A Mobile Mechanism for Home Nursing Robot with Human Physiological Parameters Monitor

摘要

Aiming at its task environments, contact features, kinematics model, movement performance, obstacle avoidance, mechanism and control system, a mobile mechanism for home nursing robot (HNR) with physiological parameters monitor system is presented. The mobile mechanism with two drive wheels differentiated method and its control system were designed for HNR based on terrain feature and indoor environment. Its structure and main performance parameters are discussed. By means of two DC servo motors being controlled respectively, the mobile mechanism implements its motion, turning, and nursing services. Its capabilities of obstacle avoidance have also been analyzed. It sets seven pairs of ultrasonic sensors and PSD position sensors to detect the position of an obstacle. Its control system has been discussed. The results show that the mobile mechanism can do autonomous obstacle avoidance. Industrial Personal Computer and motion control card ensure the motion performance of the mobile mechanism. Its physiological parameters checking system provides detecting of oxygenation of the blood, heart rate, blood pressure, ECG monitoring, body temperature and pulse. Detecting results transfer to IPC of the mobile mechanism real-time.