CN105963821A - Intelligent infusion robot based on Internet of Things - Google Patents

Abstract

The invention discloses an intelligent infusion robot based on the Internet of things, which comprises an ultrasonic following trolley, an infusion support, an infusion device, a bracelet, a terminal control system and a remote control system, wherein the ultrasonic following trolley is connected with the infusion support through a wireless communication network; the infusion support is arranged on the ultrasonic following trolley, and the infusion device is arranged at the upper end part of the infusion support; the bracelet comprises a bracelet body, an ultrasonic transmitting module, a single chip microcomputer, a first input module and a wireless communication module; the infusion device can effectively solve the technical problem that the liquid level in the infusion bottle shakes due to the shaking of the infusion robot in the moving process, so that the liquid medicine can be input into the body of a patient along the infusion tube at a constant speed.

Description

Intelligent infusion robot based on Internet of things

technical field

The invention relates to a robot, in particular to a medical transfusion robot.

Background technique

Medical robots refer to robots used for medical treatment or auxiliary medical treatment in hospitals and clinics. There are many types of medical robots. According to their different uses, there are clinical medical robots, nursing robots, medical teaching robots, and service robots for the disabled.

Traditional infusion bottles are hung on the infusion stand. The infusion stand is placed next to the hospital bed, and it is very troublesome to move. When the patient needs to move around, the infusion bottle needs to be removed and then lifted high. Sometimes when the patient is inconvenient to move, It also requires nurses or family members to follow the patient and lift the infusion bottle high.

In view of the phenomenon that patients often go to the bathroom during infusion, and in order to recover faster, doctors even recommend walking around frequently, but many patients are inconvenient to walk around after infusion for a long time, so the patent number is "2015207522799", and the invention name is " The utility model patent of "automatic tracking infusion robot" discloses an infusion robot that is convenient for walking while infusion. The robot can automatically walk with the patient, which is very convenient to use, but a problem was found in the actual use process: the infusion robot will shake slightly during the movement, which will cause the liquid level in the infusion bottle to sway, resulting in infusion The medicinal solution in the bottle cannot be input into the patient's body along the infusion tube at a uniform speed.

Contents of the invention

The purpose of the present invention is to solve the following technical problem: the infusion robot will shake during the movement, which will cause the liquid level in the infusion bottle to shake, so that the medicine in the infusion bottle cannot be input into the patient's body along the infusion tube at a uniform speed .

In order to achieve the above objectives, the technical solution adopted by the present invention is: an intelligent infusion robot based on the Internet of Things, which is characterized in that it includes an ultrasonic follower car, an infusion stand, an infusion device, a bracelet, a terminal control system and a remote control system;

The infusion stand is set on the ultrasonic following trolley, and the infusion device is set on the upper end of the infusion stand;

The bracelet includes a bracelet body, an ultrasonic transmitting module, a single-chip microcomputer, a first input module, and a wireless communication module;

The ultrasonic transmitting module, the single-chip microcomputer, and the wireless communication module are arranged inside the bracelet body;

The first input module is arranged on the outer surface of the bracelet body;

The ultrasonic transmitting module, the first input module, and the wireless communication module are respectively electrically connected with the single-chip electromechanical device;

The terminal control system includes 4 ultrasonic receiving modules, terminal controller, motor drive module, left motor, right motor; display module, second input module, GPS module, camera module; storage battery module, charger module, terminal wireless communication module;

The remote control system includes a remote wireless communication module and a remote controller;

The four ultrasonic receiving modules are respectively electrically connected to the terminal controller, and the terminal controller controls the start, stop and speed of the left motor and the right motor through the motor drive module;

The left motor and the right motor are respectively used to drive the left front wheel and the right front wheel;

The display module, the second input module, the GPS module, and the camera module are respectively electrically connected to the terminal controller;

The four ultrasonic receiving modules are respectively arranged in the left front, right front, left rear, and right rear of the ultrasonic follower car;

The camera module is arranged on the upper part of the infusion stand;

The terminal control system is set on the ultrasonic following trolley;

The output end of the battery module supplies power to each unit module, and the output end of the charger module is connected to the charging input end of the battery module;

The terminal wireless communication module is electrically connected to the terminal controller;

The remote wireless communication module is electrically connected to the remote controller;

Communication between the terminal controller and the remote controller;

The infusion device includes a cylindrical cavity and an annular cavity;

The cylindrical cavity is concentric with the circular cavity, and the cylindrical cavity and the circular cavity have the same bottom surface, and the bottom of the cylindrical cavity communicates with the bottom of the circular cavity;

The upper surface of the cylindrical cavity is provided with a liquid filling hole, and a detachable plug is provided on the liquid filling hole;

The upper surface of the cylindrical cavity is also provided with an air inlet;

The lower surface of the annular cavity is provided with 8 infusion holes at equal intervals around the center of the circle, and rubber stoppers are arranged on the infusion holes;

The infusion device also includes a cork piercer unit, a dropping funnel, a flow rate regulator, a liquid medicine filter, an infusion hose, and an intravenous needle; one end of the infusion hose is connected to the output end of the cork piercer unit, The other end is connected to the venous needle; the infusion hose is provided with a drip funnel, a flow rate regulator, and a liquid medicine filter in sequence;

The cork piercer unit has 8 cork piercers, which are respectively inserted into the 8 rubber stoppers on the lower surface of the circular cavity, and the output ends of the 8 cork piercers are converged through the hose form an output;

A blocking member is provided near the input port of the cork piercer, and the size of the 8 cork piercers is exactly the same;

Suppose the height of the annular cavity is X1cm, the height of the cylindrical cavity is X2cm; the volume of the annular cavity is Y1cm ³ , and the volume of the cylindrical cavity is Y2cm ³ ;

X2≥10*X1; Y2≥40*Y1;

Also includes an infusion monitoring device;

The infusion monitoring device includes a control box, an infusion controller, an infrared liquid level sensor, a steering gear drive circuit, an infusion stopper, a control switch, and an audible and visual alarm;

The control box is installed on the ultrasonic follower trolley;

Both the infusion controller and the steering gear drive circuit are arranged in the control box;

The sound and light alarm and the control switch are installed on the top of the control box;

The infusion stopper is composed of a fixed support installed on the infusion stand and a steering gear installed on the fixed support;

The fixed support is provided with a horizontal swing arm swing notch and a vertical hose installation notch;

The swing arm swing notch and the hose installation notch form a cross groove;

The swing arm of the steering gear is located in the swing notch of the swing arm, and can swing horizontally in the swing notch of the swing arm;

The infusion hose is embedded in the hose installation notch;

The swing arm of the steering gear swings and presses on the infusion hose;

The infrared liquid level sensor is detachably mounted on the inner top of the cylindrical cavity, and the probe of the infrared liquid level sensor is facing the bottom of the cylindrical cavity;

The infusion controller is electrically connected with the infrared liquid level sensor, the steering gear drive circuit, the control switch and the sound and light alarm respectively;

The infusion controller controls the swing arm of the steering gear to swing through the steering gear drive circuit;

The battery supplies power for the infusion controller, the infrared liquid level sensor, the steering gear drive circuit, the control switch and the sound and light alarm respectively.

Further, the remote controller and the remote wireless communication module are realized by smart phones.

Compared with the prior art, the present invention has the following advantages: First, the infusion robot will shake during the movement, which will cause the liquid level in the infusion bottle to shake, but the medicinal solution of the present invention can still move along the infusion tube at a uniform speed. into the patient's body. Second, since the GPS module and the camera module are installed, the patient's location and on-site conditions can be known in real time through the remote controller; When shaking, stop the infusion in time to ensure the safety of the patient's infusion.

Description of drawings

Fig. 1 is the principle block schematic diagram of the circuit control part of the present invention;

Figure 2 is a schematic diagram of a top view of the ultrasonic follower car;

Fig. 3 is the front view of the ultrasonic follower trolley (the infusion device is not drawn);

Fig. 4 is a front view (schematic diagram) of the infusion device; the infusion hose is not drawn;

Fig. 5 is the top view (schematic diagram) of infusion device;

Fig. 6 is the bottom view (schematic diagram) of infusion device;

Fig. 7 is the connection schematic diagram of existing infusion bottle and infusion tube;

Fig. 8 is a schematic diagram of the cork piercer unit;

Fig. 9 is a schematic diagram of the circuit principle of the infusion monitoring device;

Fig. 10 is a top view structural schematic diagram of the infusion stopper;

Fig. 11 is a schematic side view of the infusion stopper.

Among them, 1 is the ultrasonic transmitting module; 2 is the ultrasonic receiving module; 3 is the wheel; 4 is the ultrasonic following trolley; 5 is the infusion stand; 7 is the camera module; 8 is the cylindrical cavity; 12 is an infusion bottle; 13 is an infusion tube; 14 is a blocking component; 15 is a control box; 16 is an infrared liquid level sensor; 17 is a fixed support; 18 is a steering gear.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings.

During use, it is necessary to pour the medicinal solution in the infusion bottle into the cylindrical cavity of the liquid storage device or make the infusion device of the present invention disposable and directly replace the infusion bottle.

"Drip funnel, flow rate regulator, liquid medicine filter, infusion hose, venous needle; one end of the infusion hose is connected to the output end of the cork puncturer, and the other end is connected to the venous needle; the infusion hose is "Drop funnel, flow rate regulator, and liquid medicine filter" are arranged in sequence, which belongs to the prior art and will not be described in detail.

Except that the lower surface of the annular cavity is provided with an infusion hole, and the bottom is connected with the cylindrical cavity, the rest are sealed everywhere, and the upper surface of the cylindrical cavity is provided with an air inlet, but the air inlet is provided with a An air filter sterilization device (the prior art), thereby ensuring that the liquid inside the transfusion device is not polluted by the outside air.

Near the cork puncturer of the existing infusion tubes, air intake pipes are all provided, and the air intake pipes are all provided with air filtration and sterilization devices, and this technology belongs to the prior art.

The ultrasonic following trolley adopts front-wheel drive.

Wherein, the height of the cylindrical cavity is 20cm, and the height of the circular cavity is 2cm;

The volume of the cylindrical cavity is 1500cm ³ , and the volume of the annular cavity is 30cm ³ .

The blocking part of the cork piercer can ensure that the depths of the eight cork piercers inserted into the rubber stoppers on the lower surface of the circular cavity are exactly the same, thereby ensuring that the pressures at the input ports of the eight cork piercers are almost the same , so blocking components are very important. If there is no blocking part, the depth of 8 cork piercers inserted into the rubber stopper on the lower surface of the annular cavity must vary greatly (existing cork piercers are very long without blocking parts, so it is impossible fully inserted), because the size of the 8 cork piercers is exactly the same, and blocking parts are all set, when the blocking parts of the 8 cork piercers touch the rubber stopper on the lower surface of the annular cavity Cannot insert any more.

Embodiment: an intelligent infusion robot based on the Internet of Things, including an ultrasonic following trolley, an infusion stand, an infusion device, a bracelet, a terminal control system and a remote control system; the infusion stand is arranged on the ultrasonic following trolley, and the described The infusion device is set on the upper end of the infusion stand; the bracelet includes a bracelet body, an ultrasonic emission module, a single-chip microcomputer, a first input module, and a wireless communication module;

The ultrasonic transmitting module, the single-chip microcomputer, and the wireless communication module are arranged inside the bracelet body;

The first input module is arranged on the outer surface of the bracelet body;

The ultrasonic transmitting module, the first input module, and the wireless communication module are respectively connected with the single-chip electromechanical; the terminal control system includes 4 ultrasonic receiving modules, a terminal controller, a motor drive module, a left motor, and a right motor; a display module , second input module, GPS module, camera module; battery module, charger module, terminal wireless communication module;

The remote control system includes a remote wireless communication module and a remote controller;

The four ultrasonic receiving modules are respectively electrically connected to the terminal controller, and the terminal controller controls the start, stop and speed of the left motor and the right motor through the motor drive module; the left motor and the right motor are respectively used to drive the left front wheel , the right front wheel; the display module, the second input module, the GPS module, and the camera module are electrically connected to the terminal controller respectively; the four ultrasonic receiving modules are respectively arranged on the left front, right front, left rear, right rear;

The camera module is set on the upper part of the infusion stand; the terminal control system is set on the ultrasonic follower trolley; the output end of the battery module supplies power for each unit module, and the output end of the charger module is connected to the charging input end of the battery module The terminal wireless communication module is electrically connected to the terminal controller; the remote wireless communication module is electrically connected to the remote controller; the terminal controller communicates with the remote controller;

The infusion device includes a cylindrical cavity and an annular cavity;

The cylindrical cavity is concentric with the circular cavity, and the cylindrical cavity and the circular cavity have the same bottom surface, and the bottom of the cylindrical cavity communicates with the bottom of the circular cavity;

The upper surface of the cylindrical cavity is provided with a liquid filling hole, and a detachable plug is provided on the liquid filling hole;

The upper surface of the cylindrical cavity is also provided with an air inlet;

The lower surface of the annular cavity is provided with 8 infusion holes at equal intervals around the center of the circle, and rubber stoppers are arranged on the infusion holes;

The infusion device also includes a cork piercer unit, a dropping funnel, a flow rate regulator, a liquid medicine filter, an infusion hose, and an intravenous needle; one end of the infusion hose is connected to the output end of the cork piercer unit, The other end is connected to the venous needle; the infusion hose is provided with a drip funnel, a flow rate regulator, and a liquid medicine filter in sequence;

The cork piercer unit has 8 cork piercers, which are respectively inserted into the 8 rubber stoppers on the lower surface of the circular cavity, and the output ends of the 8 cork piercers are converged through the hose form an output;

A blocking member is provided near the input port of the cork piercer, and the size of the 8 cork piercers is exactly the same;

Suppose the height of the annular cavity is X1cm, the height of the cylindrical cavity is X2cm; the volume of the annular cavity is Y1cm ³ , and the volume of the cylindrical cavity is Y2cm ³ ;

X2≥10*X1; Y2≥40*Y1;

Also includes an infusion monitoring device;

The infusion monitoring device includes a control box, an infusion controller, an infrared liquid level sensor, a steering gear drive circuit, an infusion stopper, a control switch, and an audible and visual alarm;

The control box is installed on the ultrasonic follower trolley;

Both the infusion controller and the steering gear drive circuit are arranged in the control box;

The sound and light alarm and the control switch are installed on the top of the control box;

The infusion stopper is composed of a fixed support installed on the infusion stand and a steering gear installed on the fixed support;

The fixed support is provided with a horizontal swing arm swing notch and a vertical hose installation notch;

The swing arm swing notch and the hose installation notch form a cross groove;

The swing arm of the steering gear is located in the swing notch of the swing arm, and can swing horizontally in the swing notch of the swing arm;

The infusion hose is embedded in the hose installation notch;

The swing arm of the steering gear swings and presses on the infusion hose;

The infrared liquid level sensor is detachably mounted on the inner top of the cylindrical cavity, and the probe of the infrared liquid level sensor is facing the bottom of the cylindrical cavity;

The infusion controller is electrically connected with the infrared liquid level sensor, the steering gear drive circuit, the control switch and the sound and light alarm respectively;

The infusion controller controls the swing arm of the steering gear to swing through the steering gear drive circuit;

The storage battery respectively supplies power for the infusion controller, the infrared liquid level sensor, the steering gear drive circuit, the control switch and the sound and light alarm;

Wherein, the remote controller and the remote wireless communication module are realized by smart phones.

The general working principle of the present invention is described: when the patient needs to walk, wear the bracelet on the wrist, start the ultrasonic transmitting module through the first input module to start emitting ultrasonic signals, communicate with the terminal controller through the single-chip microcomputer to start timing, and the GPS module and the camera module start to work , The signals output by the GPS module and the camera module communicate with the remote controller through the terminal controller, so that the remote controller can know the location of the patient and the patient's on-site condition in real time.

The signals sent by the ultrasonic transmitting module are received by the four ultrasonic receiving modules, and the terminal controller judges the position of the patient according to the distance between the four ultrasonic receiving modules and the ultrasonic transmitting module, thereby controlling the direction of the ultrasonic wave to follow the trolley.

The invention can realize the principle that the medicine liquid can still be input into the patient's body along the infusion tube at a uniform speed during the moving process of the infusion robot. The infusion device includes a cylindrical cavity and an annular cavity. The height is much higher than the height of the annular cavity, and the bottom of the cylindrical cavity is connected with the bottom of the annular cavity; so the liquid height inside the annular cavity remains constant (except when the liquid medicine is almost finished) ), when the ultrasonic waves follow the dolly to shake, the liquid level inside the cylindrical cavity will also shake, but the lower surface of the circular cavity is provided with 8 infusion holes at equal intervals around the center of the circle, and the infusion holes are all provided with Rubber stopper; the cork piercer has 8 input ends and 1 output end, and the 8 input ends are respectively inserted into 8 rubber stoppers on the lower surface of the circular cavity; such a cylindrical cavity Although the sloshing of the liquid level inside the body will cause the pressure at each infusion hole to change, the sum of the pressures at the eight infusion holes is almost constant (the pressure at some infusion holes becomes larger, while the pressure at some infusion holes The pressure at the place becomes smaller, and the size cancels each other out), that is to say, the sum of the pressures at the 8 infusion holes is almost constant when the average value is taken. And the cork piercer has 8 input ends and 1 output end, and 8 input ends are respectively inserted in the 8 rubber stoppers of the lower surface of described annular cavity, so the output end of the bottle cork piercer is The pressure is almost constant.

The robot walking control method is the control method in which the ultrasonic wave follows the trolley:

In the first step, the patient inputs an ultrasonic wave command to follow the car to start walking through the first input module of the wristband. After the single-chip microcomputer receives the command, the single-chip microcomputer sends a wireless signal to the terminal controller. When the terminal controller receives the wireless signal, it starts 4 timers timer starts timing;

In the second step, the single-chip microcomputer sends the wireless signal to the terminal controller at an interval of 2 seconds, and the single-chip microcomputer controls the ultrasonic transmitting module to start transmitting ultrasonic signals;

In the third step, the time interval between the time when the four ultrasonic receiving modules on the left front, right front, left rear, and right rear receive the ultrasonic signal and the time when the terminal controller starts counting is correspondingly recorded as

Δt1 second, Δt2 second, Δt3 second, Δt4 second;

If Δt1=Δt2, Δt3=Δt4, the terminal controller controls the ultrasonic wave to follow the car and go straight;

If Δt1>Δt2, Δt3>Δt4, the terminal controller controls the ultrasonic wave to follow the left front wheel of the car to accelerate, and the right front wheel to decelerate;

If Δt1<Δt2, Δt3<Δt4, the terminal controller controls the ultrasonic wave to follow the left front wheel of the car to decelerate and the right front wheel to accelerate.

Explanation: The 4 timers can use hardware timers or software analog timers; the four ultrasonic receiving modules on the left front, right front, left rear, and right rear correspond to a timer respectively, and the ultrasonic receiving module receives ultrasonic The timers corresponding to the signal stop timing respectively, so that the timing times of the four timers are respectively Δt1 seconds, Δt2 seconds, Δt3 seconds, and Δt4 seconds.

When the transfusion monitoring device of the present invention is working, the infrared liquid level sensor detects the liquid level height inside the cylindrical cavity in real time, and the liquid level controller compares the detected liquid level height with the set threshold value, if it is less than the threshold value, Then control the swing arm of the steering gear through the steering gear drive circuit, squeeze the infusion hose to stop the infusion, and at the same time control the sound and light alarm to alarm to remind the patient that the infusion is completed or because the infusion process shakes too much (close to dumping) and cannot be normal. Infusion: The patient or nurse can turn off the sound and light alarm through the control switch, and at the same time control the swing arm of the steering gear through the steering gear drive circuit to release the extrusion of the infusion hose when receiving the closing signal of the control switch.

The intelligent infusion robot system based on the Internet of Things is characterized in that it includes multiple ultrasonic follow-up trolley systems and remote control systems;

The ultrasonic following trolley system includes an ultrasonic following trolley, an infusion stand, an infusion device, a bracelet, and a terminal control system;

The infusion stand is set on the ultrasonic following trolley, and the infusion device is set on the upper end of the infusion stand;

The bracelet includes a bracelet body, an ultrasonic transmitting module, a single-chip microcomputer, a first input module, and a wireless communication module;

The ultrasonic transmitting module, the single-chip microcomputer, and the wireless communication module are arranged inside the bracelet body;

The first input module is arranged on the outer surface of the bracelet body;

The ultrasonic transmitting module, the first input module, and the wireless communication module are respectively electrically connected with the single-chip electromechanical device;

The terminal control system includes 4 ultrasonic receiving modules, terminal controller, motor drive module, left motor, right motor; display module, second input module, GPS module, camera module; storage battery module, charger module, terminal wireless communication module;

The remote control system includes a remote wireless communication module and a remote controller;

The four ultrasonic receiving modules are respectively electrically connected to the terminal controller, and the terminal controller controls the start, stop and speed of the left motor and the right motor through the motor drive module;

The left motor and the right motor are respectively used to drive the left front wheel and the right front wheel;

The display module, the second input module, the GPS module, and the camera module are respectively electrically connected to the terminal controller;

The four ultrasonic receiving modules are respectively arranged in the left front, right front, left rear, and right rear of the ultrasonic follower car;

The camera module is arranged on the upper part of the infusion stand;

The terminal control system is set on the ultrasonic following trolley;

The output end of the battery module supplies power to each unit module, and the output end of the charger module is connected to the charging input end of the battery module;

The terminal wireless communication module is electrically connected to the terminal controller;

The remote wireless communication module is electrically connected to the remote controller;

Communication between the terminal controller and the remote controller;

The infusion device includes a cylindrical cavity and an annular cavity;

The cylindrical cavity is concentric with the circular cavity, and the cylindrical cavity and the circular cavity have the same bottom surface, and the bottom of the cylindrical cavity communicates with the bottom of the circular cavity;

The upper surface of the cylindrical cavity is provided with a liquid filling hole, and a detachable plug is provided on the liquid filling hole;

The upper surface of the cylindrical cavity is also provided with an air inlet;

The lower surface of the annular cavity is provided with 8 infusion holes at equal intervals around the center of the circle, and rubber stoppers are arranged on the infusion holes;

The infusion device also includes a cork piercer unit, a dropping funnel, a flow rate regulator, a liquid medicine filter, an infusion hose, and an intravenous needle; one end of the infusion hose is connected to the output end of the cork piercer unit, The other end is connected to the venous needle; the infusion hose is provided with a drip funnel, a flow rate regulator, and a liquid medicine filter in sequence;

The cork piercer unit has 8 cork piercers, which are respectively inserted into the 8 rubber stoppers on the lower surface of the circular cavity, and the output ends of the 8 cork piercers are converged through the hose form an output;

A blocking member is provided near the input port of the cork piercer, and the size of the 8 cork piercers is exactly the same;

Suppose the height of the annular cavity is X1cm, the height of the cylindrical cavity is X2cm; the volume of the annular cavity is Y1cm ³ , and the volume of the cylindrical cavity is Y2cm ³ ;

X2≥10*X1; Y2≥40*Y1;

It also includes multiple infusion monitoring devices;

The infusion monitoring device includes a control box, an infusion controller, an infrared liquid level sensor, a steering gear drive circuit, an infusion stopper, a control switch, and an audible and visual alarm;

The control box is installed on the ultrasonic follower trolley;

Both the infusion controller and the steering gear drive circuit are arranged in the control box;

The sound and light alarm and the control switch are installed on the top of the control box;

The infusion stopper is composed of a fixed support installed on the infusion stand and a steering gear installed on the fixed support;

The fixed support is provided with a horizontal swing arm swing notch and a vertical hose installation notch;

The swing arm swing notch and the hose installation notch form a cross groove;

The swing arm of the steering gear is located in the swing notch of the swing arm, and can swing horizontally in the swing notch of the swing arm;

The infusion hose is embedded in the hose installation notch;

The swing arm of the steering gear swings and presses on the infusion hose;

The infrared liquid level sensor is detachably mounted on the inner top of the cylindrical cavity, and the probe of the infrared liquid level sensor is facing the bottom of the cylindrical cavity;

The infusion controller is electrically connected with the infrared liquid level sensor, the steering gear drive circuit, the control switch and the sound and light alarm respectively;

The infusion controller controls the swing arm of the steering gear to swing through the steering gear drive circuit;

The battery supplies power for the infusion controller, the infrared liquid level sensor, the steering gear drive circuit, the control switch and the sound and light alarm respectively.

Wherein, the remote controller and the remote wireless communication module are realized by smart phones.

Claims (2)

1. An intelligent infusion robot based on the Internet of Things, characterized in that it includes an ultrasonic follower car, an infusion stand, an infusion device, a bracelet, a terminal control system and a remote control system; The infusion stand is set on the ultrasonic following trolley, and the infusion device is set on the upper end of the infusion stand; The bracelet includes a bracelet body, an ultrasonic transmitting module, a single-chip microcomputer, a first input module, and a wireless communication module; The ultrasonic transmitting module, the single-chip microcomputer, and the wireless communication module are arranged inside the bracelet body; The first input module is arranged on the outer surface of the bracelet body; The ultrasonic transmitting module, the first input module, and the wireless communication module are respectively electrically connected with the single-chip electromechanical device; The terminal control system includes 4 ultrasonic receiving modules, terminal controller, motor drive module, left motor, right motor; display module, second input module, GPS module, camera module; storage battery module, charger module, terminal wireless communication module; The remote control system includes a remote wireless communication module and a remote controller; The four ultrasonic receiving modules are respectively electrically connected to the terminal controller, and the terminal controller controls the start, stop and speed of the left motor and the right motor through the motor drive module; The left motor and the right motor are respectively used to drive the left front wheel and the right front wheel; The display module, the second input module, the GPS module, and the camera module are respectively electrically connected to the terminal controller; The four ultrasonic receiving modules are respectively arranged in the left front, right front, left rear, and right rear of the ultrasonic follower car; The camera module is arranged on the upper part of the infusion stand; The terminal control system is set on the ultrasonic following trolley; The output end of the battery module supplies power to each unit module, and the output end of the charger module is connected to the charging input end of the battery module; The terminal wireless communication module is electrically connected to the terminal controller; The remote wireless communication module is electrically connected to the remote controller; Communication between the terminal controller and the remote controller; The infusion device includes a cylindrical cavity and an annular cavity; The cylindrical cavity is concentric with the circular cavity, and the cylindrical cavity and the circular cavity have a common bottom surface, and the bottom of the cylindrical cavity communicates with the bottom of the circular cavity; The upper surface of the cylindrical cavity is provided with a liquid filling hole, and a detachable plug is provided on the liquid filling hole; The upper surface of the cylindrical cavity is also provided with an air inlet, and an air filter and sterilization device is arranged at the air inlet; The lower surface of the annular cavity is provided with 8 infusion holes at equal intervals around the center of the circle, and rubber stoppers are arranged on the infusion holes; The infusion device also includes a cork piercer unit, a dropping funnel, a flow rate regulator, a liquid medicine filter, an infusion hose, and an intravenous needle; one end of the infusion hose is connected to the output end of the cork piercer unit, The other end is connected to the venous needle; the infusion hose is provided with a drip funnel, a flow rate regulator, and a liquid medicine filter in sequence; The cork piercer unit has 8 cork piercers, which are respectively inserted into the 8 rubber stoppers on the lower surface of the circular cavity, and the output ends of the 8 cork piercers are converged through the hose form an output; A blocking member is provided near the input port of the cork piercer, and the size of the 8 cork piercers is exactly the same; Suppose the height of the annular cavity is X1cm, the height of the cylindrical cavity is X2cm; the volume of the annular cavity is Y1cm ³ , and the volume of the cylindrical cavity is Y2cm ³ ; X2≥10*X1; Y2≥40*Y1; Also includes an infusion monitoring device; The infusion monitoring device includes a control box, an infusion controller, an infrared liquid level sensor, a steering gear drive circuit, an infusion stopper, a control switch, and an audible and visual alarm; The control box is installed on the ultrasonic follower trolley; Both the infusion controller and the steering gear drive circuit are arranged in the control box; The sound and light alarm and the control switch are installed on the top of the control box; The infusion stopper is composed of a fixed support installed on the infusion stand and a steering gear installed on the fixed support; The fixed support is provided with a horizontal swing arm swing notch and a vertical hose installation notch; The swing arm swing notch and the hose installation notch form a cross groove; The swing arm of the steering gear is located in the swing notch of the swing arm, and can swing horizontally in the swing notch of the swing arm; The infusion hose is embedded in the hose installation notch; The swing arm of the steering gear swings and presses on the infusion hose; The infrared liquid level sensor is detachably mounted on the inner top of the cylindrical cavity, and the probe of the infrared liquid level sensor is facing the bottom of the cylindrical cavity; The infusion controller is electrically connected with the infrared liquid level sensor, the steering gear drive circuit, the control switch and the sound and light alarm respectively; The infusion controller controls the swing arm of the steering gear to swing through the steering gear drive circuit; The battery supplies power for the infusion controller, the infrared liquid level sensor, the steering gear drive circuit, the control switch and the sound and light alarm respectively. 2. The intelligent infusion robot based on the Internet of Things according to claim 1 or 2, wherein the remote controller and the remote wireless communication module are realized by smart phones.