Research On Self-navigation And Location Of Nursing Helpmate Robot

With the development of science and technology, robotic technology is more and more applied in medical domain. Therefore, the Nursing Helpmate Robot which can take the place of doctors and nurses is come forth.Self-navigation and location of Nursing Helpmate Robot is one of difficulties on the research of mobile robot. The research of this paper is supported by the project of "Key Technologies of Nursing Helpmate Robot", funded by the Hei Longjiang Natural Science Fund. Especially, Self-navigation and Location is studied in this paper.First of all, the developing situation of nursing helpmate robot is overviewed and the development of self-navigation technology is introduced. Basing on the structure of triple wheels, the kinematic model is set up and the hybrid control system architecture's characteristic is summarized.Secondly, it is discussed that how to construct the topological map and calculate margin movement arithmetic in the given structured environment. it possible to use the combination of absolute location and relative location to locate the Nurse Aided Robot. The local path planning which is realized by local grid map is applied by the robot to find the optimum motion path in the local region. Absolute location is defined by RFID while relative location is defined by dead reckoning.Thirdly, the theory of ultrasonic, the design of ultrasonic sensor model and the method of surveying obstacle are all analysed.Finally, The robot's main CPU, motor driving model, the design of RS-485 communication between ultrasonic models are all set forth.