| Nursing helpmate robot is a kind of autonomous wheeled mobile robot, operating in isolation ward, can be applied to promote hospital automation, protect medical care personnel from cross contamination. The research of this paper is supported by emphases project of "Key Technologies of Nursing Helpmate Robot", funded by the Heilongjiang Natural Science Fund.The paper overviews the developing situation of nursing helpmate robot, analyzes several familiar control system architectures, and the characteristic of the hybrid control system architecture is summarized. Also, the analysis of the implementation model is expatiated in detail.Theorize the model of kinematics and dynamics for tricycle platform of robot. The topological map localization technology based on RF1D landmark in the structured environment is studied, and the dead reckoning principle is formulated.The position and orientation measure system based on AVR MCU is developed, including orientation measure of robot with digital Compass, relative position measure of robot with increment circumrotatiori encoder and 485 bus of communication with Upper-machine. At the same time, power monitor system based on AVR MCU is also developed, including real-time display of storage battery voltage and alarming when storage battery voltage is below initialization value. All programs are written by WINAVR and they run right. Fuzzy control arithmetic is researched; the design of nursing helpmate robot Fuzzy control system is developed; fuzzy control arithmetic is simulated by Mobotsim soft. The practice experiment indicates that the position and orientation measure system and Power Monitor system of Nursing Helpmate Robot function well. These systems are novel and have practicality value.
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