CN109176530B - Cluster scheduling method for hospital transfer robot - Google Patents
Cluster scheduling method for hospital transfer robot Download PDFInfo
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- CN109176530B CN109176530B CN201811239559.4A CN201811239559A CN109176530B CN 109176530 B CN109176530 B CN 109176530B CN 201811239559 A CN201811239559 A CN 201811239559A CN 109176530 B CN109176530 B CN 109176530B
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- 238000012546 transfer Methods 0.000 title claims abstract description 49
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- 238000004891 communication Methods 0.000 claims description 5
- 238000007726 management method Methods 0.000 description 4
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- 206010011409 Cross infection Diseases 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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Abstract
The invention discloses a cluster scheduling method of hospital transfer robots, which comprises the steps of firstly setting the type and the working area of a transfer robot through a human-computer interaction module, then inputting an article transfer order through a remote terminal, and finally selecting a working robot for transfer according to the article transfer order and the type and the working area of the transfer robot by a scheduling module and controlling the working robot to transfer articles to a specified position, so that different transfer robots are selected for transferring articles according to the actual requirements of medical personnel and the type and the working area of the transfer robot, and the article transfer efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of hospital transfer robot scheduling, in particular to a scheduling module of a hospital transfer robot.
Background
With the expansion of hospital scale and the development of scientific technology, more and more hospitals are put into the intelligent hospital construction, which not only needs the continuous upgrade of diagnosis and treatment equipment, but also gradually tends to automation and intellectualization on material management and distribution, but the traditional manual distribution mode can not meet the actual requirements of the intelligent hospital, and mainly shows the following aspects: (1) personnel and materials are mixed, so that the risk of cross infection is increased; (2) the possibility of missed sending and mistaken sending of materials exists; (3) the timeliness of material distribution is difficult to guarantee; (4) the material distribution process cannot be tracked; (5) the delivery of materials takes a lot of energy of medical staff; (6) the related system of the logistics management of the hospital is not perfect, and the management is seriously dispersed.
The intelligent transfer robot can effectively solve the problem of material delivery in an intelligent hospital, can realize the improvement of the hospital on the management efficiency, saves a large amount of boring labor time for medical workers, enables the medical workers to put more energy into the nursing of patients and improves the medical service quality. However, the field of the intelligent hospital is large, and the requirements for functions and environments in different areas are greatly different, so that the requirements for the transfer robot in different areas of the intelligent hospital are different.
Disclosure of Invention
In order to overcome the defects of the prior art, the technical problem solved by the invention is to provide a cluster scheduling method of a hospital transfer robot, which can be distributed and maintained according to the characteristics and functions of the transfer robot.
In order to solve the technical problems, the technical scheme adopted by the invention specifically comprises the following contents:
a cluster scheduling method of a hospital transfer robot comprises the following steps;
s1: setting the type and the working area of the transfer robot through a human-computer interaction module;
s2: inputting an article conveying order through a remote terminal;
s3: and the dispatching module selects a working robot for carrying according to the article conveying order, the type and the working area of the carrying robot and controls the working robot to convey the article to a specified position.
Further, step S3 includes the following steps:
s31: confirming whether the working robot has communication authority;
s32: acquiring the working state of the working robot;
s33: the dispatching module generates an article delivery path according to the article delivery order and sends the article delivery order and the article delivery path to the working robot;
s34: and the working robot conveys the article to a specified position according to the article conveying order and the article conveying path.
Further, step S31 is to communicatively connect the transfer robot with the scheduling module via a TCP/IP network protocol.
Further, step S32 includes the steps of:
(1) the dispatching module sends a working state reading instruction to a reading module of the working robot;
(2) the reading module transmits the read working state information to the scheduling module;
(3) and the scheduling module modifies the working state of the working robot into an idle state.
Further, step S33 includes the steps of:
(1) the scheduling module generates an article conveying path according to the article conveying order;
(2) the scheduling module sends the item transport order and the item transport path to the work robot.
Further, the step S3 includes a step S35 of feeding back information that the feedback module of the working robot transmits the in-place information to the dispatching module after the working robot delivers the item to the designated location, and the dispatching module updates the status of the item delivery order and transmits the status of the item delivery order to the remote terminal.
Further, the step S3 further includes a step S36 of updating the working status of the working robot, where the step of updating the working status of the transfer robot is to determine whether the working robot has a delivery task, and if the working robot has a delivery task, the scheduling module repeats the step S34; and if the work robot does not have the delivery task, the scheduling module controls the work robot to stop and modifies the working state of the work robot into an idle state.
Furthermore, the dispatching module controls the working robot to stop, so that the dispatching module judges whether the working robot can stop at the designated position, and when the judgment result of the dispatching module is that the working robot cannot stop, the dispatching module sends an instruction of returning to the storehouse to the working robot and controls the transfer robot to return to the storehouse for stopping.
Compared with the prior art, the invention has the beneficial effects that:
the invention discloses a cluster scheduling method of hospital transfer robots, which comprises the steps of firstly setting the type and the working area of a transfer robot through a human-computer interaction module, then inputting an article transfer order through a remote terminal, and finally selecting a working robot for transfer according to the article transfer order, the type and the working area of the transfer robot by a scheduling module and controlling the working robot to transfer articles to a specified position, so that different transfer robots are selected for transferring articles according to the actual requirements of medical personnel and the type and the working area of the transfer robot, and the article transfer efficiency is greatly improved.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic flow chart of a cluster scheduling method for a hospital transfer robot according to the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention with reference to the accompanying drawings and preferred embodiments is as follows:
fig. 1 shows a cluster scheduling method for hospital transfer robots, which includes the following steps:
s1: the method comprises the steps that the type and the working area of a transfer robot are set through a human-computer interaction module, specifically, the type and the working area of the transfer robot are set for medical personnel through a human-computer interaction interface of a scheduling module, and the set result is stored in the scheduling module;
s2: inputting an article conveying order through a remote terminal, specifically inputting an article conveying order through the remote terminal according to the storage position, the quantity and the use permission of articles to be conveyed and the position to be conveyed of medical staff;
s3: the scheduling module selects a working robot for carrying according to the article conveying order and the type and working area of the transfer robot and controls the working robot to convey the article to the designated position, specifically, the scheduling module selects a working robot for carrying the article from the transfer robots in an idle state according to the article conveying order and the type and working area of the transfer robot and then controls the selected working robot to convey the article to the designated position.
As a preferred embodiment, step S3 includes the following steps:
s31: confirming whether the working robot has communication authority, specifically: if the working robot is confirmed to have no communication authority, the scheduling module finishes scheduling the working robot;
s32: acquiring the working state of the working robot, specifically: the scheduling module acquires the working state of the working robot at regular time so as to ensure that the scheduling module can know whether the working robot is in an idle state or not in time;
s33: the scheduling module generates an article delivery path according to the article delivery order and sends the article delivery order and the article delivery path to the working robot, and the method specifically comprises the following steps: when the scheduling module receives the article conveying order, the scheduling module generates an article delivery path according to the article conveying order and sends the article conveying order and the article delivery order to the working robot;
s34: and the working robot conveys the article to a designated position according to the article conveying order and the article conveying path.
In a preferred embodiment, step S31 is that the transfer robot is communicatively connected to the scheduling module via a TCP/IP network protocol.
As a preferred embodiment, step S32 includes the following steps:
(1) the dispatching module sends a working state reading instruction to a reading module of the working robot;
(2) the reading module transmits the read working state information to the scheduling module;
(3) and the dispatching module modifies the working state of the transfer robot into an idle state.
As a preferred embodiment, step S33 includes the following steps:
(1) the scheduling module generates an article conveying path according to the article conveying order;
(2) the scheduling module sends the item transport order and the item transport path to the work robot.
In addition, the dispatching module monitors the whole process of carrying articles by the working robot in real time, when the working robot enters a single-file only area, the dispatching module regulates the area and sets the control time to prevent other carrying robots from entering the area within the control time, if other carrying robots enter the area within the control time, the dispatching module sends a locking instruction to the carrying robots entering the area, when other carrying robots receive the locking instruction, the other carrying robots stop moving until the working robot leaves the area, then the dispatching module releases the control of the single-file area, and meanwhile, the dispatching module judges whether the carrying robots locked by the single-file controlled area exist or not according to the monitoring result, and if the carrying robots exist, the dispatching module releases the locking of the carrying robots.
As a further preferred embodiment, the step S3 further includes a step S35 of feeding back information, where the step of feeding back information is that after the work robot transports the item to the designated location, the feedback module of the work robot transmits the in-place information to the scheduling module, and the scheduling module updates the status of the item transport order and transmits the status of the item transport order to the remote terminal.
As a further preferred embodiment, the step S3 further includes a step S36 of updating the working status of the working robot, where the step of updating the working status of the working robot is to determine whether the working robot has a delivery task, and if so, the scheduling module repeats the step S34; and if the delivery tasks do not exist, the scheduling module controls the working robot to stop and modifies the working state of the transfer robot into an idle state.
Specifically, the dispatching module controls the working robot to stop for the dispatching module judges whether the working robot can stop at the designated position, and when the judgment result of the dispatching module is that the working robot cannot stop, the dispatching module sends a command of returning to the storehouse to the working robot and controls the working robot to return to the storehouse for stopping.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (7)
1. A cluster scheduling method for hospital transfer robots is characterized by comprising the following steps:
s1: setting the type and the working area of the carrier through a human-computer interaction module;
s2: inputting an article conveying order through a remote terminal, wherein the article conveying order comprises the storage position, the quantity and the use permission of the articles to be conveyed and the articles to be conveyed;
s3: the dispatching module selects a working robot for carrying according to the article conveying order, the type and the working area of the carrying robot and controls to convey the article to a specified position;
step S3 includes the following steps:
s31: confirming whether the working robot has communication authority;
s32: acquiring the state of the working robot;
s33: the dispatching module generates a distribution path according to the article conveying order and sends the article conveying order and the article distribution path to the working robot;
s34: the working robot sends the item conveying order to the designated position according to the path; when the working robot enters a single-row area, the dispatching module regulates the area, sets the control time and sends a locking instruction to a carrying robot entering the area; then the transfer robot receiving the locking instruction stops moving until the working robot leaves the area; the dispatch module then deregisters the single file zone and the locked transfer robot.
2. The cluster scheduling method of claim 1, wherein: step S31 is that the transfer robot is connected to the scheduling module by TCP/IP network protocol communication.
3. The cluster scheduling method of claim 1, wherein: step S32 includes the following steps:
(1) the dispatching module sends a working state reading instruction to a reading module of the working robot;
(2) the reading module transmits the read working state information to the scheduling module;
(3) and the scheduling module modifies the working state of the working robot into an idle state.
4. The cluster scheduling method of claim 1, wherein: step S33 includes the following steps:
(1) the scheduling module generates an article conveying path according to the article conveying order;
(2) and the scheduling module sends the article conveying order and the article conveying path to the working robot.
5. The cluster scheduling method of claim 1, wherein: the step S3 further includes a step S35 of information feedback, where the information feedback is a step in which, after the work robot transports the item to a designated location, the feedback module of the work robot transmits the in-place information to the scheduling module, and the scheduling module updates the status of the item transport order and transmits the status of the item transport order to the remote terminal.
6. The cluster scheduling method of claim 5, wherein: the step S3 further includes a step S36 of updating the working status of the working robot, where the step of updating the working status of the transfer robot is that the scheduling module determines whether the working robot has a delivery task, and if the working robot has a delivery task, the scheduling module repeats the step S34; and if the work robot does not have the delivery task, the scheduling module controls the work robot to stop and modifies the working state of the work robot into an idle state.
7. The cluster scheduling method of claim 6, wherein: the dispatching module controls the working robot to stop, the dispatching module judges whether the working robot can stop at the designated position, and when the judgment result of the dispatching module is that the working robot cannot stop, the dispatching module sends a command of returning to the storehouse to the working robot and controls the transfer robot to return to the storehouse to stop.
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| CN110727272B (en) * | 2019-11-11 | 2023-04-18 | 广州赛特智能科技有限公司 | Path planning and scheduling system and method for multiple robots |
| CN112077849A (en) * | 2020-09-11 | 2020-12-15 | 济南浪潮高新科技投资发展有限公司 | Medical delivery robot based on high in clouds management and control |
| CN114442631B (en) * | 2022-01-26 | 2023-08-22 | 南京天溯自动化控制系统有限公司 | Intelligent dispatching system and method for hospital material conveying robot |
| CN116494242A (en) * | 2023-06-01 | 2023-07-28 | 广州东焊智能装备有限公司 | Cross coupling control method based on robot system |
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Denomination of invention: A cluster scheduling method for hospital handling robot Effective date of registration: 20210729 Granted publication date: 20200811 Pledgee: China Minsheng Banking Corp Guangzhou branch Pledgor: GUANGZHOU SAITE INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2021980007037 |
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