CN106882363A - A kind of unmanned plane transportation system and transportation resources for hospital's blood sample transport - Google Patents
A kind of unmanned plane transportation system and transportation resources for hospital's blood sample transport Download PDFInfo
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- CN106882363A CN106882363A CN201710073186.7A CN201710073186A CN106882363A CN 106882363 A CN106882363 A CN 106882363A CN 201710073186 A CN201710073186 A CN 201710073186A CN 106882363 A CN106882363 A CN 106882363A
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- 239000008280 blood Substances 0.000 title claims abstract description 161
- 210000004369 blood Anatomy 0.000 title claims abstract description 161
- 230000003902 lesion Effects 0.000 claims abstract description 14
- 238000007689 inspection Methods 0.000 claims abstract description 7
- 230000032258 transport Effects 0.000 claims description 67
- 238000012544 monitoring process Methods 0.000 claims description 32
- 238000000034 method Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 10
- 238000013439 planning Methods 0.000 claims description 4
- 230000004069 differentiation Effects 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract description 3
- 239000000523 sample Substances 0.000 description 169
- 238000010586 diagram Methods 0.000 description 16
- 238000004891 communication Methods 0.000 description 14
- 230000009471 action Effects 0.000 description 5
- 239000003814 drug Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 239000013068 control sample Substances 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000023555 blood coagulation Effects 0.000 description 1
- 238000004040 coloring Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009533 lab test Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013316 zoning Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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Abstract
The invention discloses a kind of unmanned plane transportation system for hospital's blood sample transport and transportation resources, wherein unmanned plane transportation system, including：It is arranged in the Blood specimen collection terminal of each lesion；It is distributed in the blood sample receiving terminal of each inspection area；Sample case for placing blood sample；The unmanned plane of sample case is transported between Blood specimen collection terminal and blood sample receiving terminal, the bottom of the unmanned plane is provided with sample case grabbing device, and sample case protection device；The sample case protection device includes at least three support arms, and when unmanned plane is in state of flight, the end of each support arm is bent to form the rounding state for surrounding sample case pickup zone in opposite directions；When unmanned plane is in parked state, each support arm stretching forms the extended configuration of support unmanned plane.The present invention need not change the capital construction layout of existing hospital, cost-effective, while full automatic blood sample transport can be realized, human input be reduced, while ensureing the security of transportation.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, and in particular to a kind of unmanned plane transport for hospital's blood sample transport
System and transportation resources.
Background technology
At present, in hospital blood sample transport, carried out in predetermined certain time period using nurse or nurse mostly,
Each blood sample has an information such as collection of specimens bar code, name, age, bed label, section office and admission number, nurse or nurse according to
Inventory is sent out according to sample to check blood sample, be then sent to clinical laboratory, and check blood sample jointly with clinical laboratory personnel
After this is errorless, blood sample is chemically examined by clinical laboratory personnel.
Existing blood sample transport process is very cumbersome, expends a large amount of manpowers, and many hospitals use society now
The rear service personnel of change transports, it is difficult to ensure that the security transported.
UAV, referred to as " unmanned plane ", english abbreviation is " UAV ", is using radio robot and providing for oneself
The not manned aircraft that manipulates of presetting apparatus, unmanned plane obtained due to its compact, maneuverability in goods transportation field
To being increasingly widely applied.
For example, Zipline develops a set of special service system, the Medicines for poverty-stricken area are transported and blood
Transport.Flow since one " short message of seeking help " that doctor or nurse send, seeks help short when unmanned plane operating personnel receive first
After letter, required medicine is found in central pharmaceutical warehouse, and by medicine plug a to cardboard case, then place cardboard case
At " in the abdomen " of unmanned plane, meanwhile, in the front end placing battery of unmanned plane, flight plan being uploaded to iPad, unmanned plane is received
Take off transport medicine after instruction.
The companies such as Google, Jingdone district have started to carry out goods handling using unmanned plane logistics.Existing unmanned plane logistics (including
The foregoing Medicines carried out using unmanned plane and blood are transported), it is commonly available to big distance and transports, the collection of article
And be sent to all by people participate in place or collect, and transport environment be open environment, and the blood sample in hospital transport to
Need to be related to the multiple places such as lesion, clinical laboratory, central laboratory less, and transportation range is short, it is necessary to automaticity higher.
The content of the invention
The invention provides a kind of unmanned plane transportation system for hospital's blood sample transport and transportation resources, without more
Change the capital construction layout of existing hospital, it is cost-effective, while full automatic blood sample transport can be realized, human input is reduced,
Ensure the security of transportation simultaneously.
A kind of unmanned plane transportation system for hospital's blood sample transport, including：
It is arranged in the Blood specimen collection terminal of each lesion；
It is distributed in the blood sample receiving terminal of each inspection area；
Sample case for placing blood sample；
The unmanned plane of sample case, the unmanned plane are transported between Blood specimen collection terminal and blood sample receiving terminal
Bottom be provided with sample case grabbing device, and sample case protection device；
The sample case protection device includes at least three support arms, when unmanned plane is in state of flight, each support arm
End be bent to form the rounding state for surrounding sample case pickup zone in opposite directions；When unmanned plane is in parked state, each support arm
Stretch the extended configuration to form support unmanned plane.
The present invention is respectively provided with corresponding Blood specimen collection terminal in each lesion of hospital, in clinical laboratory or center reality
Test the place of survey zoning such as room and respective blood sample receiving terminal is set, blood sample is placed in sample case, with sample
This case is conveyed for carrier using unmanned plane.
After unmanned plane is parked at Blood specimen collection terminal, automatic crawl sample case transports to blood sample sample case
After receiving terminal, automatic unloading sample case.
When blood sample is rocked, blood coagulation phenomenon, the present invention is easily produced to reduce sample by setting sample case protection device
Case rocking in transportation, when unmanned plane is in state of flight, the opposite of each support arm is bent to form encirclement sample case
The rounding state of pickup zone, the sample case in sample case pickup zone is not in fall under the position-limiting action of support arm
And acutely rock.When unmanned plane is in parked state, each support arm is in extended configuration to support unmanned plane.
Preferably, the end of each support arm is arranged with crash roll, when support arm is in rounding state, crash roll and sample
Case leans.Rocking for sample case is further prevented by crash roll, to protect blood sample.
Preferably, also include central control system, transport relaying and weather monitoring terminal, Blood specimen collection terminal,
Blood sample receiving terminal, transport relaying and weather monitoring terminal are communicated using wire signal with central control system, blood
Sample collection terminal, blood sample receiving terminal, transport relaying and weather monitoring terminal, central control system pass through wireless communication
Number with unmanned plane communication.
The unmanned plane transportation system that the present invention is provided, the letter of unmanned plane and each terminal is uniformly coordinated by central control system
Number, wire communication realizes that radio communication is wireless by the fixed position arrangement in each building by arrangement LAN within the hospital
Node-routing, and realized using ZigBee technology networking.
The quantity of unmanned plane is set as needed, is that the special unmanned plane of each Blood specimen collection terminal setting enters
Promoting circulation of blood liquid sample transport, reduces error rate, and No. ID of identification is marked on every unmanned plane, when unmanned plane is idle, rests on fortune
Defeated relaying and weather monitoring terminal are stopped and charged temporarily.
Preferably, Blood specimen collection terminal, blood sample receiving terminal, transport relaying and weather monitoring terminal are all provided with
There are the tag slot and wireless charging device for indicating ID, the unmanned plane is provided with ID recognition units and wireless charging battery.
Unmanned plane distinguishes different terminals by ID recognition units, and when unmanned plane rests in any one terminal,
Terminal can charge to unmanned plane.
Preferably, Blood specimen collection terminal, blood sample receiving terminal, transport relaying and weather monitoring terminal are all provided with
There is parked support, parked support is provided with the parking zone corresponding with each support arm, and each parking zone is respectively equipped with parked mark, institute
State unmanned plane be provided with it is parked mark recognition unit be used to rest in support arm on corresponding parking zone.
When unmanned plane is parked, the support arm of unmanned motor spindle rests in corresponding parking zone according to parked mark recognition result
On.
Preferably, Blood specimen collection terminal and blood sample receiving terminal are equipped with the conveyer belt of transmission sample case,
The parking zone of the parked support is respectively in conveyer belt both sides.
Preferably, Blood specimen collection terminal is provided with the transmission processe unit for sending blood sample information to be shipped, blood
Sample reception terminal is provided with the reception processing unit for receiving blood sample, and Blood specimen collection terminal and blood sample are received
Terminal is equipped with UAV Attitude recognition unit, and the cunning of sample case horizontal-shift is controlled according to UAV Attitude recognition result
Platform.
Recognize whether unmanned plane is stopped in place by UAV Attitude recognition unit, and coordinate the stop position of unmanned plane,
Sample case to correct position is moved by slide unit.
The stop position of unmanned plane is not easy precise control, may go out in horizontal plane and in transmission direction of belt travel
Now offset, accordingly, it would be desirable to match the stop position of unmanned plane using the position that slide unit adjusts sample case.
Preferably, every support arm includes electric pushrod, and the first pole, the second pole and the 3rd being hinged successively
Pole, electric pushrod drives the second pole to be rotated relative to the first pole by linkage, and electric pushrod is also led by hauling rope
Draw the 3rd pole to be rotated relative to the second pole.
Preferably, the sample case grabbing device includes two L-shaped jig arm being hinged, and two jig arm length are not
Deng.
Present invention also offers a kind of method that blood sample is transported using described unmanned plane transportation system, including：
Step 1, the transport urgency level of typing blood sample in central control system, transport urgency level includes common
With it is urgent；
Step 2, central control system judges whether to open according to the weather signal of transport relaying and weather monitoring terminal
Transported with unmanned plane, if can enable, carry out step 3；
Step 3, is acted as follows in Blood specimen collection terminal：
Sample case is placed on conveyer belt, transmission processe unit sends blood sample information to be shipped, UAV Attitude identification
Whether unit detection unmanned plane arrives at：
If unmanned plane is not arrived at, transmission processe unit persistently sends information to be shipped, until unmanned plane is arrived at；
If unmanned plane is arrived at, according to the information of UAV Attitude recognition unit, sample case is adjusted by conveyer belt and slide unit
Position with the position of matched sample case grabbing device, sample case grabbing device crawl sample case carries out step 4；
Step 4, unmanned plane flies according to the path planning of central control system, and path planning includes following several situations：
If a, transport urgency level are urgent, unmanned plane directly flies to blood sample receiving terminal, carries out step 5；
If b, transport urgency level are common, unmanned plane flies to transport relaying and weather monitoring terminal is stopped and filled
Electricity, then carries out step 5；
Step 5, is acted as follows in blood sample receiving terminal：
Reception processing unit sends whether the free time believes to central control system according to the result of UAV Attitude recognition unit
Breath, central control system broadcast blood sample receiving terminal free message；
After unmanned plane during flying to blood sample receiving terminal, stay until corresponding blood sample receiving terminal free time, nothing
On man-machine stop to parked support, sample case grabbing device release sample case；
After the release of sample case is finished, reception processing unit sends completion of discharge information to central control system, and points out inspection
The personnel of testing take blood sample away.
The present invention compared with prior art, with advantages below：
(1) on the basis of the original capital construction of hospital, each terminal is built, and nosocomial bloodstream sample is realized by unmanned plane
Full-automatic transport, saves manpower, operation and supervision cost；
(2) multilayer protection is carried out to sample case by sample case protection device and crash roll, prevents the mistake of blood sample
Effect；
(3) urgent and common two states are distinguished, it is ensured that first aid detection blood sample can transport inspection to prestissimo
Section or central laboratory test.
Brief description of the drawings
Fig. 1 is structured flowchart of the present invention for the unmanned plane transportation system of hospital's blood sample transport；
Fig. 2 is the unmanned plane transportation system for hospital's blood sample transport of the invention layout within the hospital；
Fig. 3 is the structured flowchart of unmanned plane in the present invention；
Fig. 4 is the structure chart of unmanned plane in the present invention；
Fig. 5 a are the schematic diagram of sample protection device rounding state in the present invention；
Fig. 5 b are the schematic diagram of sample protection device extended configuration in the present invention；
Fig. 6 is the structured flowchart of Blood specimen collection terminal in the present invention；
Fig. 7 is the structured flowchart of blood sample receiving terminal in the present invention；
Fig. 8 is the schematic diagram of the tag slot that ID is indicated in the present invention；
Fig. 9 is relayed and weather monitoring terminal structure block diagram to be transported in the present invention；
Figure 10 is the structured flowchart of parked module in the present invention；
Figure 11 is the top view of parked module and sample delivery module in the present invention；
Figure 12 is the side view of parked module and sample delivery module in the present invention；
Figure 13 a are the schematic diagram of sample case grabbing device in the present invention；
A in Figure 13 b Figure 13 a is to schematic diagram；
Figure 14 is the schematic diagram of sample case in the present invention；
Figure 15 is the circuit block diagram of wireless charging device in the present invention；
Figure 16 is the circuit block diagram of wireless charging battery in the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention is done for the unmanned plane transportation system of hospital's blood sample transport and transportation resources
Describe in detail.
Embodiment 1
As shown in figure 1, a kind of unmanned plane transportation system for hospital's blood sample transport, including：It is arranged in each lesion
Blood specimen collection terminal, be distributed in each inspection area blood sample receiving terminal, unmanned plane, for placing blood sample
Sample case, transport relaying and weather monitoring terminal and central control system；Blood specimen collection terminal, blood sample are received
Terminal, transport relaying and weather monitoring terminal are communicated using wire signal with central control system, Blood specimen collection terminal,
Blood sample receiving terminal, transport relaying and weather monitoring terminal, central control system are logical by wireless signal and unmanned plane
News.
Each lesion is arranged as required to multiple Blood specimen collection terminals, and each inspection area is arranged as required to multiple blood
Sample reception terminal, UAV flight's specimen box simultaneously transports sample between Blood specimen collection terminal and blood sample receiving terminal
This case.
As shown in Fig. 2 Blood specimen collection terminal 201 sets each lesion, each lesion be correspondingly arranged one it is special
The blood sample of correspondence lesion is transported in unmanned plane 204, sole duty.
Transport relaying and weather monitoring terminal 202 are usually placed in the roof of hospital's highest building, in order to monitor weather
Situation.
Blood sample receiving terminal 203 is generally located on clinical laboratory or central laboratory.
Blood specimen collection terminal 201, blood sample receiving terminal 203, transport relaying and weather monitoring terminal are used
Wire signal is communicated with central control system, and wire signal is carried out by the LAN being arranged in hospital, while being built in hospital
The fixed position for building thing sets radio node route 205, and unmanned plane 204, Blood specimen collection terminal 201, blood sample are received
Terminal 203, transport relaying and weather monitoring terminal and central control system are equipped with radio node, are built by Zigbee
Wireless sensor network.
The hardware core of the radio node of unmanned plane 204 uses the CC2430 of TI companies, and communication distance problem is to determine energy
The key of no communication, general ZigBee front end RFs part output is most of to only have 0dBm, and actual communication distance only has tens meters,
Use demand can not be met, the present embodiment uses the method for outside expander amplifier, using the CC2591 amplifier cores of TI companies
Piece is realized being combined with the ZigBee single-chips such as CC2430, with low-down cost, realizes the extension of ZigBee communication distances.
After CC2591, ZigBee-network communication distance can be easily reached in opening point-to- point communication distance
More than 1000 meters, it is route by the automatic relay of ZigBee-network, it is easy to realize the network communication of dozens of kilometres under Micro Energy Lose.
As shown in figure 3, unmanned plane includes that microcontroller, sensor, sample case grabbing device, flight frame, sample case are protected
Protection unit, wireless charging battery and radio node, wherein, wireless charging battery is grabbed to microcontroller, sensor, sample case
Take device, flight frame and sample case protection device to power, microcontroller coordinates control flight frame, sensor, sample case
Grabbing device, wireless charging battery and sample case protection device signal and action.
The structure of unmanned plane is as shown in figure 4, unmanned plane includes in the present embodiment：
Flight frame 401, including support body and flight blade；
Sample case protection device 402, is fixedly mounted on flight bottom of the frame, and sample case protection device includes four supports
Arm, when unmanned plane is in state of flight, the end of each support arm is bent to form the gathering shape for surrounding sample case pickup zone in opposite directions
State；When unmanned plane is in parked state, each support arm stretching forms the extended configuration of support unmanned plane；
Square platform is provided between each support arm, each side and the neighbouring support arm of square platform are welded and fixed；
Microcontroller 403, using the single-chip microcomputer of ARMCortex-M3 series, the molar behavior of microcontroller implementation unmanned plane
Control, path navigation, obstacle avoidance, the pose adjustment of unmanned plane itself, sample case the crawl dress including but not limited in environment
The control put, control of sample case protection device etc..
Wireless charging battery 404, using TI it is highly integrated, easily realize receiving terminal scheme in wireless charging scheme, can pass through
Wireless mode is charged；
Flight sensor 405, the effect of flight sensor mainly includes two parts：One is including the top for attitude detection
Spiral shell instrument, accelerometer, magnetometer, barometer etc., two be for avoidance, including multiple detection barrier sonac, point
The top of platform, lower section and all around four side are not arranged on.
Sample case grabbing device 406, for capturing and unloading sample case；
Whether in place range sensor 407, detection sample case, can select sonac；
Parked sensor 408, for detecting parked mark, can select infrared sensor, detect colouring discrimination.Parked mark
It is chequered with black and white pattern, is easy to parked sensor to recognize.
Sample case protection device includes four support arms, and as shown in Fig. 5 a, Fig. 5 b, unmanned plane flies the every structure of support arm
During row, each support arm is in rounding state as shown in Figure 5 a, and when unmanned plane is parked, each support arm is in stretching as shown in Figure 5 a
Exhibition state.
Every support arm includes electric pushrod 501, and the first pole 507a, the second pole 507b that are hinged successively and the
Three pole 507c, electric pushrod 501 drives the second pole 507b to be rotated relative to the first pole 507a by linkage, electronic to push away
Bar 501 also draws the 3rd pole 507c and is rotated relative to the second pole 507b by hauling rope.
First pole 507a is fixedly connected with square platform, and electric pushrod 501 is arranged on square platform, electric pushrod
501 push rod telescopic direction is parallel with the first pole 507a.
First pole 507a and the second pole 507b are hinged by the first jointed shaft, the second pole 507b and the 3rd pole
507c is hinged by the second jointed shaft.
First connecting rod 508, second connecting rod 509 and third connecting rod 513 that linkage is sequentially connected including end, first connects
The free end of bar 508 is hinged with the push rod end of electric pushrod 501, and the free end of third connecting rod 513 is consolidated with the second pole 507b
Fixed connection (tie point is located at the second pole 507b and the first pole 507a hinged places), first connecting rod 508 and second connecting rod 509 cut with scissors
Connect, second connecting rod 509 is fixedly connected with third connecting rod 513, and the angle of second connecting rod 509 and third connecting rod 513 is 90 degree.
Hauling rope is two, respectively hauling rope 510 and hauling rope 511, every one end of hauling rope and electric pushrod 501
Push rod end be fixedly connected, the other end is connected to the 3rd pole 507c, and two tie points on the 3rd pole 507c are arranged in
The both sides of the second jointed shaft.
The first pole 507a is provided with four for being worn a little by hauling rope, wherein wearing point 512c and wearing a little
512d be located at the first jointed shaft both sides, wear point 512a and wear point 512b along the first pole 507a length direction successively
Arrangement.
The threaded pass of hauling rope 510 and hauling rope 511 does not interlock mutually.
It is arranged with crash roll 505 on 3rd pole 507c, when support arm is in rounding state, crash roll 505 and sample case
Lean.Parked sensor 506 is additionally provided with 3rd pole 507c.
The process for being changed into rounding state by extended configuration is：
Electric pushrod 501 extends, and promotes first connecting rod 508 to move, and first connecting rod 508 promotes the second pole 507b around first
Jointed shaft is rotated, and the second pole 507b is changed into rounding state by extended configuration；
Electric pushrod 501 is extended, and affects two hauling ropes to move, and wherein hauling rope 511 is tightened, and hauling rope 510 relaxes, and enters
And drive the 3rd pole 507c to be rotated around the second jointed shaft, the 3rd pole 507c is changed into rounding state by extended configuration.
The block diagram of Blood specimen collection terminal as shown in fig. 6, including：
The tag slot of ID is indicated, tag slot is arranged on the window of hospital architecture, each Blood specimen collection terminal-pair should
One ID；Unmanned plane is provided with corresponding ID recognition units, is capable of identify that the identity of each Blood specimen collection terminal；
Sample delivery module, for transmitting the position that sample case can be captured to unmanned plane；
Parked module, for being stopped for unmanned plane and being charged；
UAV Attitude recognition unit, the position for recognizing unmanned plane；
Radio node；
Transmission processe unit, is communicated by Zigbee network with unmanned plane, and system is controlled by wired mode and center
System communication, action and the signal of transmission processe unit control sample delivery module, parked module and radio node.
The block diagram of blood sample receiving terminal as shown in fig. 7, comprises：
The tag slot of ID is indicated, tag slot is arranged on the window of hospital architecture, each blood sample receiving terminal correspondence
One ID；Unmanned plane is provided with corresponding ID recognition units, is capable of identify that the identity of each blood sample receiving terminal；
Sample delivery module, for sample case to be sent into artificial extracting position；
Parked module, for being stopped for unmanned plane and being charged；
UAV Attitude recognition unit, the position for recognizing unmanned plane；
Radio node；
Reception processing unit, is communicated by Zigbee network with unmanned plane, and system is controlled by wired mode and center
System communication, action and the signal of reception processing unit control sample delivery module, parked module and radio node.
As shown in figure 8, window of the entrance of Blood specimen collection terminal or blood sample receiving terminal for hospital architecture thing,
Marked respectively on the two split windows of fan Quick Response Code or other can be identified for that the label for distinguishing current region.If unmanned plane is same
When detect two marks, then two fan windows be in closed mode, unmanned plane is to transmission processe unit or reception processing list
Unit sends windowing request, if only detecting a mark, flies into parked from windowing position.
Transport relaying and weather monitoring terminal block diagram as shown in figure 9, including：
ID identifies unit；Unmanned plane is provided with corresponding ID recognition units, is capable of identify that the body of each blood sample receiving terminal
Part；
Parked module, for being stopped for unmanned plane and being charged；
Radio node；
Weather monitoring unit, for monitoring weather and sending weather condition to central control system；Weather monitoring unit bag
Include containing wind speed measurement and rainfall detection, wind speed measurement can be using the HSTL-FS01 air velocity transducers of neutral brand, and rainfall detection can
Using the L99-YLW ombrographs of road lattice, transport is stopped when wind speed exceedes certain numerical value or detects raindrop.
Relay process unit, is communicated by Zigbee network with unmanned plane, and system is controlled by wired mode and center
System communication, relay process unit controls action and the signal of parked module, weather monitoring unit and radio node.
Parked mould in Blood specimen collection terminal, blood sample receiving terminal and transport relaying and weather monitoring terminal
As shown in Figure 10, parked module includes parked support and wireless charging device to the block diagram of block, and parked support is provided with and each
The corresponding parking zone of brace, each parking zone is respectively equipped with parked mark.
Wireless charging device wirelessly charges to the wireless charging battery of unmanned plane.Wireless charging battery is adopted
With TI it is highly integrated, easily realize that 5V is input into transmitting terminal scheme in wireless charging scheme.
The top view of parked module and sample delivery module is as schemed in Blood specimen collection terminal, blood sample receiving terminal
Shown in 11, including：
Conveyer belt 1103；
Control the stepper motor 1106 of conveyer belt；
Straight line slide unit 1104, straight line slide unit 1104 is provided with the movable block with clamping device, and gripping apparatus grips specimen box is adjusted
Whole horizontal-shift, according to the parked position precise control of unmanned plane unit, straight line slide unit can be using Lowent's for horizontal-shift
DG42Z300。
Parked support 1107, parked support 1107 is provided with the parking zone corresponding with each support arm, and each parking zone sets respectively
There are parked mark 1101,1101 lower section placement force sensors of parked mark, the parked exact position for calculating unmanned plane.
Wireless charging device 1102, is arranged at the lower section of conveyer belt 1103, for the unmanned plane of parked state provides wireless charging,
Transmission processe unit 1108 (or reception processing unit), according to UAV Attitude recognition unit and center control system
The instruction of system is controlled to wireless charging device 1102, straight line slide unit 1104, stepper motor 1106, while by sample case 1105
Transit information feeds back to central control system.
The side view of parked module and sample delivery module is as schemed in Blood specimen collection terminal, blood sample receiving terminal
Shown in 12, the sample case protection device of unmanned plane 1201 is in rounding state, after building window 1202, unmanned plane 1203
Sample case protection device in support arm be in extended configuration (i.e. unmanned plane be in parked state, and support arm supports nobody
Machine), sample case 1204 is located on conveyer belt 1205, and the lower section of conveyer belt 1205 sets wireless charging device 1206.It is same in Figure 12
Unmanned plane shows schematic diagram during different conditions respectively.
The structure of sample grabbing device is as shown in Figure 13 a, Figure 13 b, including two L-shaped jig arm 1301 being hinged, and
Two jig arm length slightly have difference, and each jig arm is that (i.e. each jig arm includes many poles being arranged parallel to bar structure
1302, be fixedly connected by connecting rod between each pole 1302), fail the premise of fully aligned sample case in sample grabbing device
Under, can also pick up specimen box.
As shown in figure 14, specimen box is rectangular structure to the structure of sample case, and sample box top is provided with shadoof, the top of shadoof
End is expanded to ball, is easy to the clamping of specimen box, and shadoof, under the barrier effect of ball, sample are clamped in sample grabbing device
Case is not easy to drop.
The circuit block diagram of wireless charging device as shown in figure 15, using TI it is highly integrated, easily realize 5V in wireless charging scheme
Input transmitting terminal scheme.
The circuit block diagram of wireless charging battery as shown in figure 16, using TI it is highly integrated, easily realize being connect in wireless charging scheme
Receiving end scheme.
Embodiment 2
The method that a kind of unmanned plane transportation system described in utilization embodiment 1 transports blood sample, comprises the following steps：
(1) after nurse's collection blood sample, bar code is pasted for single blood sample, after collecting certain amount, is placed
In in sample case, the bar code on scanned samples case, while being registered on blood sample central control system, forms sample
The independent data sets of case and blood sample, and the transport urgency level of the sample case is set, including it is urgent and common two kinds.
(2) according to weather monitoring information, point out whether nurse can use automatic transportation.If allowing automatic transportation, nurse
Sample case is positioned on the conveyer belt of Blood specimen collection terminal, Blood specimen collection terminal sends to central control system please
Seek transport blood sample information.
Whether UAV Attitude recognition unit detection unmanned plane reaches, if unmanned plane is not yet reached, Blood specimen collection end
Support to continue and send request transit information to central control system, if unmanned plane has been reached, according to UAV Attitude recognition unit
Recognition result, the horizontal-shift of sample case is adjusted using straight line slide unit, sample case is aligned with sample case grabbing device, is aligned
Afterwards, sample case grabbing device crawl sample case, during crawl, each support arm is remained extended as.
(3) after unmanned plane sample loading case, according to lesion sequence number and urgency level, flight path is planned.
If transport urgency level is urgent, programme path is directly into Examination region, if transport urgency level is common,
Programme path is relayed and weather monitoring terminal to transport.
If the battery electric quantity of unmanned plane is not enough, flown away from after wireless charging in lesion；If the battery electric quantity of unmanned plane is abundant,
Directly fly away from lesion；After unmanned plane flies away from lesion, each support arm is in rounding state.
When urgency level is common, after unmanned plane flies to transport relaying and weather monitoring terminal, the control of blood sample center
The wireless sensor network that system is built by radio node, assigns the unmanned plane and arrives at numbering.
(4) blood sample receiving terminal informs central control system according to whether there is unmanned plane parked；Central control system
The wireless sensor network built by radio node, broadcast distribution blood sample receiving terminal free message.
When transport urgency level is urgent, after unmanned plane arrives at blood sample receiving terminal, wait of staying, until available free
Untill, according to idle sequence number, unmanned plane flies to the blood sample receiving terminal, and each support arm stretching, extension rests in corresponding parked
Area, automatic unloading sample case.
Transport urgency level for it is common when, after the unmanned planes that unmanned plane possesses emergency priority all stop completions of discharge,
Free message is waited, according to sequence is arrived at, is taken off go to Examination region correspondence free time blood sample receiving terminal successively.
(5) after unmanned plane arrives at blood sample receiving terminal, each support arm stretches and rests in corresponding parking zone, unloads automatically
Load sample this case, while send completion of discharge information by wireless sensor network, unmanned plane flies back correspondence ward.
After blood sample receiving terminal receives sample case, blood sample is moved to by conveyer belt takes region away, and carried
Show central control system, central control system carries out information alert to reviewer, is taken from regional artificial is taken away by reviewer
Walk.
(6) transport relaying and weather monitoring terminal detection Weather information, central control system is informed by weather condition.Center
Control system according to weather condition, control conveyer belt whether transfer samples case, if unmanned plane does not detect sample case, will not take off fortune
It is defeated.
Claims (10)
1. a kind of unmanned plane transportation system for the transport of hospital blood sample, it is characterised in that including：
It is arranged in the Blood specimen collection terminal of each lesion；
It is distributed in the blood sample receiving terminal of each inspection area；
Sample case for placing blood sample；
The unmanned plane of sample case, the bottom of the unmanned plane are transported between Blood specimen collection terminal and blood sample receiving terminal
Portion is provided with sample case grabbing device, and sample case protection device；
The sample case protection device includes at least three support arms, when unmanned plane is in state of flight, the end of each support arm
End is opposite to be bent to form the rounding state for surrounding sample case pickup zone；When unmanned plane is in parked state, arm stretching is respectively supported
Form the extended configuration of support unmanned plane.
2. it is as claimed in claim 1 to be used for the unmanned plane transportation system that hospital's blood sample is transported, it is characterised in that each support
The end of arm is arranged with crash roll, and when support arm is in rounding state, crash roll leans with sample case.
3. it is as claimed in claim 2 to be used for the unmanned plane transportation system that hospital's blood sample is transported, it is characterised in that also to include
Central control system, transport relaying and weather monitoring terminal, in Blood specimen collection terminal, blood sample receiving terminal, transport
After and weather monitoring terminal communicated with central control system using wire signal, Blood specimen collection terminal, blood sample connect
Terminal, transport relaying and weather monitoring terminal, central control system is received to be communicated by wireless signal and unmanned plane.
4. it is as claimed in claim 3 to be used for the unmanned plane transportation system that hospital's blood sample is transported, it is characterised in that blood sample
This acquisition terminal, blood sample receiving terminal, transport relaying and weather monitoring terminal are equipped with the tag slot of indicating ID and wireless
Charging device, the unmanned plane is provided with ID recognition units and wireless charging battery.
5. it is as claimed in claim 4 to be used for the unmanned plane transportation system that hospital's blood sample is transported, it is characterised in that blood sample
This acquisition terminal, blood sample receiving terminal, transport relaying and weather monitoring terminal are equipped with parked support, are set on parked support
There is the parking zone corresponding with each support arm, each parking zone is respectively equipped with parked mark, and the unmanned plane is provided with parked mark to be known
Other unit is used to rest in support arm on corresponding parking zone.
6. it is as claimed in claim 5 to be used for the unmanned plane transportation system that hospital's blood sample is transported, it is characterised in that blood sample
This acquisition terminal and blood sample receiving terminal are equipped with the conveyer belt of transmission sample case, the parked differentiation row of the parked support
In conveyer belt both sides.
7. it is as claimed in claim 6 to be used for the unmanned plane transportation system that hospital's blood sample is transported, it is characterised in that blood sample
This acquisition terminal is provided with the transmission processe unit for sending blood sample information to be shipped, and blood sample receiving terminal is provided with and receives
The reception processing unit of blood sample, Blood specimen collection terminal and blood sample receiving terminal are equipped with UAV Attitude identification
Unit, and the slide unit of sample case horizontal-shift is controlled according to UAV Attitude recognition result.
8. it is as claimed in claim 7 to be used for the unmanned plane transportation system that hospital's blood sample is transported, it is characterised in that every branch
Brace includes electric pushrod, and the first pole, the second pole and the 3rd pole being hinged successively, and electric pushrod passes through connecting rod machine
Structure drives the second pole to be rotated relative to the first pole, and electric pushrod also draws the 3rd pole and turns with respect to the second pole by hauling rope
It is dynamic.
9. it is as claimed in claim 8 to be used for the unmanned plane transportation system that hospital's blood sample is transported, it is characterised in that the sample
This case grabbing device includes two L-shaped jig arm being hinged, and two jig arm length.
10. the method that a kind of utilization unmanned plane transportation system as claimed in claim 9 transports blood sample, it is characterised in that
Including：
Step 1, the transport urgency level of typing blood sample in central control system, transport urgency level includes common and tight
It is anxious；
Step 2, central control system according to the weather signal of transport relaying and weather monitoring terminal judges whether that nothing can be enabled
Man-machine transport, if can enable, carries out step 3；
Step 3, is acted as follows in Blood specimen collection terminal：
Sample case is placed on conveyer belt, transmission processe unit sends blood sample information to be shipped, UAV Attitude recognition unit
Whether detection unmanned plane arrives at：
If unmanned plane is not arrived at, transmission processe unit persistently sends information to be shipped, until unmanned plane is arrived at；
If unmanned plane is arrived at, according to the information of UAV Attitude recognition unit, the position of sample case is adjusted by conveyer belt and slide unit
Put with the position of matched sample case grabbing device, sample case grabbing device crawl sample case carries out step 4；
Step 4, unmanned plane flies according to the path planning of central control system, and path planning includes following several situations：
If a, transport urgency level are urgent, unmanned plane directly flies to blood sample receiving terminal, carries out step 5；
If b, transport urgency level are common, unmanned plane flies to transport relaying and weather monitoring terminal is stopped and charged, so
After carry out step 5；
Step 5, is acted as follows in blood sample receiving terminal：
Reception processing unit according to the result of UAV Attitude recognition unit, to central control system send whether free message,
Central control system broadcast blood sample receiving terminal free message；
After unmanned plane during flying to blood sample receiving terminal, stay until corresponding blood sample receiving terminal free time, unmanned plane
Stop to parked support, sample case grabbing device release sample case；
After the release of sample case is finished, reception processing unit sends completion of discharge information to central control system, and points out identifier
Member takes blood sample away.
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| CN112024002B (en) * | 2020-08-27 | 2023-12-01 | 四川沃文特生物技术有限公司 | Intelligent laboratory system for hospital external detection |
| CN113143605A (en) * | 2021-04-25 | 2021-07-23 | 杭州迅蚁网络科技有限公司 | Rescue system |
| CN114252642B (en) * | 2022-02-24 | 2023-03-14 | 江西省自然资源事业发展中心 | Dynamic monitoring device and monitoring method for natural resources |
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| RU2791340C1 (en) * | 2022-10-06 | 2023-03-07 | Федеральное государственное бюджетное учреждение науки "Санкт-Петербургский Федеральный исследовательский центр Российской академии наук"(ФГБУН СПб ФИЦ РАН) | Unmanned aerial vehicle for transporting blood components |
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