CN111941431B - Automatic following method and system for hospital logistics robot and storage medium - Google Patents
Automatic following method and system for hospital logistics robot and storage medium Download PDFInfo
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- CN111941431B CN111941431B CN202010919404.6A CN202010919404A CN111941431B CN 111941431 B CN111941431 B CN 111941431B CN 202010919404 A CN202010919404 A CN 202010919404A CN 111941431 B CN111941431 B CN 111941431B
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/30—Authentication, i.e. establishing the identity or authorisation of security principals
- G06F21/31—User authentication
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
Abstract
The application provides an automatic following method, system and storage device of hospital logistics robot, is applied to cloud dispatch system, and cloud dispatch system includes backend server and N hospital logistics robot, backend server and N hospital logistics robot communication connection include: step 1, a hospital logistics robot receives a following request sent by a cloud dispatching system, and goes to the position of a following target according to the following request, wherein the following request comprises the position information of the following target; step 2, when the distance between the hospital logistics robot and the following target is smaller than a preset distance, the hospital logistics robot carries out identity verification on the following target; and 3, after the identity authentication is passed, the hospital logistics robot determines a unique following target, and the hospital logistics robot automatically follows the following target. The hospital logistics robot can automatically switch the following mode and the waiting mode according to the use scene, and provides a more convenient automatic following mode for medical staff.
Description
Technical Field
The application relates to the technical field of hospital logistics robot control, in particular to an automatic following method and system for a hospital logistics robot and a storage medium.
Background
A hospital logistics robot is mainly used in medical treatment or auxiliary medical treatment of hospitals and clinics. The intelligent logistics robot for the logistics hospital is an intelligent logistics robot for the logistics hospital, can independently compile an operation plan by automatically planning a path, determines an action program according to actual conditions, and then changes the action into the motion of an operation mechanism.
Automatic follow is an important function of hospital's logistics robot, and when some special operating condition, medical personnel often need go to some places delivery goods and materials in person, and robot accessible high in the clouds location is gone to following the target location to carry out the target screening according to medical personnel's peculiar dress, transfer the physiognomic characteristic of target simultaneously and carry out the automatic following of identity comparison back, improve the accuracy of following target identification.
The similar robots in the current market can only recognize and follow the following targets according to the original positioning of the following targets, and after the following targets initiate tasks, the following targets need to wait for the robots to arrive in situ, and once the following targets are interrupted, the following tasks need to be initiated again.
Disclosure of Invention
The application provides an automatic following method and system of a hospital logistics robot and a storage medium, wherein a cloud dispatching system is applied, a following target is positioned, the position of the following target is automatically reached, the following mode and the waiting mode are automatically switched according to a use scene, and a more convenient automatic following mode is provided for medical staff.
The first aspect of the application provides an automatic following method for hospital logistics robots, which is applied to a cloud dispatching system, wherein the cloud dispatching system comprises a background server and N hospital logistics robots, the background server is in communication connection with the N hospital logistics robots, and the method comprises the following steps:
step 1, the hospital logistics robot receives a following request sent by the cloud dispatching system, and goes to the position of a following target according to the following request, wherein the following request comprises the position information of the following target;
and 3, determining a unique following target by the hospital logistics robot after the identity authentication is passed, and automatically following the following target by the hospital logistics robot.
Optionally, the following request in step 1 is initiated by the following target, and includes:
the cloud dispatching system selects a hospital logistics robot to respond after receiving a following request initiated by the following target;
the following target uploads the position information of the following target to the cloud scheduling system at regular time;
the hospital logistics robot is communicated with the cloud dispatching system at regular time, and the position information of the following target is obtained and a path is planned.
Optionally, in step 2, the preset distance is determined by the cloud scheduling system according to the complexity of the site environment where the hospital logistics robot is located, and the step of authenticating the follow-up target by the hospital logistics robot includes:
the hospital logistics robot carries out image recognition on the dressing of the following target within a visual range;
if a plurality of results exist in the image recognition, the hospital logistics robot screens the body shape and appearance characteristics of the following target;
if a plurality of results still exist in the screening, the hospital logistics robot calls the following target by voice for identity verification, or
The hospital logistics robot randomly selects a following target, acquires position information according to communication with the cloud dispatching system, and compares the position distance between the following target and the hospital logistics robot.
Optionally, step 3 further comprises:
when the hospital logistics robot loses the following target, the hospital logistics robot acquires the position information of the following target from the cloud scheduling system and plans a path again.
Optionally, step 3 further comprises:
when the cloud dispatching system acquires that the following target enters a non-following area, the cloud dispatching system informs the hospital logistics robot to enter a waiting mode, wherein the waiting mode comprises in-place waiting or waiting at a specified position;
and when the cloud scheduling system acquires that the following target returns to a following area, the hospital logistics robot carries out identity verification on the following target again.
Optionally, step 3 is followed by:
the following target initiates a follow-up ending task to the cloud dispatching system, and the hospital logistics robot returns to the designated area after receiving follow-up ending task information sent by the cloud dispatching system.
The second aspect of the application provides an automatic system of following of hospital's logistics robot, is applied to high in the clouds dispatch system, high in the clouds dispatch system includes backend server and N hospital's logistics robot, backend server with N hospital's logistics robot communication connection, its characterized in that, the automatic system of following carries out the aforesaid the automatic method of following of hospital's logistics robot, include:
the communication module is used for executing the step 1, receiving a following request sent by the cloud dispatching system, and heading to the position of a following target according to the following request, wherein the following request comprises the position information of the following target;
the identity verification module is used for executing the step 2, and when the distance between the hospital logistics robot and the following target is smaller than a preset distance, the hospital logistics robot carries out identity verification on the following target;
and the control module is used for executing the step 3, the hospital logistics robot determines a unique following target after the identity authentication is passed, and the hospital logistics robot automatically follows the following target.
Optionally, the verification module comprises:
the first verification unit is used for carrying out image recognition on the dressing of the following target by the hospital logistics robot within a visual range;
the second verification unit is used for screening the body shape and appearance characteristics of the following target by the hospital logistics robot when a plurality of results exist in the image recognition;
a third verification unit, configured to call the following target by voice for identity verification when multiple results still exist in the screening;
and the fourth verification unit is used for randomly selecting a following target by the hospital logistics robot when a plurality of results still exist in the screening, acquiring position information according to the communication with the cloud dispatching system, and comparing the position distance between the following target and the hospital logistics robot.
Optionally, the control module comprises:
the first control unit is used for informing the hospital logistics robot to enter a waiting mode when the cloud dispatching system acquires that the following target enters a non-following area, wherein the waiting mode comprises in-situ waiting or waiting at a specified position;
and the second control unit is used for verifying the identity of the following target again by the hospital logistics robot when the following target obtained by the cloud scheduling system returns to the following area.
A third aspect of the present application provides a computer apparatus comprising at least one connected processor, a memory and a transceiver, wherein the memory is used for storing program codes, and the program codes are loaded and executed by the processor to realize the steps of the hospital logistics robot automatic following method.
A fourth aspect of the present application provides a computer-readable storage medium, which includes instructions, when it is run on a computer, causes the computer to execute the steps of the hospital logistics robot automatic following method described above.
To sum up, can see that, in the embodiment that this application provided, hospital's logistics robot can be according to indoor location, image recognition, range finding sensor, and dynamic programming goes to the route of following the target, and automatic identification follows the target, and when following the target and get into non-following region (like the ward), hospital's logistics robot can wait at the gate, and continues to follow when following the target and appearing.
Drawings
Fig. 1 is an architecture diagram of a cloud scheduling system according to an embodiment of the present application;
fig. 2 is a flowchart of an automatic following method for a hospital logistics robot according to an embodiment of the present application;
FIG. 3 is a flowchart illustrating an embodiment of an automatic following method for a hospital logistics robot according to the present application;
fig. 4 is a virtual module block diagram of an automatic following system of a hospital logistics robot according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
The terms "first," "second," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprise," "include," and "have," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules expressly listed, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus, the division of modules presented herein is merely a logical division that may be implemented in a practical application in a further manner, such that a plurality of modules may be combined or integrated into another system, or some feature vectors may be omitted, or not implemented, and such that couplings or direct couplings or communicative coupling between each other as shown or discussed may be through some interfaces, indirect couplings or communicative coupling between modules may be electrical or other similar, this application is not intended to be limiting. The modules or sub-modules described as separate components may or may not be physically separated, may or may not be physical modules, or may be distributed in a plurality of circuit modules, and some or all of the modules may be selected according to actual needs to achieve the purpose of the present disclosure.
The logistics robot in the logistics hospital provides a highly flexible and automatic transportation mode for the logistics of the modern manufacturing industry, and is mainly used for replacing labor-intensive trolleys, sickroom meal transportation, sterile bags, medicines, pathological specimens, blood products, clean/polluted bedding, hospital garbage and the like in the aspect of hospitals. The transfer between the hospital buildings and between the floors can be realized, and the device has the advantages of high efficiency, flexibility, strong load-carrying capacity, wide material transportation range, convenient construction process and the like.
Fig. 1 is an architecture diagram of a cloud scheduling system according to an embodiment of the present application, as shown in the drawing. The automatic following system and method for the hospital logistics robots are applied to the cloud dispatching system 100, the cloud dispatching system 100 is communicated with the handheld terminal device 103 or the wearable terminal device 104 following the target 105, the cloud dispatching system 100 comprises a background server 101 and N hospital logistics robots 102, and the background server 101 is in communication connection with the N hospital logistics robots 102. Wherein the following target 105 may be a medical person.
In one embodiment, the hospital logistics robot 102 includes a processor 1021, an ultrasonic sensor 1022, a lidar 1023, and a camera 1024.
In one embodiment, the cloud scheduling system 100 is responsible for task allocation, scheduling, and operation and maintenance of all the hospital logistics robots 102. The cloud scheduling system 100 adopts multiple scheduling algorithms, so that optimal task allocation, multi-hospital logistics robot 102 path planning and hospital logistics robot traffic management are realized, the hospital logistics robot 102 clusters can work together in a coordinated mode, cooperation and mutual influence are avoided, and the maximum efficiency is exerted.
Optionally, the cloud scheduling system 100 is also responsible for monitoring the operation state of the hospital logistics robots 102, and according to the historical condition and the current state of each hospital logistics robot 102, it is determined whether maintenance of a specific project is required, and the operation state and the current task execution condition of the charging station can be combined, it is reasonably arranged that the required hospital logistics robots perform autonomous charging, energy is supplemented, alarm information of all the hospital logistics robots 102 is recorded, analyzed and summarized, operation and maintenance personnel are timely notified, corresponding inspection and processing suggestions are given, and the reliability of the operation of the whole system is guaranteed.
Optionally, the cloud scheduling system 100 includes establishing an algorithm model of the hospital logistics robot 102, and converting map information into model data that can be recognized by the hospital logistics robot 102, so as to implement functions of reasonable path planning, autonomous charging, obstacle avoidance, and the like.
Optionally, the cloud scheduling system 100 provides a multi-path optimal planning, and provides a plurality of processing mechanisms such as a shortest path form, avoidance control, and path re-planning control.
Optionally, the cloud scheduling system 100 provides reasonable task allocation, realizes system load balancing, and performs traffic dynamic management to realize dynamic driving direction management.
Fig. 2 is a flowchart of an automatic following method for a hospital logistics robot according to an embodiment of the present application, as shown in the figure. The automatic following method of hospital logistics robot that this application embodiment provided is applied to cloud dispatch system, cloud dispatch system includes backend server and N hospital logistics robot, backend server with N hospital logistics robot communication connection includes:
In one embodiment, the follow-up request is initiated to the cloud scheduling system by the follow-up target, the follow-up target may initiate the follow-up request through a handheld terminal device, or may initiate the follow-up request through a wearable terminal device.
When the cloud scheduling system receives the following request, a proper hospital logistics robot can be selected according to a preset rule to respond, for example, the cloud scheduling system can select a hospital logistics robot which is idle and close to the following target to respond.
Once the following target initiates a following request to the cloud scheduling system, the following target uploads position information regularly through the handheld terminal device or the wearable terminal device so that the cloud scheduling system can locate the position information.
And after the cloud dispatching system issues the following request to a proper hospital logistics robot, the hospital logistics robot communicates with the cloud dispatching system to regularly acquire the position information of the following target and plan a path.
The preset distance is determined by the cloud scheduling system according to the complexity of the field environment where the hospital logistics robot is located, for example, the more complex the environment is, the smaller the distance required for identity recognition is.
In one embodiment, the hospital logistics robot can perform identity verification through a camera, an ultrasonic sensor, a laser radar and other devices, and the identity verification comprises the following steps:
and carrying out image recognition on the dressing of the following target within a visual range by the hospital logistics robot, such as image recognition according to the characteristics of the dressing of the following target, such as nurse dressing, doctor gowns and the like.
If a plurality of results exist through the image recognition, the hospital logistics robot screens the body shape and appearance characteristics of the following target, such as height, body shape, shoulder width, head size and the like.
If a plurality of results still exist in the screening, the hospital logistics robot calls the following target by voice for identity verification, or
The hospital logistics robot randomly selects a following target, and compares the position distance between the following target and the hospital logistics robot according to the position information acquired through communication with the cloud dispatching system. If the position distance between the following target and the hospital logistics robot exceeds the preset distance, the following target randomly selected by the hospital logistics robot is not qualified, so that the hospital logistics robot plans the path again and recognizes the following target again.
It should be noted that the hospital logistics robot and the following target are established on the basis of information interaction, that is, the hospital logistics robot can call the following target through voice, the following target can respond to the hospital logistics robot, but if the following target does not hear the call of the hospital logistics robot, for example, in a noisy environment, if the following target does not hear the call of the hospital logistics robot, the hospital logistics robot can randomly select a following target, and by comparing the distance between the following target and the following target, whether the following target is issued by the cloud dispatching system is determined, so the hospital logistics robot can randomly select the following target, and then the following target issued by the cloud dispatching system is selected one by one through a method of identification.
And 203, determining a unique following target by the hospital logistics robot after the identity authentication is passed, wherein the hospital logistics robot automatically follows the following target.
After the hospital logistics robot identifies the only following target, the relative distance and the relative direction between the robot and the following target are obtained according to the distance measurement of the camera equipment and the laser sensor, and a relative path is planned.
In one embodiment, when the cloud scheduling system acquires that the following target enters a non-following area, the cloud scheduling system informs the hospital logistics robot to enter a waiting mode from a following mode, wherein the waiting mode comprises waiting in place or waiting at a specified position. For example, when a medical staff enters a ward to make a ward round or perform nursing work, the logistics robot in the hospital can wait at the door.
And when the cloud scheduling system acquires that the following target returns to a following area, the hospital logistics robot carries out identity verification on the following target again.
When the follow-up target initiates the follow-up ending task to the cloud dispatching system, the hospital logistics robot returns to the designated area after receiving follow-up ending task information sent by the cloud dispatching system.
In conclusion, the logistics robot of the hospital acquires the position information of the following target from the cloud scheduling system to position, automatically goes to the position of the following target, automatically switches the following mode and the waiting mode according to specific scenes, and provides a more convenient automatic following mode for medical staff to make rounds of wards and other scenes.
The following describes a method for automatically following a hospital logistics robot according to the present application by using a specific embodiment.
Fig. 3 is a flowchart of an embodiment of an automatic following method for a hospital logistics robot according to the present application, as shown in the figure.
Optionally, the preset rule is that the cloud scheduling system is preset, for example, the cloud scheduling system may select a hospital logistics robot that is close to the medical staff and is idle as a suitable robot.
And 303, when the distance between the hospital logistics robot and the following target is smaller than the preset distance, the hospital logistics robot starts to perform identity verification on the following target. The preset distance can be determined according to the complexity of the field environment, for example, the more complex the environment, the smaller the distance for identity recognition.
In one embodiment, the hospital logistics robot can identify the following target through a camera, a laser radar and an ultrasonic sensor thereof, and specifically comprises the following steps of a-C:
step A, firstly, identity filtering is carried out on the garment in a visual range, and image recognition is carried out according to characteristics of nurses' garments, doctor gowns and the like.
And step B, when a plurality of results exist in the visual range, screening through the physical characteristics of the initiator (namely the following target), such as height, body type, shoulder width, head size and the like.
And step C, if a plurality of screening results are still obtained, the method comprises the following steps C1 and C2.
And step C1, the hospital logistics robot can select voice broadcasting and call to follow the target for identity authentication.
And step C2, the hospital logistics robot can also randomly select a following target, the following target is communicated with the cloud at intervals, the position distance between the following target and the hospital logistics robot is compared, and after the distance exceeds a certain range, the logistics robot acquires the real-time position information of the following target from the cloud scheduling system again, and then plans the path again and identifies the target.
And 304, after the hospital logistics robot identifies the unique following target by the identity identification method, acquiring the relative distance and the relative direction between the hospital logistics robot and the following target according to the distance measurement of the camera and the laser sensor, and planning a relative path. Therefore, the hospital logistics robot can automatically follow the medical staff.
In one embodiment, when the hospital logistics robot finds a tracking target in the tracking process or temporarily does not need to track the target, the following processing is carried out:
and 305, after the follow-up target is lost, returning to 302, and acquiring real-time position information of the follow-up target from the cloud scheduling system to acquire a new planned path.
Step 306, when the hospital logistics robot acquires the following target from the cloud dispatching system and enters the non-following area, the following steps D1-D2 are included:
in step D1, the hospital logistics robot is switched from the following mode to the waiting mode, and can wait in situ or at a designated waiting position according to instructions, for example, when a medical staff enters a ward to make a ward round or perform a nursing work, the hospital logistics robot can wait at the door.
And D2, when the cloud acquires the following target and returns to the following area, the hospital logistics robot returns to the step 303 for identity verification.
Above-mentioned embodiment, hospital's logistics robot is through following the target location, and automatic going to follows the target location to follow mode and waiting mode according to using scene automatic switch, provide more convenient automation for scenes such as medical personnel's round of ward and follow the mode.
Fig. 4 is a virtual module block diagram of an automatic following system of a hospital logistics robot according to an embodiment of the present application, as shown in the figure. The utility model provides an automatic system of following of hospital logistics robot, is applied to cloud dispatch system, cloud dispatch system includes backend server and N hospital logistics robot, backend server with N hospital logistics robot communication connection, automatic system 401 of following carries out the aforesaid automatic method of following of hospital logistics robot, including communication module 402, authentication module 403 and control module 404.
The communication module 402 is configured to receive a follow-up request sent by the cloud scheduling system, and go to a position of a follow-up target according to the follow-up request, where the follow-up request includes position information of the follow-up target.
The identity verification module 403 is configured to, when the distance between the hospital logistics robot and the following target is smaller than a preset distance, perform identity verification on the following target by the hospital logistics robot.
In one embodiment, the identity verification module 403 includes a first verification unit 4031, a second verification unit 4032, a third verification unit 4033 and a fourth verification unit 4034.
Wherein, the first verification unit 4031 is used for the image recognition of the dressing of the following target by the hospital logistics robot in the visible range.
Wherein the second verification unit 4032 is used for screening by the hospital logistics robot through the body shape and appearance characteristics of the following target when a plurality of results exist in the image recognition.
The third verification unit 4033 is configured to call the following target by voice for identity verification when multiple results still exist in the screening.
The fourth verification unit 4034 is configured to, when there are still multiple results in the screening, randomly select a following target by the hospital logistics robot, acquire location information according to communication with the cloud scheduling system, and compare a location distance between the following target and the hospital logistics robot.
The control module 404 is configured to determine a unique following target by the hospital logistics robot after the identity authentication is passed, and the hospital logistics robot automatically follows the following target.
In one embodiment, the control module 404 includes a first control unit 4041 and a second control unit 4042.
The first control unit 4041 is configured to, when the cloud scheduling system obtains that the following target enters a non-following area, notify the hospital logistics robot to enter a waiting mode by the cloud scheduling system, where the waiting mode includes waiting in place or waiting at a specified location.
The second control unit 4042 is configured to, when the cloud scheduling system acquires that the following target returns to a following area, perform authentication again on the following target by the hospital logistics robot.
The embodiment of the present application also provides a computer-readable storage medium, on which a program is stored, and the program, when executed by a processor, implements the steps of the automatic following method for the hospital logistics robot.
The embodiment of the application further provides a processor, wherein the processor is used for running a program, and when the program runs, the steps of the automatic following method for the hospital logistics robot are executed.
The embodiment of the application also provides terminal equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the program code is loaded and executed by the processor to realize the steps of the automatic following method of the hospital logistics robot.
The present application also provides a computer program product adapted to perform the steps of the above described hospital logistics robot automatic following method when executed on a data processing device.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the module described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (6)
1. The utility model provides a hospital logistics robot automatic following method, is applied to cloud dispatch system, cloud dispatch system includes backend server and N hospital logistics robot, backend server with N hospital logistics robot communication connection, its characterized in that includes:
the following target initiates a following request through the handheld terminal equipment or the wearable terminal equipment;
the cloud dispatching system selects a proper hospital logistics robot to respond according to a preset rule after receiving a following request initiated by the following target; the preset rule is that a hospital logistics robot which is close to the medical staff and is idle is selected as a proper hospital logistics robot;
step 1, the hospital logistics robot receives a following request sent by the cloud dispatching system, goes to the position of a following target according to the following request, and regularly acquires the position information of the following target; the following request contains position information of the following target;
step 2, when the distance between the hospital logistics robot and the following target is smaller than a preset distance, the hospital logistics robot carries out identity verification on the following target; the preset distance is determined by the cloud dispatching system according to the complexity of the site environment where the hospital logistics robot is located, and the preset distance is in direct proportion to the complexity of the environment;
the step of the hospital logistics robot for carrying out identity verification on the following target comprises the following steps:
the hospital logistics robot carries out image recognition on the dressing of the following target within a visual range;
if a plurality of results exist in the image recognition, the hospital logistics robot screens the body shape and appearance characteristics of the following target;
if a plurality of results still exist in the screening, the hospital logistics robot calls the following target by voice for identity verification, or
The hospital logistics robot randomly selects a following target, acquires position information according to communication with the cloud dispatching system, compares the position distance between the following target and the hospital logistics robot, and plans a path again and identifies the following target again if the position distance exceeds a preset distance;
step 3, after the identity authentication is passed, the hospital logistics robot determines a unique following target, and the hospital logistics robot automatically follows the following target;
step 3 also includes:
when the cloud dispatching system acquires that the following target enters a non-following area, the cloud dispatching system informs the hospital logistics robot to enter a waiting mode, wherein the waiting mode comprises in-place waiting or waiting at a specified position;
and when the cloud scheduling system acquires that the following target returns to a following area, the hospital logistics robot carries out identity verification on the following target again.
2. The hospital logistics robot automatic following method according to claim 1, wherein the following request in step 1 is initiated by the following target, comprising:
the following target uploads the position information of the following target to the cloud scheduling system at regular time;
the hospital logistics robot is communicated with the cloud dispatching system at regular time, and the position information of the following target is obtained and a path is planned.
3. The hospital logistics robot automatic following method according to claim 1, wherein step 3 further comprises:
when the hospital logistics robot loses the following target, the hospital logistics robot acquires the position information of the following target from the cloud scheduling system and plans a path again.
4. The hospital logistics robot automatic following method according to claim 1, further comprising after step 3:
the following target initiates a follow-up ending task to the cloud dispatching system, and the hospital logistics robot returns to the designated area after receiving follow-up ending task information sent by the cloud dispatching system.
5. An automatic following system of a hospital logistics robot is applied to a cloud dispatching system, the cloud dispatching system comprises a background server and N hospital logistics robots, the background server is in communication connection with the N hospital logistics robots, and the automatic following system is characterized in that the automatic following system executes the automatic following method of the hospital logistics robots of any one of claims 1-4, and comprises the following steps:
the following target initiates a following request through the handheld terminal equipment or the wearable terminal equipment;
the cloud dispatching system selects a proper hospital logistics robot to respond according to a preset rule after receiving a following request initiated by the following target; the preset rule is that a hospital logistics robot which is close to the medical staff and is idle is selected as a proper hospital logistics robot;
the communication module is used for executing the step 1, receiving a following request sent by the cloud scheduling system, heading to the position of a following target according to the following request, and acquiring the position information of the following target at regular time; the following request contains position information of the following target;
the identity verification module is used for executing the step 2, and when the distance between the hospital logistics robot and the following target is smaller than a preset distance, the hospital logistics robot carries out identity verification on the following target; the preset distance is determined by the cloud dispatching system according to the complexity of the site environment where the hospital logistics robot is located, and the preset distance is in direct proportion to the complexity of the environment;
the identity verification module comprises:
the first verification unit is used for carrying out image recognition on the dressing of the following target by the hospital logistics robot within a visual range;
the second verification unit is used for screening the body shape and appearance characteristics of the following target by the hospital logistics robot when a plurality of results exist in the image recognition;
a third verification unit, configured to call the following target by voice for identity verification when multiple results still exist in the screening;
the fourth verification unit is used for randomly selecting a following target by the hospital logistics robot when a plurality of results still exist in the screening, obtaining position information according to communication with the cloud dispatching system, comparing the position distance between the following target and the hospital logistics robot, and re-planning a path and identifying the following target again if the position distance exceeds a preset distance;
the control module is used for executing the step 3, the hospital logistics robot determines a unique following target after the identity authentication is passed, and the hospital logistics robot automatically follows the following target;
the control module includes:
the first control unit is used for informing the hospital logistics robot to enter a waiting mode when the cloud dispatching system acquires that the following target enters a non-following area, wherein the waiting mode comprises in-situ waiting or waiting at a specified position;
and the second control unit is used for verifying the identity of the following target again by the hospital logistics robot when the following target obtained by the cloud scheduling system returns to the following area.
6. A computer-readable storage medium characterized in that it comprises instructions which, when run on a computer, cause the computer to perform the steps of the hospital logistics robot auto-following method of any one of the preceding claims 1-4.
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| CN117273586A (en) * | 2023-09-08 | 2023-12-22 | 南方医科大学顺德医院(佛山市顺德区第一人民医院) | Hospital file transfer method, device, system and medium |
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