The System Design Of Nurse Assistant Robot

Nurse assistant robot is working in the hospital environment,a special medical robot to ward patients in control of the medical staff can send drugs,send copies of cases and other services,it occupies an important position in the field of medical service robot.The nurse assistant robot can reduce the labor intensity of medical staff,and also can avoid the need for medical staff to complete a great deal of repetitive work every day.It has an important application prospect.In this paper,a complete robot control system for nurse assistants is designed,and the important functions of the system are studied and designed respectively.According to the performance requirements of nurse assistant robot,this paper designs the overall structure of nurse assistant robot and the hardware part.It includes the drive system and control system,the external sensor system of nurse assistant robot mobile platform and manipulator,and the design of interface circuit board.In this paper,a navigation and positioning system based on odometer and geomagnetic sensor is designed.The simulation experiment shows that the system can meet the requirements of robot navigation and positioning of nurse assistants.A mobile robot obstacle avoidance system based on fuzzy control is designed.Combined with the obstacle avoidance habits in the real life and the actual situation of the hospital,the system has developed a detailed fuzzy rule base.The steering angle of nurse assistant robot obstacle avoidance is obtained by fuzzy inference and defuzzification.The fuzzy logic controller is established and analyzed by using the fuzzy logic toolbox of MATLAB.The fuzzy controller as a whole,connected to the obstacle avoidance system in this design,the nurse assistant robot obstacle avoidance simulation experiment.The experiment proves that the nurse assistant robot can effectively carry out the obstacle avoidance in the face of obstacles.According to the nurse assistant robot arm is easy to cause the sudden change of joint increased mechanical structure wear and resonance in motion,resulting in performance of the drive motor is not up to the requirements,based on the analysis of kinematics model of nurse assistant on the nurse assistant movement manipulator trajectory planning.It includes the design of three polynomial interpolation algorithm in Cartesian space,the interpolation algorithm of straight line in Cartesian space and the curve interpolation algorithm.The experiment proves that the trajectory planning algorithm designed by this system can guarantee the continuity and smoothness of the robot arm in the process of movement.In order to solve the problem of remote control in the practical work of the nurse assistant robot,a human-computer interaction system is designed.It includes real-time video display on the job site,nurse assistant,robot arm control,robot mobile platform control,one-dimensional bar code identification and other functions.Through the design of one-dimensional bar code identification system,the nurse assistant robot recognizes the bar code on the bottle to determine whether the drugs need to be grasped are correct.Finally,the experiment of nurse assistant manipulator control experiment and navigation positioning is carried out.The experimental results show that the robot arm can be used for grasping the drug,and the nurse assistant robot can avoid the obstacle and arrive at the designated destination.