The Design And Implementation Of Hospital Wrard Inspections Robot Navigation System

With the rapid development of robotics, Service robots gets much the concern of the community because of the increasingly important role in the field of medical and family And it is possible for Robot instead of the nurse to complete part of the inspections. Fast and accurate navigation in the ward environment is the prerequisite and basis for the patrol robot’s successful completion of the service tasks.Based on the History and Current Status Summary of robot navigation. Do the research and design to the specific requirements of the hospital ward environment. And finally successful application, the detailed contents are as follows:(1)Based on hospital wards patrol tasks to analysis requirement functionality of the robot navigation system. Then build the overall framework navigation system and design of the task process.(2)Because of the difference needs about the hospital corridors and wards region.The layer map, which divided the envirment into topology map layers, grid map layer and partial layer, was designed.Then the map was constructed according to design data structures.It lay special stress on the geometric characteristics, coordinate and orrelation.(3)To the problem a single sensor can not be reliably taken positioning accuracy This article uses absolute positioning sensor StarGazer and relative positioning sensor Speedometer to fusion.In order to combines the advantages of the different sensors and weakened the defects. Then ensure stable and reliable positioning accuracy.(4)To the complex environmental conditions. In the corridor topology map use A*algorithm for path planning. In the ward raster map use, use pretreatment and post-processing map to help Dijkstra algorithm for path planning. Thus ensuring the patrol robot to get a free, smooth path planning. (5)Design of the local obstacle avoidance for dynamic obstacles in the work environment. Use laser sensor to collected environment information, and use the given path target and motion parameters information to processing and calculation for obstacle avoidance.In this paper, the design of the patrol robot navigation systems are easy to load task and have better scalability for future expand. After more than six months in the hospital scene, this navigation system is running smooth, fast, accurate and fully able to meet the task requires.