAM module includes a pose updating module, a map building module, a feature extraction module, a pose estimation module, a map matching module, and a real-time data fusion module. The following is a brief description of the synchronous positioning and mapping method.

And performing feature extraction on the environmental information through a feature extraction module. The pose estimation module determines a pose of the telemedicine robot according to the moving mileage information. And matching the extracted features and pose with the existing map (a map matching module), and updating the existing map and constructing a new map according to the matching result (a map constructing and updating module). Of course, the extracted features may be input into the real-time data fusion module, fused with the original feature data, and then matched with the existing map. The pose updating module can update the pose of the telemedicine robot according to the existing map in the map matching module and the new map in the map building and updating module, so that the pose updating module determines the positioning information of the telemedicine robot.

It should be understood that the above is merely an exemplary illustration of the synchronized positioning and mapping method. Any method capable of realizing synchronous positioning and mapping is suitable for local mapping in the specification and is not described in detail.

Step 303: acquiring a control instruction sent by a remote controller, wherein the control instruction comprises target position information;

in this step, the object may be a patient, an object charging dock, a detection device, or the like. Here, the doctor usually knows the location of the patient, such as the patient's room number and bed. The doctor can determine the target charging dock based on the local map. Using the multimedia information, the location of the detection device can be determined.

Step 304: determining a movement path of the telemedicine robot to the target location based on the target location information, the local map, and telemedicine robot positioning information; wherein the telemedicine robot positioning information is determined based on the local map and current environmental information;

it is understood that when the target is a charging dock, the moving path is a charging path.

Step 305: and controlling the telemedicine robot to move to the target position according to the moving path.

Therefore, by the control method of the embodiment, the remote medical robot can construct a local map in any environment by using the information provided by the laser navigation radar, the camera and the photoelectric encoder, and the process does not need to be operated by a doctor. Furthermore, only the remote control equipment is needed to provide the position information of the target, the remote medical robot can automatically move, the flexibility is high, and various requirements of remote medical treatment are met.

In one or more embodiments of the present invention, controlling the telemedicine robot to move to the target position according to the movement path includes:

and determining the moving distance of the remote medical robot according to the positioning information corresponding to the starting and stopping moments of the preset time period.

For a preset time period, the total time required for the telemedicine robot to complete the movement path may be divided into 3 parts and 4 parts, for example. The total length of time is determined based on the average moving speed of the telemedicine robot. Starting timing when the telemedicine robot starts to move, and calculating a moving distance according to a position when the telemedicine robot starts to move (a time when the time period starts) and a position after 2min (a time when the time period ends) when a preset time period is reached, for example, 2 min; and the like, and determining the moving distance every 2 min.

It should be understood that the preset distance is calculated according to the average moving speed of the telemedicine robot and a preset time period.

By the mode, the state of the remote medical robot is effectively judged by utilizing the preset time period and the preset distance, when the remote medical robot encounters an obstacle which cannot be crossed, the moving path can be determined again, and the problem that the remote medical robot cannot reach the target position due to the obstacle is solved. Here, the obstacle may be a temporary tool occupying passage, a passage door lock, or the like.

Further, in one or more embodiments of the present description, a method of handling traversable barriers is also included. Specifically, the step of controlling the telemedicine robot to move to the target position according to the moving path includes:

acquiring roadblock data by using an obstacle avoidance sensor;

It should be noted that the method for controlling the telemedicine robot to avoid the obstacle may be a Bug obstacle avoidance algorithm. For example, after the obstacle avoidance sensor finds an obstacle, the telemedicine robot is controlled to walk around the detected obstacle contour, thereby bypassing it.

Besides, the method for controlling the telemedicine robot to avoid the obstacle can be a potential field method, a neural network, fuzzy logic and the like, and the details are not described here.

It should be noted that the method of one or more embodiments of the present disclosure may be performed by a single device, such as a computer or server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the devices may perform only one or more steps of the method of one or more embodiments of the present disclosure, and the devices may interact with each other to complete the method.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present description as described above, which are not provided in detail for the sake of brevity.

In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures, for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the understanding of one or more embodiments of the present description, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.

While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.

It is intended that the one or more embodiments of the present specification embrace all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of one or more embodiments of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A telemedicine robot, comprising:

an adjustment stage having a plurality of degrees of freedom;

a control module configured to: acquiring a control instruction sent by remote control equipment, and controlling the working states of the adjusting platform, the manipulator and the interaction module according to the control instruction;

the detection device comprises a pressure sensor and a skin color plate; the control module further configured to:

comparing the pressure information with a pressure grade library corresponding to a login account of the remote control equipment to determine the pressure grade corresponding to the pressure information; the pressure grade library comprises a corresponding relation between pressure information and pressure grade felt by a doctor;

acquiring a feedback instruction of the remote control equipment, and controlling the manipulator to adjust the pressure sensor according to the feedback instruction;

and before the interaction module is used for realizing the multimedia information interaction with the remote control equipment, the control module is also configured to:

acquiring a first image comprising a patient's face and the skin tone plate;

2. The telemedicine robot of claim 1, wherein the adjustment platform comprises:

3. The telemedicine robot of claim 2, wherein the mobile chassis comprises:

and the moving wheel is arranged on the second surface.

4. The telemedicine robot of claim 2, wherein the rotating assembly comprises:

5. The telemedicine robot of claim 2, wherein the linear motion assembly comprises:

6. The telemedicine robot of claim 1, wherein the control instructions comprise movement instructions, the control module further configured to:

7. A charging method for a telemedicine robot according to any one of claims 1 to 6, further comprising a power module, the charging method comprising:

acquiring the residual electric quantity of the battery;

comparing the residual electric quantity with a preset safe electric quantity;

moving to a target charging dock based on the charging path;

8. The charging method according to claim 7, wherein the step of obtaining the charging path specifically includes:

9. The charging method according to claim 7, wherein the step of determining the target charging cradle and locating the charging by using the sensing signal specifically comprises:

10. The charging method according to claim 7, further comprising:

monitoring the electric quantity of the battery in the charging process;

11. A method of controlling a telemedicine robot according to any of claims 1 to 6, wherein the adjustment platform comprises a laser navigation radar; the interaction module comprises a camera; the remote medical diagnosis robot further comprises a photoelectric encoder;

the control method specifically comprises the following steps:

12. The control method according to claim 11, wherein controlling the telemedicine robot to move to the target position according to the movement path includes:

13. The control method according to claim 11, wherein the step of controlling the telemedicine robot to move to the target position according to the movement path includes:

acquiring roadblock data by using an obstacle avoidance sensor;