On Navigation And Control Technology Of Nursing Helpmate Robot

Nursing helpmate robot is one kind of autonomous indoor robot, operating in the hospitals, which can be applied to promote hospital automation, protect the nurse from contamination. The research of this paper is supported by 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 the hybrid control system architecture' s characteristic is summarized and the action control arithmetic based on Fuzzy control.The nursing helpmate robot use wheels to run, with which it can run faster indoor, do some physical force jobs, such as sick disinfection. In this article we study on orientation and navigation of the indoor robot.In this article we use physical noumenon of Hero-I as our robot' s frame. We designed the main control system of the nursing helpmate robot through studying on the technology of orientation and navigation of the indoor robots. We upbuild the way of navigation based on action arithmetic.According to the characteristic of the helpmate robot, we designthe main control system of the robot based on ARM7, driver module of the motor, ultrasonic sensor module, electronical box and deedle module, remote control module. We build the hardware system of the helpmate robot, debug the system control electrocircuit, and write the...