CN106139309A - Medicinal intelligent robot based on Internet of Things - Google Patents

Medicinal intelligent robot based on Internet of Things Download PDF

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Publication number
CN106139309A
CN106139309A CN201610723841.4A CN201610723841A CN106139309A CN 106139309 A CN106139309 A CN 106139309A CN 201610723841 A CN201610723841 A CN 201610723841A CN 106139309 A CN106139309 A CN 106139309A
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China
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module
ultrasonic wave
terminal control
infusion
control unit
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CN201610723841.4A
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Chinese (zh)
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胡玉琴
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Individual
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Priority to CN201610723841.4A priority Critical patent/CN106139309A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/1414—Hanging-up devices
    • A61M5/1417—Holders or handles for hanging up infusion containers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/162—Needle sets, i.e. connections by puncture between reservoir and tube ; Connections between reservoir and tube
    • 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
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/10—General characteristics of the apparatus with powered movement mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/3375—Acoustical, e.g. ultrasonic, measuring means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3546—Range
    • A61M2205/3561—Range local, e.g. within room or hospital
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/35—Communication
    • A61M2205/3576—Communication with non implanted data transmission devices, e.g. using external transmitter or receiver

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Anesthesiology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Hematology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Vascular Medicine (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Nursing (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Medical Preparation Storing Or Oral Administration Devices (AREA)

Abstract

The invention discloses a kind of medicinal intelligent robot based on Internet of Things, including ultrasonic wave follows dolly, Infusion support, infusion set, bracelet, terminal control system and far-end control system；Described Infusion support is arranged on ultrasonic wave and follows above dolly, and described infusion set is arranged at described Infusion support upper end；Described bracelet includes bracelet body, ultrasonic wave transmitter module, single-chip microcomputer, the first input module, wireless communication module；The present invention can effectively solve the problem that transfusion robot rocks the technical problem of the slosh causing in infusion bottle during movement, so that liquid can be input to the internal of patient along woven hose evenly.

Description

Medicinal intelligent robot based on Internet of Things
The application is filing date 2016-06-14, Application No. 2016104155142, invention entitled based on Internet of Things The divisional application of patent application of medicinal intelligent robot.
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of medical infusion robot.
Background technology
Medical Robot, refers to the robot for hospital, the medical treatment of clinic or medical assistance, and Medical Robot's species is very Many, different according to its purposes, there are clinical treatment robot, nursing robot, Medical teaching robot and are services for the disabled Robot etc..
Traditional infusion bottle is all to hang over above Infusion support, and Infusion support is placed on sick bed side, moves to get up to bother very much, when When client need is walked about, need to take off infusion bottle, then raise high, when sometimes patient is handicapped, in addition it is also necessary to nurse Or household follows patient and raises infusion bottle together high.
For the phenomenon often going to toilet during patient infusion, and for faster rehabilitation, doctor advises often especially Walk about, but a lot of patient infusion time is inconvenient to walk about very for a long time especially, then Patent No. " 2015207522799 ", invention entitled " from motion tracking infuse robot " utility model patent disclose a kind of transfusion It is also convenient for the transfusion robot walked about simultaneously.This robot can follow patient one piece walking automatically, very easy to use, But it is found that a problem in actual use: transfusion robot can rock during movement slightly, thus Cause the slosh in infusion bottle, thus cause the liquid in infusion bottle cannot be input to patient's along woven hose evenly Internal.
Content of the invention
It is an object of the invention to solve techniques below problem: transfusion robot can rock during movement, thus Cause the slosh in infusion bottle, thus cause the liquid in infusion bottle cannot be input to patient's along woven hose evenly Internal.
In order to realize object above, the technical solution adopted in the present invention is: based on the medicinal intelligent robot of Internet of Things, It is characterized in that, including ultrasonic wave follows dolly, Infusion support, infusion set, bracelet, terminal control system and far-end control be System；
Described infusion set is arranged at described Infusion support upper end；
Described bracelet includes bracelet body, ultrasonic wave transmitter module, single-chip microcomputer, the first input module, radio communication mold Block；
Described ultrasonic wave transmitter module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic wave transmitter module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；
Described terminal control system includes 4 ultrasonic wave receiver modules, terminal control unit, motor drive module, left electricity Machine, right motor；Display module, the second input module, GPS module, camera module；Battery module, charger module, terminal Wireless communication module；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasonic wave receiver modules electrically connect with terminal control unit respectively, and terminal control unit is driven by motor The left motor of module control and right electric motor starting, stopping and rotating speed；
Described left motor, right motor are respectively used to drive the near front wheel, off-front wheel；
Described display module, the second input module, GPS module, camera module electrically connect with terminal control unit respectively；
4 described ultrasonic wave receiver modules are respectively arranged at ultrasonic wave and follow the left front of dolly, right front, left back Side, right back；
Described camera module is arranged at the top of Infusion support；
Described terminal control system is arranged at ultrasonic wave and follows above dolly；
Described battery module output is unit module for power supply, and the output of charger module connects battery The charging input end of module；
Described terminal wireless communication module electrically connects with terminal control unit；
Described remote wireless communications module electrically connects with remote controller；
Communicate between described terminal control unit and remote controller；
Described infusion set includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and annular cavity bottom surface altogether, The bottom of circular cylindrical cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and liquid filling hole is provided with detachable stopper；
The upper surface of described circular cylindrical cavity is additionally provided with air admission hole, and air inlet position is provided with air filtering disinfection dress Put；
The lower surface of described annular cavity has 8 infusion holes around center of circle spaced set, and infusion hole is respectively provided with There is rubber stopper；
Described infusion set also includes that bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, transfusion are soft Pipe, intravenous needle；One end of described infusion tube connects the output of bottle plug puncture unit unit, and the other end connects intravenous needle；Institute Dropping funnel, flow regulator, liquid medicine filter is set gradually on the infusion tube stated；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively under described annular cavity In 8 rubber stoppers on surface, the output of 8 bottle plug puncture units is converged by flexible pipe and forms an output；
Stop member is set near the input port of described bottle plug puncture unit, and the size of 8 bottle plug puncture units is complete Identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The volume of annular cavity Y1cm3, the volume of circular cylindrical cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include a transfusion stabilization device；
Described transfusion stabilization device includes base, outer tube, inner sleeve, clamping screw, resilient support pad, compression spring And annular cover plate；
Described base is removably mounted at ultrasonic wave and follows on dolly；
Described outer tube is vertically installed on base；
The lower end of shown inner sleeve is inserted in outer tube after the centre bore of annular cover plate, and the upper end of inner sleeve is stretched out Outside outer tube；
Described compression spring flexibly supports between the outer wall and the inwall of outer tube of inner sleeve lower end；
Described compression spring is the six roots of sensation altogether, and every three is one group, constitutes two balance groups, three pressures of each balance group Contracting spring is each other in 120 ° of distributions on same level height, and orthographic projection on base for the six roots of sensation compression spring is spaced apart 60°；
Described clamping screw screws on the upper end of inner sleeve；
Described resilient support pad is arranged on base, and is positioned at outer tube；
The lower end of described Infusion support is inserted on inner sleeve, and is fixed by clamping screw；
The lower end of described Infusion support is supported on resilient support pad；
The overall diameter of described annular cover plate is more than the interior diameter of outer tube；
The length that described Infusion support is inserted in inner sleeve is more than or equal to 1/4th of Infusion support height；
The length that described inner sleeve is arranged in outer tube is more than or equal to 3/4ths of inner sleeve length；
The described spacing between two balance groups is more than or equal to 1/2nd of inner sleeve length.
Further, described remote controller, remote wireless communications module use smart mobile phone to realize.
Compared with prior art, it is an advantage of the current invention that: first, transfusion robot can rock during movement, Thus cause the slosh in infusion bottle, but the liquid of the present invention still can be input to patient along woven hose evenly Internal.Second, owing to equipped with GPS module and camera module, therefore can understand patient's in real time by remote controller Position and the situation at scene；3rd, use transfusion stabilization device to enable to ultrasonic wave and follow during dolly moves and rock Reduce rocking of Infusion support, thereby further ensure that liquid at the uniform velocity flows.
Brief description
Fig. 1 is the principle block diagram of the circuit control part of the present invention；
Fig. 2 is that ultrasonic wave follows dolly schematic top plan view；
Fig. 3 is that ultrasonic wave follows dolly front view (not drawing infusion set)；
Fig. 4 is infusion set front view (schematic diagram)；
Fig. 5 is the top view (schematic diagram) of infusion set；
Fig. 6 is the upward view (schematic diagram) of infusion set；
Fig. 7 is existing infusion bottle and woven hose connection diagram；
Fig. 8 is bottle plug puncture unit cell schematics；
Fig. 9 is the plan structure schematic diagram of transfusion stabilization device；
Figure 10 is sectional structure schematic diagram at A-A in Fig. 9.
Wherein, 1 is ultrasonic wave transmitter module；2 is ultrasonic wave receiver module；3 wheels；4 is that ultrasonic wave follows dolly；5 are Infusion support；7 is camera module；8 is circular cylindrical cavity；9 is annular cavity；10 is rubber stopper；12 is infusion bottle；13 is defeated Liquid pipe；14 is stop member；15 is base；16 is outer tube；17 is inner sleeve；18 is clamping screw；19 is compression spring；20 It is resilient support pad；21 is annular cover plate.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail.
Need during use to be poured in the circular cylindrical cavity of device for storing liquid or the liquid in infusion bottle by this Bright infusion set is made the disposable infusion bottle that directly substitutes and is used.
" dropping funnel, flow regulator, liquid medicine filter, infusion tube, intravenous needle；One end of described infusion tube connects The output of bottle plug puncture unit, the other end connects intravenous needle；Set gradually on described infusion tube dropping funnel, flow regulator, Liquid medicine filter " belongs to existing known technology, is not described in detail.
Annular cavity is in addition to lower surface is provided with infusion hole, bottom connects with circular cylindrical cavity, and remaining is all located everywhere Place seals, and the upper surface of circular cylindrical cavity is provided with air admission hole, but air inlet position is provided with air filtering disinfection device (now Have known technology), so that it is guaranteed that the liquid within infusion set is not polluted by outside air.
It is provided with air inlet pipe near the bottle plug puncture unit of existing woven hose, and air inlet pipe is provided with air filtration and kills Bacterium device, this technology belongs to prior art.
Wherein, the height of circular cylindrical cavity takes 20cm, and the height of annular cavity takes 2cm；
The volume of circular cylindrical cavity is 1500cm3, the volume of annular cavity is 30cm3。
Ultrasonic wave is followed dolly and is used front-wheel drive.
The stop member of bottle plug puncture unit can ensure that 8 bottle plug puncture units are inserted into the rubber of the lower surface of annular cavity The degree of depth in leather plug is just the same, thus ensures that the pressure at the input port of 8 bottle plug puncture units is about the same, so stop part Part is extremely important.If stop member, 8 bottle plug puncture units are inserted into the rubber stopper of the lower surface of annular cavity In the degree of depth certainly widely different (the very long all unobstructed parts of existing bottle plug puncture unit, it is impossible to fully-inserted enter ), it owing to the size of 8 bottle plug puncture units is just the same, and is provided with stop member, when the resistance of 8 bottle plug puncture units Just cannot be inserted into during the rubber stopper of the lower surface that stopper part touches annular cavity.
Embodiment: based on the medicinal intelligent robot of Internet of Things, including ultrasonic wave follow dolly, Infusion support, infusion set, Bracelet, terminal control system and far-end control system；Described infusion set is arranged at described Infusion support upper end；Described Bracelet includes bracelet body, ultrasonic wave transmitter module, single-chip microcomputer, the first input module, wireless communication module；
Described ultrasonic wave transmitter module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic wave transmitter module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；Described Terminal control system include 4 ultrasonic wave receiver modules, terminal control unit, motor drive module, left motor, right motor；Aobvious Show module, the second input module, GPS module, camera module；Battery module, charger module, terminal wireless communication mould Block；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasonic wave receiver modules electrically connect with terminal control unit respectively, and terminal control unit is driven by motor The left motor of module control and right electric motor starting, stopping and rotating speed；Described left motor, right motor be respectively used to drive the near front wheel, Off-front wheel；Described display module, the second input module, GPS module, camera module electrically connect with terminal control unit respectively； 4 described ultrasonic wave receiver modules are respectively arranged at ultrasonic wave and follow the left front of dolly, right front, left back, right back；
Described camera module is arranged at the top of Infusion support；Described terminal control system is arranged at ultrasonic wave and follows little Above car；Described battery module output is unit module for power supply, and the output of charger module connects battery The charging input end of module；Described terminal wireless communication module electrically connects with terminal control unit；Described remote wireless communications Module electrically connects with remote controller；Communicate between described terminal control unit and remote controller；
Described infusion set includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and annular cavity bottom surface altogether, The bottom of circular cylindrical cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and liquid filling hole is provided with detachable stopper；
The upper surface of described circular cylindrical cavity is additionally provided with air admission hole；
The lower surface of described annular cavity has 8 infusion holes around center of circle spaced set, and infusion hole is respectively provided with There is rubber stopper；
Described infusion set also includes that bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, transfusion are soft Pipe, intravenous needle；One end of described infusion tube connects the output of bottle plug puncture unit unit, and the other end connects intravenous needle；Institute Dropping funnel, flow regulator, liquid medicine filter is set gradually on the infusion tube stated；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively under described annular cavity In 8 rubber stoppers on surface, the output of 8 bottle plug puncture units is converged by flexible pipe and forms an output；
Stop member is set near the input port of described bottle plug puncture unit, and the size of 8 bottle plug puncture units is complete Identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The volume of annular cavity Y1cm3, the volume of circular cylindrical cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include a transfusion stabilization device；
Described transfusion stabilization device includes base, outer tube, inner sleeve, clamping screw, resilient support pad, compression spring And annular cover plate；
Described base is removably mounted at ultrasonic wave and follows on dolly；
Described outer tube is vertically installed on base；
The lower end of shown inner sleeve is inserted in outer tube after the centre bore of annular cover plate, and the upper end of inner sleeve is stretched out Outside outer tube；
Described compression spring flexibly supports between the outer wall and the inwall of outer tube of inner sleeve lower end；
Described compression spring is the six roots of sensation altogether, and every three is one group, constitutes two balance groups, three pressures of each balance group Contracting spring is each other in 120 ° of distributions on same level height, and orthographic projection on base for the six roots of sensation compression spring is spaced apart 60°；
Described clamping screw screws on the upper end of inner sleeve；
Described resilient support pad is arranged on base, and is positioned at outer tube；
The lower end of described Infusion support is inserted on inner sleeve, and is fixed by clamping screw；
The lower end of described Infusion support is supported on resilient support pad；
The overall diameter of described annular cover plate is more than the interior diameter of outer tube；
The length that described Infusion support is inserted in inner sleeve is more than or equal to 1/4th of Infusion support height；
The length that described inner sleeve is arranged in outer tube is more than or equal to 3/4ths of inner sleeve length；
The described spacing between two balance groups is more than or equal to 1/2nd of inner sleeve length；
Wherein, described remote controller, remote wireless communications module use smart mobile phone to realize.
The present invention substantially operation principle describes: when client need is walked about be worn over bracelet at wrist, by the first input mould Block starts ultrasonic wave transmitter module and starts to launch ultrasonic signal, starts timing, GPS by single-chip microcomputer and terminal control unit communication Module, camera module are started working, and GPS module, the signal of camera module output are controlled with far-end by terminal control unit Device communicates, and such remote controller can recognize patient's location and patient's field conditions in real time.
The signal that ultrasonic wave transmitter module sends is received by four ultrasonic wave receiver modules, and terminal control unit surpasses according to four Distance between acoustic receiver module and ultrasonic wave transmitter module, it is judged that the position of patient, thus control ultrasonic wave and follow dolly Direction.
The present invention is capable of transfusion robot liquid during movement and remains able to defeated along woven hose evenly Enter the internal principle explanation to patient: infusion set includes circular cylindrical cavity and annular cavity, due to circular cylindrical cavity The highly height far above annular cavity, and the bottom of circular cylindrical cavity connects with the bottom of annular cavity；So circle Liquid height within annular housing always constant (except liquid is totally lost the moment soon), when ultrasonic wave follow dolly rock when, circle Liquid level within cylindrical chamber also can rock, but the lower surface of described annular cavity has 8 around center of circle spaced set Individual infusion hole, infusion hole is provided with rubber stopper；Described bottle plug puncture unit has 8 inputs and 1 output, 8 In 8 rubber stoppers of the lower surface that input is inserted respectively into described annular cavity；So circular cylindrical cavity internal liquid level Although rock the change that can cause the pressure at each infusion hole, but the pressure sum at 8 infusion holes is almost constant (pressure at the infusion hole having becomes big, and at some infusion holes, pressure diminishes, and size is cancelled out each other), say, that 8 are defeated It is almost unchanged that pressure sum at fluid apertures is averaged.And bottle plug puncture unit has 8 inputs and 1 output, 8 In 8 rubber stoppers of the lower surface that input is inserted respectively into described annular cavity, the therefore output of bottle plug puncture unit The pressure at place is almost unchanged.
Robot ambulation control method i.e. ultrasonic wave follows the control method of carriage walking:
The first step, patient follows dolly by the first input module input ultrasonic wave of bracelet and starts walking order, monolithic After machine receives this order, single-chip microcomputer sends wireless signal to terminal control unit, and terminal control unit opens when receiving wireless signal simultaneously Dynamic 4 timers start timing；
Second step, single-chip microcomputer interval 2s after terminal control unit sends wireless signal, Single-chip Controlling ultrasonic wave launches mould BOB(beginning of block) launches ultrasonic signal；
3rd step, left front, right front, left back, four ultrasonic wave receiver modules of right back receive ultrasonic wave letter Number moment distance terminal control unit starts the time interval between the moment of timing, and correspondence is designated as respectively
The Δ t1 second, the Δ t2 second, the Δ t3 second, the Δ t4 second；
If Δ t1=Δ t2, Δ t3=Δ t4, then terminal control unit control ultrasonic wave follows dolly craspedodrome；
If Δ t1 > Δ is t2, Δ t3 > Δ t4, then terminal control unit control ultrasonic wave follows the near front wheel acceleration of dolly, before the right side Wheel slows down；
If Δ t1 < Δ is t2, Δ t3 < Δ t4, then terminal control unit control ultrasonic wave follows the near front wheel deceleration of dolly, before the right side Wheel accelerates.
Illustrate: 4 timers can use hardware timer, it would however also be possible to employ timer simulated by software；Left front, Right front, left back, four ultrasonic wave receiver modules corresponding timer respectively of right back, ultrasonic wave receiver module receives Stop timing to timer corresponding during ultrasonic signal respectively, the timing time of such four timers just respectively Δ t1 Second, the Δ t2 second, the Δ t3 second, the Δ t4 second.
The lower end of Infusion support in use, is first inserted on transfusion stabilization device by the transfusion stabilization device of the present invention, And be fixed by clamping screw, due to the elastic reaction of six roots of sensation compression spring so that ultrasonic wave is followed dolly and is moved and rock During, Infusion support has less rocking, and utilizes annular cover plate can cover the gap between inner sleeve and outer tube simultaneously, Prevent other objects from dropping in gap, it is ensured that compression spring normally works；It is plug-in mounting additionally, due to Infusion support, so making It is also convenient for dismounting after with to place.
Medicinal intelligent robot system based on Internet of Things, it is characterised in that include that multiple ultrasonic wave follows cart system And far-end control system；
Described ultrasonic wave is followed cart system and is included that ultrasonic wave follows dolly, Infusion support, infusion set, bracelet, terminal Control system；
Described infusion set is arranged at described Infusion support upper end；
Described bracelet includes bracelet body, ultrasonic wave transmitter module, single-chip microcomputer, the first input module, radio communication mold Block；
Described ultrasonic wave transmitter module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic wave transmitter module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；
Described terminal control system includes 4 ultrasonic wave receiver modules, terminal control unit, motor drive module, left electricity Machine, right motor；Display module, the second input module, GPS module, camera module；Battery module, charger module, terminal Wireless communication module；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasonic wave receiver modules electrically connect with terminal control unit respectively, and terminal control unit is driven by motor The left motor of module control and right electric motor starting, stopping and rotating speed；
Described left motor, right motor are respectively used to drive the near front wheel, off-front wheel；
Described display module, the second input module, GPS module, camera module electrically connect with terminal control unit respectively；
4 described ultrasonic wave receiver modules are respectively arranged at ultrasonic wave and follow the left front of dolly, right front, left back Side, right back；
Described camera module is arranged at the top of Infusion support；
Described terminal control system is arranged at ultrasonic wave and follows above dolly；
Described battery module output is unit module for power supply, and the output of charger module connects battery The charging input end of module；
Described terminal wireless communication module electrically connects with terminal control unit；
Described remote wireless communications module electrically connects with remote controller；
Communicate between described terminal control unit and remote controller；
Described infusion set includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and annular cavity bottom surface altogether, The bottom of circular cylindrical cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and liquid filling hole is provided with detachable stopper；
The upper surface of described circular cylindrical cavity is additionally provided with air admission hole；
The lower surface of described annular cavity has 8 infusion holes around center of circle spaced set, and infusion hole is respectively provided with There is rubber stopper；
Described infusion set also includes that bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, transfusion are soft Pipe, intravenous needle；One end of described infusion tube connects the output of bottle plug puncture unit unit, and the other end connects intravenous needle；Institute Dropping funnel, flow regulator, liquid medicine filter is set gradually on the infusion tube stated；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively under described annular cavity In 8 rubber stoppers on surface, the output of 8 bottle plug puncture units is converged by flexible pipe and forms an output；
Stop member is set near the input port of described bottle plug puncture unit, and the size of 8 bottle plug puncture units is complete Identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The volume of annular cavity Y1cm3, the volume of circular cylindrical cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include multiple transfusion stabilization device；
Described transfusion stabilization device includes base, outer tube, inner sleeve, clamping screw, resilient support pad, compression spring And annular cover plate；
Described base is removably mounted at ultrasonic wave and follows on dolly；
Described outer tube is vertically installed on base；
The lower end of shown inner sleeve is inserted in outer tube after the centre bore of annular cover plate, and the upper end of inner sleeve is stretched out Outside outer tube；
Described compression spring flexibly supports between the outer wall and the inwall of outer tube of inner sleeve lower end；
Described compression spring is the six roots of sensation altogether, and every three is one group, constitutes two balance groups, three pressures of each balance group Contracting spring is each other in 120 ° of distributions on same level height, and orthographic projection on base for the six roots of sensation compression spring is spaced apart 60°；
Described clamping screw screws on the upper end of inner sleeve；
Described resilient support pad is arranged on base, and is positioned at outer tube；
The lower end of described Infusion support is inserted on inner sleeve, and is fixed by clamping screw；
The lower end of described Infusion support is supported on resilient support pad；
The overall diameter of described annular cover plate is more than the interior diameter of outer tube；
The length that described Infusion support is inserted in inner sleeve is more than or equal to 1/4th of Infusion support height；
The length that described inner sleeve is arranged in outer tube is more than or equal to 3/4ths of inner sleeve length；
The described spacing between two balance groups is more than or equal to 1/2nd of inner sleeve length；
Wherein, described remote controller, remote wireless communications module use smart mobile phone to realize.

Claims (2)

1. the medicinal intelligent robot based on Internet of Things, it is characterised in that include that ultrasonic wave follows dolly, Infusion support, transfusion dress Put, bracelet, terminal control system and far-end control system；
Described infusion set is arranged at described Infusion support upper end；
Described bracelet includes bracelet body, ultrasonic wave transmitter module, single-chip microcomputer, the first input module, wireless communication module；
Described ultrasonic wave transmitter module, single-chip microcomputer, wireless communication module are arranged at bracelet body interior；
The first described input module is arranged at the outer surface of bracelet body；
Described ultrasonic wave transmitter module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；
Described terminal control system includes 4 ultrasonic wave receiver modules, terminal control unit, motor drive module, left motor, the right side Motor；Display module, the second input module, GPS module, camera module；Battery module, charger module, terminal wireless Communication module；
Described far-end control system includes remote wireless communications module and remote controller；
4 described ultrasonic wave receiver modules electrically connect with terminal control unit respectively, and terminal control unit passes through motor drive module Control left motor and right electric motor starting, stopping and rotating speed；
Described left motor, right motor are respectively used to drive the near front wheel, off-front wheel；
Described display module, the second input module, GPS module, camera module electrically connect with terminal control unit respectively；
4 described ultrasonic wave receiver modules are respectively arranged at ultrasonic wave and follow the left front of dolly, right front, left back, the right side Rear；
Described camera module is arranged at the top of Infusion support；
Described terminal control system is arranged at ultrasonic wave and follows above dolly；
Described battery module output is unit module for power supply, and the output of charger module connects battery module Charging input end；
Described terminal wireless communication module electrically connects with terminal control unit；
Described remote wireless communications module electrically connects with remote controller；
Communicate between described terminal control unit and remote controller；
Described single-chip microcomputer and terminal control unit communication；
Described infusion set includes circular cylindrical cavity and annular cavity；
Described circular cylindrical cavity and annular cavity concentric, and circular cylindrical cavity and annular cavity bottom surface altogether, cylinder The bottom of shape cavity connects with the bottom of annular cavity；
The upper surface of described circular cylindrical cavity is provided with liquid filling hole, and liquid filling hole is provided with detachable stopper；
The upper surface of described circular cylindrical cavity is additionally provided with air admission hole, and air inlet position is provided with air filtering disinfection device；
The lower surface of described annular cavity has 8 infusion holes around center of circle spaced set, and infusion hole is provided with rubber Leather plug；
Described infusion set also includes bottle plug puncture unit unit, dropping funnel, flow regulator, liquid medicine filter, infusion tube, quiet Arteries and veins pin；One end of described infusion tube connects the output of bottle plug puncture unit unit, and the other end connects intravenous needle；Described is defeated Dropping funnel, flow regulator, liquid medicine filter is set gradually on liquid flexible pipe；
Described bottle plug puncture unit unit has 8 bottle plug puncture units, is inserted respectively into the lower surface of described annular cavity 8 rubber stoppers in, the output of 8 bottle plug puncture units by flexible pipe converge formed an output；
Stop member is set near the input port of described bottle plug puncture unit, and the size of 8 bottle plug puncture units is identical；
If the height of annular cavity is X1cm, the height of circular cylindrical cavity is X2cm；The volume Y1cm of annular cavity3, cylinder The volume of shape cavity is Y2cm3；
X2≥10*X1；Y2≥40*Y1；
Also include a transfusion stabilization device；
Described transfusion stabilization device include base, outer tube, inner sleeve, clamping screw, resilient support pad, compression spring and Annular cover plate；
Described base is removably mounted at ultrasonic wave and follows on dolly；
Described outer tube is vertically installed on base；
The lower end of shown inner sleeve is inserted in outer tube after the centre bore of annular cover plate, and overcoat is stretched out in the upper end of inner sleeve Outside pipe；
Described compression spring flexibly supports between the outer wall and the inwall of outer tube of inner sleeve lower end；
Described compression spring is the six roots of sensation altogether, and every three is one group, constitutes two balance groups, three compression bullets of each balance group Spring is each other in 120 ° of distributions on same level height, and orthographic projection on base for the six roots of sensation compression spring is spaced apart 60 °；
Described clamping screw screws on the upper end of inner sleeve；
Described resilient support pad is arranged on base, and is positioned at outer tube；
The lower end of described Infusion support is inserted on inner sleeve, and is fixed by clamping screw；
The lower end of described Infusion support is supported on resilient support pad；
The overall diameter of described annular cover plate is more than the interior diameter of outer tube；
The length that described Infusion support is inserted in inner sleeve is more than or equal to 1/4th of Infusion support height；
The length that described inner sleeve is arranged in outer tube is more than or equal to 3/4ths of inner sleeve length；
The described spacing between two balance groups is more than or equal to 1/2nd of inner sleeve length.
Robot ambulation control method i.e. ultrasonic wave follows the control method of carriage walking:
The first step, patient follows dolly by the first input module input ultrasonic wave of bracelet and starts walking order, and single-chip microcomputer is received After this order, single-chip microcomputer sends wireless signal to terminal control unit, starts 4 when terminal control unit receives wireless signal simultaneously Timer starts timing；
Second step, single-chip microcomputer interval 2s after terminal control unit sends wireless signal, Single-chip Controlling ultrasonic wave transmitter module is opened Originate and penetrate ultrasonic signal；
3rd step, when left front, right front, left back, four ultrasonic wave receiver modules of right back receive ultrasonic signal Carving distance terminal control unit and starting the time interval between the moment of timing, correspondence is designated as respectively
The Δ t1 second, the Δ t2 second, the Δ t3 second, the Δ t4 second；
If Δ t1=Δ t2, Δ t3=Δ t4, then terminal control unit control ultrasonic wave follows dolly craspedodrome；
If Δ t1 > Δ is t2, Δ t3 > Δ t4, then terminal control unit control ultrasonic wave follows the near front wheel acceleration of dolly, and off-front wheel subtracts Speed；
If Δ t1 < Δ is t2, Δ t3 < Δ t4, then terminal control unit control ultrasonic wave follows the near front wheel deceleration of dolly, and off-front wheel adds Speed.
2. the medicinal intelligent robot based on Internet of Things according to claim 2, it is characterised in that described far-end control Device, remote wireless communications module use smart mobile phone to realize.
CN201610723841.4A 2016-06-14 2016-06-14 Medicinal intelligent robot based on Internet of Things Withdrawn CN106139309A (en)

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CN201610726582.0A Pending CN106178182A (en) 2016-06-14 2016-06-14 Medicinal intelligent robot system based on Internet of Things
CN201610415514.2A Pending CN106075632A (en) 2016-06-14 2016-06-14 Medicinal intelligent robot based on Internet of Things
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CN108644587A (en) * 2018-07-03 2018-10-12 芜湖博高光电科技股份有限公司 A kind of the automatic of adjustable distance follows holder
CN112220990A (en) * 2020-11-20 2021-01-15 山东得知科技发展有限公司 Intelligent infusion support

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CN106493740A (en) * 2016-11-15 2017-03-15 墨宝股份有限公司 A kind of household supervisory control of robot device based on Internet of Things
CN106680802B (en) * 2017-03-16 2019-05-24 武汉理工大学 The automatic follower method of wheelchair and system based on radio signal strength
CN109186778A (en) * 2018-09-30 2019-01-11 深圳和呈睿国际技术有限公司 Heat source reminding method, system, readable storage medium storing program for executing and company robot
CN109568746A (en) * 2018-11-22 2019-04-05 南京市江宁医院 A kind of lasting apparatus of oxygen supply being suitable for outdoor activities needs

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CN103816582A (en) * 2012-10-10 2014-05-28 葛锋 Integrated digital transfusion apparatus and transfusion monitoring and management method thereof
CN204275152U (en) * 2014-11-24 2015-04-22 湖北楚天药业有限责任公司 Single use many bottle plug puncture units formula transfusion device
CN204582135U (en) * 2015-04-25 2015-08-26 李淑芬 A kind of Multi needle rapid fluid replacement device
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108644587A (en) * 2018-07-03 2018-10-12 芜湖博高光电科技股份有限公司 A kind of the automatic of adjustable distance follows holder
CN112220990A (en) * 2020-11-20 2021-01-15 山东得知科技发展有限公司 Intelligent infusion support

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