The design of the hottest home healthcare intellig

Design of intelligent robot for home health care

1. Introduction

digital home is the basic unit of intelligent community system in the future. The so-called "digital home" is to provide intelligent services covering the whole family based on the internal network of the family, including data communication, home entertainment and information appliance control functions

one of the main contents of digital home design is the realization of communication functions, including the communication between the home and the outside world and the communication between related facilities within the home. Judging from the current development, external communication is mainly through broadband access. Internet, and the author adopts the competitive Bluetooth wireless access technology for the communication within the home

the traditional digital home uses PC for overall control, which is lack of humanization. According to the idea of artificial emotion, the author designs an intelligent robot equipped with a variety of external sensors, regards this intelligent robot as a family member, and realizes the control of digital family through it

this paper mainly designs the model of the application of intelligent robot in digital home health care, and uses Bluetooth technology in the communication between intelligent robot and medical instruments and control PC. The cost of the whole system is low, the function is comprehensive, and the expansion and application is very broad, which has great market potential

2. Overall design of intelligent robot

2.1 multi sensor system of intelligent robot

the most important related field in robot intelligent technology is the integration and fusion of robot multi-sensor system and multi-sensor information [1], collectively referred to as the hardware and software components of intelligent system. The fusion of external sensors such as vision, hearing, force and touch and the internal sensor information of each joint of the robot can enable the robot to complete important functions such as real-time image transmission, speech recognition, scene recognition, positioning, automatic obstacle avoidance, target detection and so on; Adding relevant medical modules (CCD, camera, stereo microphone, image acquisition card, etc.) and special medical sensor components to the robot, as well as medical expert system, can realize the functions of medical care and telemedicine monitoring. The multi-sensor system block diagram of intelligent robot is shown in Figure 1

2.2 intelligent robot control system

the robot control system includes two parts: first, the upper computer, which generally adopts PC, which completes the tasks of robot trajectory planning, sensor information fusion control algorithm, visual processing, man-machine interface and remote processing; The second is the lower computer, which generally adopts multi MCU system or DSP as the core component of the controller to complete the functions of motor servo control, feedback processing, image processing, speech recognition and communication interface

if the multi single chip microcomputer system is used as the lower computer, each processor completes a single task and completes the overall system function through information exchange and mutual coordination, but it is obviously lacking in signal processing ability. Because DSP is good at signal processing, and this intelligent robot often needs signal processing, image processing and speech recognition, DSP is used as the controller of the intelligent robot control system [2]

the control system takes DSP (TMS320C54x) as the core component, and is composed of Bluetooth wireless communication, GSM wireless communication (supporting GPRS), motor drive, digital compass, sensory function sensor (vision and hearing, etc.), medical sensor and multiple choice serial port communication (RS-232) module, etc. the system block diagram of control affecting the flexibility of hydraulic control mechanism is shown in Figure 2

(1) the system controls the movement of the robot through the drive motor and steering motor, and the steering motor uses the information of the digital compass as the feedback to carry out PID control

(2) the rokl01007 circuit of Ericsson company is used as the Bluetooth wireless communication module to realize the communication between the intelligent robot and the PC and other medical and health care instruments based on the Bluetooth module

(3) the GSM wireless communication module supporting GPRS supports data, voice, SMS and fax services, and communicates with the remote medical monitoring center by means of communication

(4) since TMS320C54x has only one serial port, and the Bluetooth module, GSM wireless module, digital compass, visual and auditory sensor modules all use RS-232 asynchronous serial communication, it is necessary to design a serial port communication module with one more choice for conversion processing. When TMS320C54x needs the data of Bluetooth wireless communication module, it is gated through the circuit; When t~ms320c54x needs the data of a sensor module, turn off the gating of the last wireless communication module and gate the sensor module at the same time. In this way, each module completes the serial communication with 1~ms320c54x

3. Realization of main medical and health care functions

intelligent robots can provide the following services for the medical and health care of digital families:

(1) medical monitoring

through the medical sensor integrated with Bluetooth module, the main physiological parameters of family members such as ECG, blood pressure, body temperature, respiration and oxygen saturation are detected in real time, and the local results are provided through the robot's processing system

(2) remote diagnosis and consultation

through the robot's visual, auditory and other sensory functions, the collected video, audio and other data combined with various physiological parameter data are transmitted to the telemedicine center, which is remotely monitored by experts in the medical center, and the health status of family members is consulted in combination with the medical expert system, that is, the services of looking (video), smelling, asking (audio) and cutting (various physiological parameters) are provided [3]

3.1 transmission of robot vision and video signal

the video signal collected by the robot has two functions: providing robot vision; Transmit the collected static images and dynamic pictures of family members to the telemedicine center

the function of robot vision is to obtain the required information from the 3D environment image and construct a clear and meaningful description of the environment object. Vision includes three processes:

(1) image acquisition. Through the visual sensor (CCD camera of stereo image), the 3D environment image is converted into electrical signals

(2) image processing. Image to image transformation, such as feature extraction

(3) image understanding. The environment description is given on the basis of processing

through the transmission of video signals, doctors in the telemedicine center can understand the physical and mental status of family members in real time. Intelligent robots capture images suitable for medical care and diagnosis according to the needs of doctors, and selectively transmit high-resolution and low-resolution images. In the process of medical care, there are two different conditions for image transmission, and the factors of extrusion heat overflow of the screw should be considered for cooling demand:

(1) when doctors observe the colors of skin, lips, tongue, nails and facial expressions of family members, they need to transmit static high-definition color images; The method adopted is to transmit a high-definition still image at an interval of time (e.g. 5 minutes)

(2) when doctors check the body movement ability of family members with the help of dynamic pictures, they can transmit images with low resolution and small size. The method adopted is reasonable compression and recovery to ensure real-time performance

3.2 robot hearing and transmission of audio signal

the audio signal collected by the robot also has two functions: one is to provide robot hearing; Second, with the help of audio signals, family members can communicate with doctors, and doctors can understand the health status and mentality of family members. The transmission of audio signal provides a way for doctors to communicate with family members in medical care

robot hearing is a speech recognition technology. With various acoustic interaction systems, the medical care intelligent robot can carry out medical testing and monitoring according to the orders of family members, and can also do housework, control digital household appliances and take care of patients according to the orders of family members

multiple stereo microphones are used for sound acquisition. Since the frequency range of sound is about 300hz-3400hz, the sound with too high or too low frequency does not need to be transmitted in general, so only the sound with the frequency range of 1000hz-3000hz can be transmitted, doctors and family members can have normal communication, so as to reduce the bandwidth occupied by the transmission of audio signals, and then the requirements of real-time audio can be met by using appropriate communication audio compression protocol. The hearing system of intelligent robot is shown in Figure 3

3.3 collection and transmission of various physiological information

traditional detection equipment is connected to the human body through wired mode to collect physiological information. Various connections are easy to make patients nervous, resulting in inaccurate detected data. This problem can be well solved by using Bluetooth technology. The medical micro sensor with Bluetooth module is placed on the family members to try not to interfere with the normal activities of the human body, and then the collected data is transmitted to the receiving device through Bluetooth technology and processed

install a detector with Bluetooth module on the intelligent robot as a receiving device for 30065 hydraulic excavators of various models sold in a single month in March. Various medical sensors transmit the collected physiological information data to the detector through the Bluetooth module. The detector has two working modes: first, submit the data to the intelligent robot for processing and provide local results; The second is to connect with the Internet (or send it back directly through GSM wireless module), and transmit the data to the telemedicine center through the network, so as to achieve the purpose of medical care and remote monitoring. This method is also used for the transmission of video and audio data. The data transmission system of intelligent robot is shown in Figure 4

4. Application of Bluetooth module

4.1 overview of Bluetooth technology

Bluetooth technology [4] is a short-range wireless communication technology used to replace cables or connections. Its carrier is 2.4GHz (the actual RF channel is f=2402+k), which is common in the world × 1MHz, k=0, 1, 2,..., 78) ISM frequency band, and frequency hopping method is used to expand the frequency band, and the frequency hopping rate is 1600 hops/s. 79 channels with 1MHz bandwidth can be obtained. The Bluetooth device adopts GFSK modulation technology, the communication rate is 1mbit/s, the actual effective rate can be up to 721kbit/s, the communication distance is 10m, and the transmission power is 1MW; When the transmission power is 100MW, the communication distance can reach 100m, which can meet the needs of digital families

4.2 Bluetooth module

rokl01007 Bluetooth module [5] is a wireless baseband module suitable for short-distance communication launched by Ericsson. It has high integration, low power consumption (RF power of 1MW), supports all Bluetooth protocols, and can be embedded in any device that needs Bluetooth function. The module includes five functional modules: baseband controller, wireless transceiver, flash memory, power management module and clock, which can provide functions up to HCI (host control interface) layer. The structure of a single Bluetooth module is shown in Figure 5

4. How to maintain the spring fatigue testing machine? 3 master and slave equipment hardware composition

Bluetooth technology supports point-to-point PPP (point t0 point Pro protocol) and point-to-multipoint communication, and connects several Bluetooth devices into one Pico wirelessly [6]. Each Pico is composed of one master and several slaves, with a maximum of seven slaves. The master device is responsible for the action of the communication protocol, and the MAC address is represented by 3 bits, that is, 8 devices can be addressed in one Pico (the number of interconnected devices is actually unlimited, but only 8 devices can be activated at the same time, of which 1 is master and 7 are slave). The slave device is controlled by the master device. All equipment units adopt the same frequency hopping sequence

take the micro medical sensor with Bluetooth module as the slave device, and