Research On Robot Oriented Drug Delivery System

In order to alleviate the shortage of nurses in the medical field,robot technology is used to help nurses complete nursing tasks in the medical scene and reduce nursing costs.Based on the robot operating system,a nursing robot navigation system for liquid drug distribution is designed in this paper.In view of the low accuracy of the ant colony algorithm in the construction of the robot’s path planning,an improved algorithm is proposed to solve the problem that the traditional robot’s path planning algorithm does not meet the basic requirements of the global positioning,such as the low efficiency of the ant colony algorithm.The main research contents of this paper are as follows:1.Aiming at the problems of low positioning accuracy and lack of diversity of particles in the traditional positioning and mapping algorithm based on RBPF,an improved algorithm based on optimal particle guidance is proposed.By weakening the influence of high weight particles,the method of induced attraction is used for particle update iteration to ensure the diversity of particle set.Classify according to the guidance area to improve the accuracy of location and mapping algorithm and ensure the diversity of particles.Through the simulation comparison between the original algorithm and the algorithm proposed in this paper,it is verified that the improved algorithm in this paper can save about 10 % of the time in drawing construction,reduce the error of about 10 %compared with the traditional drawing construction algorithm in drawing positioning accuracy,and have a better effect on the reproduction of map edges and corners in drawing quality.2.Aiming at the large angle deflection problem of Nursing Robot performing liquid drug delivery task,this paper proposes an improved ant colony algorithm based on the optimal inflection point,adds corner heuristic information,and takes the weighted value of path length and total turning times as the evaluation value to reduce the frequency of large angle deflection in the planned path.Aiming at the potential safety problems caused by the invisible area of the drug distribution path,a trajectory re optimization method based on visibility state is proposed to improve the safety of drug distribution of nursing robot.Finally,according to the requirements of real-time obstacle avoidance in the drug delivery process of nursing robot,an improved artificial potential field method based on distance factor is proposed.The algorithm performance simulation experiment verifies that the improved ant colony algorithm can reduce the time of path search by 15% to20%,the number of inflection points by 20% and the path length by 5%; In the simulation environment,it is verified that the nursing robot has strong real-time obstacle avoidance ability while planning collision free path.3.In different actual scenes,nursing robots are used to carry out positioning mapping and drug distribution experiments.The original gmapping algorithm and the improved algorithm in this paper are used for the comparative experiment of map construction.The improved positioning and mapping algorithm can obtain a high-precision scene map.The efficiency and smoothness of the improved ant colony algorithm in the drug distribution strategy are verified on the constructed map.Finally,the nursing robot can show a strong real-time obstacle avoidance ability while planning a collision free path.The experimental results verify the effectiveness and reliability of the map construction and drug distribution algorithm proposed in this paper.