CN113190001A - Medicine delivery robot moving method and device - Google Patents
Medicine delivery robot moving method and deviceDownload PDFInfo
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- CN113190001A CN113190001ACN202110481806.7ACN202110481806ACN113190001ACN 113190001 ACN113190001 ACN 113190001ACN 202110481806 ACN202110481806 ACN 202110481806ACN 113190001 ACN113190001 ACN 113190001A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Technical Field
The application relates to the technical field of mechanics, in particular to a medicine delivery robot moving method and device.
Background
Due to the high possibility of sudden and chronic diseases in the elderly, the elderly need to be provided with both conventional medications and back-up medications for sudden diseases. The physique of old people is fragile usually, and under general condition, the old people moves slowly and fall down easily, and some old people also forget medicine locating place easily, because of the old people's physique, send medicine robot to old people becomes an indispensable article.
In the prior art, a medicine delivery path of a medicine delivery robot is planned by using a manual potential field. The artificial potential field method is that the place where the target, namely the old people, is located is set to be a low potential energy position, namely the position where the target has attraction, the position where the obstacle is located is set to be a high potential energy position, namely the position where the obstacle has repulsion to the medicine delivery robot, and the medicine delivery robot is pulled to avoid the obstacle and move towards the target by utilizing the fall of potential energy.
The artificial potential field method has natural defects, and is particularly characterized in that if an obstacle exists near a target, the possibility that the resultant force formed by superposition of attractive force and repulsive force is zero exists, the medicine delivery robot is in a state without force action, and meanwhile, the medicine delivery robot adjusts the direction by means of information perception of local environment and lacks of integral regulation and control capability. Correspondingly, the medicine delivery robot has the problem that the medicine delivery robot can not rotate in a direction due to reciprocating movement in a small range.
Disclosure of Invention
The application provides a medicine conveying robot moving method and device, which can be used for solving the technical problem that when a medicine conveying robot moves to a position near a target with an obstacle in the prior art, the medicine conveying robot moves back and forth in a small range and cannot rotate.
In a first aspect, an embodiment of the present application provides a medicine delivery robot moving method, where the method includes:
if the distress signal is received, moving towards the position corresponding to the target coordinate under the action of the target attraction force, the obstacle repulsion force and the rotating force; the target gravity is a force for controlling the medicine delivery robot to move to the target; the obstacle repulsion is a force for controlling the medicine delivery robot to bypass the obstacle; the rotating force is used for controlling the medicine feeding robot to rotate;
periodically acquiring the position coordinates of the medicine delivery robot to be adjusted;
determining a coordinate position standard deviation according to the coordinate position corresponding to the period of continuous preset times;
and if the standard deviation of the coordinate position is smaller than a preset standard deviation, setting the target gravity as a preset gravity value, and increasing the rotating force until the medicine delivery robot rotates.
With reference to the first aspect, in an implementation manner of the first aspect, the distress signal is determined by:
and if the acquired heart rate data exceeds a preset normal heart rate threshold value, sending a distress signal.
With reference to the first aspect, in an implementation manner of the first aspect, the method further includes:
establishing a path information base according to the acquired path environment picture; the path environment picture is a picture which is acquired by the medicine delivery robot in the moving process and comprises path information.
With reference to the first aspect, in an implementation manner of the first aspect, after receiving the distress signal, the method further includes:
and sending an alarm signal to a preset contact.
With reference to the first aspect, in an implementation manner of the first aspect, the rotational force is determined by:
wherein, FrotIs the rotational force; q is a parameter determined according to the medicine delivery robot per se and is a fixed value; v is the moving speed of the medicine delivery robot; d is the distance between the medicine delivery robot and the obstacle; k is a parameter determined according to the movement path of the medicine delivery robot.
In a second aspect, the present application provides a medication delivery robot movement apparatus, the apparatus comprising:
the processing module is used for moving towards the position corresponding to the target coordinate under the action of the target attraction force, the obstacle repulsion force and the rotating force if the distress signal is received; the target gravity is a force for controlling the medicine delivery robot to move to the target; the obstacle repulsion is a force for controlling the medicine delivery robot to bypass the obstacle; the rotating force is used for controlling the medicine feeding robot to rotate;
the acquisition module is used for periodically acquiring the position coordinates of the medicine delivery robot to be adjusted;
the determining module is used for determining a standard deviation of the coordinate position according to the coordinate position corresponding to the period of continuous preset times;
the processing module is further configured to set the target attraction to a preset attraction value and increase the rotational force until the medicine delivery robot rotates if the standard deviation of the coordinate position is smaller than a preset standard deviation.
With reference to the second aspect, in an implementation manner of the second aspect, the distress signal is determined by:
and if the acquired heart rate data exceeds a preset normal heart rate threshold value, sending a distress signal.
With reference to the second aspect, in an implementation manner of the second aspect, the apparatus further includes:
the establishing module is used for establishing a path information base according to the acquired path environment picture; the path environment picture is a picture which is acquired by the medicine delivery robot in the moving process and comprises path information.
With reference to the second aspect, in an implementable manner of the second aspect, the processing module is further configured to:
and sending an alarm signal to a preset contact.
With reference to the second aspect, in an implementable manner of the second aspect, the rotational force is determined by:
wherein, FrotIs the rotational force; q is according to the medicine delivery robotThe self-determined parameters are fixed values; v is the moving speed of the medicine delivery robot; d is the distance between the medicine delivery robot and the obstacle; k is a parameter determined according to the movement path of the medicine delivery robot.
The application provides a send medicine robot except can sending medicine under the condition that the old person initiatively called for help, can also be in monitoring old person's health, estimate when the old person's state is not good, initiatively send medicine. The method that this application provided has newly introduced the revolving force to set up initial revolving force to zero, only when sending medicine robot needs to rotate, just gradually increase to the revolving force, control send medicine robot to change the moving direction.
Drawings
Fig. 1 is a schematic structural diagram of a drug delivery robot according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a method for moving a drug delivery robot according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a medicine delivery robot moving device according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Before describing the method provided by the present application, the structure of the drug delivery electrode robot provided by the present application will be briefly described.
Fig. 1 is a schematic structural diagram of a medicine delivery robot according to an embodiment of the present application. The robot that delivers medicine that this application embodiment provided includes:
a physicalsigns monitoring unit 12, a voice unit, avisual sensing unit 14 and acontrol unit 11. Wherein, the physicalsign monitoring unit 12 is connected with thecontrol unit 11 through a network. The voice unit and thevisual sensing unit 14 are electrically connected to thecontrol unit 11.
Specifically, the physicalsign monitoring unit 12 collects heart rate data of the elderly in a wearable device mode and is provided with a distress call button. The physicalsign monitoring unit 12 further has an ESP32 single chip microcomputer module for transmitting the acquired heart rate data and the distress signal to thecontrol unit 11.
Thevoice unit 13 is used for converting voice commands issued by the elderly into machine commands to be transmitted to thecontrol unit 11, and performing voice response to inform the elderly that the commands are correctly and completely received. Thevoice unit 13 includes voice input, voice processing, and voice output functions. The voice input function adopts a microphone array as a main body and is used for collecting voice instructions sent by the old. The speech processing function processes the collected speech instruction using the ASR-M09C chip and issues the instruction to thecontrol unit 11. And the voice output function takes the loudspeaker as a main body and is used for providing real-time feedback for the old after the voice instruction is processed so as to inform the old that the instruction is correctly and completely received.
Thevision sensing unit 14 is used for taking a Kinect V2 camera as a main body. The Kinect V2 camera is equipped with an RGBD image sensor and an active infrared sensor with a resolution of 1080P, and is used for acquiring image information including color images, depth values and the like required by the SLAM.
Thecontrol unit 11 adopts an Intel i7-5500U mini industrial personal computer as a control core, and a Ubuntu system is installed, so that the power consumption is low, the anti-interference performance is high, the stability is still good when the control unit works for a long time, and the control unit has interfaces such as a USB 3.0, an RS 232 serial port and an HDMI, and the expansibility is high.
After the structure of the medicine delivery robot provided in the embodiment of the present application is described, a method for moving the medicine delivery robot provided in the embodiment of the present application will be described in detail below.
Fig. 2 is a schematic flow chart of a method for moving a drug delivery robot according to an embodiment of the present disclosure. The embodiment of the application comprises the following steps:
in step S201, if the distress signal is received, the distress signal is moved to a position corresponding to the target coordinate by the target attraction force, the obstacle repulsion force, and the rotation force.
The target attraction is a force for controlling the medicine-feeding robot to move to the target. The obstacle repulsion is the force for controlling the medicine-feeding robot to bypass the obstacle. The rotational force is a force for controlling the medicine feeding robot to rotate.
The target in the embodiment of the application is corresponding to the old, and the target coordinate is corresponding to the coordinate of the old.
In the embodiment of the application, the distress signal has two determining modes.
One way of determining a distress signal is to send a distress signal if the acquired heart rate data exceeds a preset normal heart rate threshold. The determination mode of the distress signal is self-determined for the medicine delivery robot. Specifically, heart rate data is acquired by the vitalsigns monitoring unit 12. And a preset normal heart rate threshold is set according to the specific physical characteristics of the elderly. Another way to determine the distress signal is for the elderly to press a distress button when the body is uncomfortable.
In the embodiment of the present application, the route information base is already set before the medicine delivery robot operates. Specifically, a path information base is established according to the acquired path environment picture. The path environment picture is a picture which is acquired by the medicine delivery robot in the moving process and comprises path information. Specifically, the robot provided in the embodiment of the present application, at the beginning of being disposed in a living room environment of an elderly person, acquires a path environment picture through thevisual sensing unit 14, and transmits the path environment picture to thecontrol unit 11. The route environment picture includes information on an obstacle in a living room, for example, a wall surface, and route information such as a living room passage.
Thecontrol unit 11 realizes the functions of autonomous positioning navigation and automatic recharging by means of an instant positioning and map building algorithm. Specifically, after thevisual sensing unit 14 collects and returns a path environment picture, an ORB-SLAM2 algorithm is used to optimize a plurality of local maps to obtain a global map, loop detection is performed to avoid drifting, and on the basis, the robot can be positioned, and the functions of autonomous positioning navigation and automatic recharging are completed.
It should be noted that the embodiment of the present application is different from the prior art in that, in addition to the existing target attraction force and obstacle repulsion force, a new rotational force is introduced for changing the moving direction of the medicine delivery robot by the rotational force when the medicine delivery robot vibrates or stops moving, so that the robot moves toward the target again.
Step S202, position coordinates of the medicine delivery robot to be adjusted are periodically acquired.
Specifically, in the moving process of the medicine delivery robot, position coordinates are obtained continuously and periodically, and the position coordinates reflect the current position of the medicine delivery robot.
Step S203, determining a standard deviation of the coordinate position according to the coordinate position corresponding to the period of continuous preset times.
Specifically, the standard deviation of the coordinate position is determined by the following method:
in the formula (1), sigma is a standard deviation of a coordinate position; n is the number of times of the acquired position coordinates; x is the number ofiSampling a corresponding coordinate position for the ith time; μ is the average of n coordinate positions.
And step S204, if the standard deviation of the coordinate position is smaller than the preset standard deviation, setting the target gravity as the preset gravity value, and increasing the rotating force until the medicine feeding robot rotates.
Specifically, the size of the coordinate position standard deviation is compared with the size of the preset labeling deviation, and if the coordinate position standard deviation is smaller than the preset standard deviation, the fact that the medicine delivery robot moves repeatedly in a small range all the time and does not actually move towards the target is indicated, namely, the situation of shaking or stopping moving occurs.
In the embodiment of the present application, the medicine dispensing robot is always moved by the combined action of the target attraction force, the obstacle repulsion force, and the rotational force. When the medicine delivery robot vibrates or stops moving, the target attraction force is set to be a preset attraction force value which is a zero value. In the embodiment of the application, the target attraction is set to be zero, which is equivalent to removing the target attraction and keeping the repulsion force of the obstacle, so as to prevent the medicine delivery robot from colliding with the obstacle. At the same time, starting gradually from zero, the value of the rotational force is increased.
Specifically, the rotational force is determined by the following method:
in the formula (2), FrotIs a rotational force; q is a parameter determined according to factors such as the volume, the weight and the like of the medicine delivery robot and is a fixed value; v is the moving speed of the medicine delivery robot; d is the distance between the medicine delivery robot and the barrier; k is a parameter determined according to the movement path of the medicine delivery robot.
In this application implementation, the revolving force is gradually increased until the medicine feeding robot has rotated, and can move in the other direction.
The application provides a send medicine robot except can sending medicine under the condition that the old person initiatively called for help, can also be in monitoring old person's health, estimate when the old person's state is not good, initiatively send medicine. The method that this application provided has newly introduced the revolving force to set up initial revolving force to zero, only when sending medicine robot needs to rotate, just gradually increase to the revolving force, control send medicine robot to change the moving direction.
The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.
Fig. 3 is a schematic structural diagram of a medicine delivery robot moving device according to an embodiment of the present application. As shown in fig. 3, the device has a function of implementing the movement method of the medicine delivery robot, and the function may be implemented by hardware, or may be implemented by hardware executing corresponding software. The apparatus may include: the device comprises a processing module, an acquisition module, a determination module and an establishment module.
And the processing module is used for moving towards the position corresponding to the target coordinate under the action of the target attraction, the obstacle repulsion and the rotating force if the distress signal is received. The target attraction is a force for controlling the medicine-feeding robot to move to the target. The obstacle repulsion is the force for controlling the medicine-feeding robot to bypass the obstacle. The rotational force is a force for controlling the medicine feeding robot to rotate.
And the acquisition module is used for periodically acquiring the position coordinates of the medicine delivery robot to be adjusted.
And the determining module is used for determining the standard deviation of the coordinate position according to the coordinate position corresponding to the period of continuous preset times.
And the processing module is also used for setting the target gravity as a preset gravity value and increasing the rotating force until the medicine delivery robot rotates if the standard deviation of the coordinate position is smaller than the preset standard deviation.
Optionally, the distress signal is determined by:
and if the acquired heart rate data exceeds a preset normal heart rate threshold value, sending a distress signal.
Optionally, the apparatus further comprises:
and the establishing module is used for establishing a path information base according to the acquired path environment picture. The path environment picture is a picture which is acquired by the medicine delivery robot in the moving process and comprises path information.
Optionally, the processing module is further configured to:
and sending an alarm signal to a preset contact.
Alternatively, the rotational force is determined by:
wherein, FrotIs a rotational force. q is a parameter determined by the drug delivery robot itself and is a fixed value. v is the moving speed of the medicine delivery robot. d is the distance between the medicine delivery robot and the obstacle. k is a parameter determined according to the movement path of the drug-dispensing robot.
The application provides a send medicine robot except can sending medicine under the condition that the old person initiatively called for help, can also be in monitoring old person's health, estimate when the old person's state is not good, initiatively send medicine. The method that this application provided has newly introduced the revolving force to set up initial revolving force to zero, only when sending medicine robot needs to rotate, just gradually increase to the revolving force, control send medicine robot to change the moving direction.
Those skilled in the art will clearly understand that the techniques in the embodiments of the present application may be implemented by way of software plus a required general hardware platform. Based on such understanding, the technical solutions in the embodiments of the present application may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments or some parts of the embodiments of the present application.
The same and similar parts in the various embodiments in this specification may be referred to each other. In particular, for the embodiments of the service construction apparatus and the service loading apparatus, since they are substantially similar to the embodiments of the method, the description is simple, and the relevant points can be referred to the description in the embodiments of the method.
The above-described embodiments of the present application do not limit the scope of the present application.
Claims (10)
Translated fromChinese
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110481806.7ACN113190001A (en) | 2021-04-30 | 2021-04-30 | Medicine delivery robot moving method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110481806.7ACN113190001A (en) | 2021-04-30 | 2021-04-30 | Medicine delivery robot moving method and device |
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| CN113190001Atrue CN113190001A (en) | 2021-07-30 |
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| CN202110481806.7APendingCN113190001A (en) | 2021-04-30 | 2021-04-30 | Medicine delivery robot moving method and device |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110531762A (en)* | 2019-08-21 | 2019-12-03 | 东南大学 | A kind of robot path planning method based on modified embedded-atom method |
- 2021
- 2021-04-30CNCN202110481806.7Apatent/CN113190001A/enactivePending
Patent Citations (4)
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|---|---|---|---|---|
| CN107030714A (en)* | 2017-05-26 | 2017-08-11 | 深圳市天益智网科技有限公司 | A kind of medical nurse robot |
| CN108469828A (en)* | 2018-03-23 | 2018-08-31 | 哈尔滨工程大学 | A kind of AUV Route planners improving artificial potential field optimization algorithm |
| CN110531762A (en)* | 2019-08-21 | 2019-12-03 | 东南大学 | A kind of robot path planning method based on modified embedded-atom method |
| CN110471429A (en)* | 2019-09-19 | 2019-11-19 | 华南农业大学 | Grass-removing robot Real-time Obstacle Avoidance Method based on modified embedded-atom method |
Non-Patent Citations (1)
| Title |
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| 王凡等: ""改进人工势场法的多移动机器人路径规划"", 《中国水运（理论版·自然科学）》, vol. 4, no. 1, 31 January 2006 (2006-01-31), pages 102* |
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