CN106237427A - Medicinal intelligent robot ambulation control method based on Internet of Things - Google Patents

Medicinal intelligent robot ambulation control method based on Internet of Things Download PDF

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Publication number
CN106237427A
CN106237427A CN201610737980.2A CN201610737980A CN106237427A CN 106237427 A CN106237427 A CN 106237427A CN 201610737980 A CN201610737980 A CN 201610737980A CN 106237427 A CN106237427 A CN 106237427A
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module
ultrasound wave
temperature
controller
infusion
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朱小超
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Individual
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Priority to CN201610737980.2A priority Critical patent/CN106237427A/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
    • 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
    • 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
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16804—Flow controllers
    • 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
    • A61M5/44—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 having means for cooling or heating the devices or media
    • A61M5/445—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 having means for cooling or heating the devices or media the media being heated in the reservoir, e.g. warming bloodbags
    • 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
    • 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
    • A61M2205/3368—Temperature
    • 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
    • A61M2205/36—General characteristics of the apparatus related to heating or cooling
    • 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
    • A61M2209/00—Ancillary equipment
    • A61M2209/08—Supports for equipment

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  • Health & Medical Sciences (AREA)
  • Vascular Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Anesthesiology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Hematology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)

Abstract

The invention discloses a kind of medicinal intelligent robot based on Internet of Things, follow dolly, drip stand, infusion set, bracelet, terminal control system and far-end control system including ultrasound wave；Described drip stand is arranged on ultrasound wave and follows above dolly, and described infusion set is arranged at described drip stand upper end；Described bracelet includes bracelet body, ultrasonic emitting 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 caused in infusion bottle during movement, so that medicinal liquid can be input to the internal of patient along tube for transfusion evenly.

Description

Medicinal intelligent robot ambulation control method based on Internet of Things
The application is Application No. 2016104164419, filing date on 06 14th, 2016, invention entitled based on thing The divisional application of the patent application of the medicinal intelligent robot of networking.
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 that Medical Robot's kind is very for hospital, the medical treatment of clinic or the robot of medical assistance Many, different according to its purposes, there are clinical treatment robot, nursing robot, Medical teaching robot and for services for the disabled Robot etc..
Traditional infusion bottle is all to hang over above drip stand, and drip stand 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 often going the phenomenon of 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 medicinal liquid in infusion bottle cannot be input to patient's along tube for transfusion evenly Internal.
Summary 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 medicinal liquid in infusion bottle cannot be input to patient's along tube for transfusion evenly Internal.
In order to realize object above, the technical solution adopted in the present invention is: medicinal intelligent robot based on Internet of Things, Dolly, drip stand, infusion set, bracelet, terminal control system and far-end control system is followed including ultrasound wave；
Described drip stand is arranged on ultrasound wave and follows above dolly, and described infusion set is arranged at described transfusion Frame upper end；
Described bracelet includes bracelet body, ultrasonic emitting module, single-chip microcomputer, the first input module, radio communication mold Block；
Described ultrasonic emitting 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 emitting module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；
Described terminal control system includes 4 ultrasound wave receiver modules, terminal controller, 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 ultrasound wave receiver modules electrically connect with terminal controller respectively, and terminal controller is driven by motor Module controls 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 controller respectively；
4 described ultrasound wave receiver modules are respectively arranged at ultrasound wave and follow the left front of dolly, right front, left back Side, right back；
Described camera module is arranged at the top of drip stand；
Described terminal control system is arranged at ultrasound wave and follows above dolly；
Described battery module outfan is unit module for power supply, and the outfan of charger module connects accumulator The charging input end of module；
Described terminal wireless communication module electrically connects with terminal controller；
Described remote wireless communications module electrically connects with remote controller；
Communicate between described terminal controller 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 inlet；
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 closure；
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 outfan 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 closures on surface, the outfan of 8 bottle plug puncture units is converged by flexible pipe and forms an outfan；
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 temperature supervising device；
Described transfusion temperature supervising device includes crust of the device, controls box, temperature controller, temperature sensor, electronics Switch, temperature adjustment knob, temperature display, electrical heating wire, heating and thermal insulation sheath, elastic shrinkage band and power supply plug cord；
Described crust of the device is columnar structured；
The described box that controls is arranged on the outer wall of crust of the device, and at crust of the device inwall corresponding to controlling the installation of box Position is provided with thermal insulation layer；
Described temperature controller and electrical switch are arranged in control box；
Described temperature adjustment knob and temperature display may be contained within controlling box top；
Dismounting handle it is additionally provided with on the outer wall of described crust of the device；
Described heating and thermal insulation sheath is tubular construction, and is arranged in the cylinder of crust of the device；
Described electrical heating wire is embedded in insulation sheath；
Described elastic shrinkage band is around the outside being arranged on heating and thermal insulation sheath；
Described temperature sensor is arranged at the inner side of heating and thermal insulation sheath；
Described temperature controller respectively with temperature sensor, electrical switch, temperature adjustment knob and temperature display Electrical connection；
Described accumulator by power supply plug cord be the temperature controller of transfusion temperature supervising device, temperature sensor, Temperature adjustment knob and temperature display are powered；
Described temperature controller controls the break-make of supply line between electrical heating wire and accumulator by electrical switch；
Described transfusion temperature supervising device is set on infusion set, and heating and thermal insulation sheath is wrapped in circular cylindrical cavity Outer wall on；
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 medicinal liquid of the present invention still can be input to patient along tube for transfusion 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 temperature supervising device can need infusion set is added according to setting Heat, and there is preferable heat-insulating property, simultaneously dismounting handle and power supply plug cord be designed to when need not heating will dress Put and take off, easy to use.
Accompanying drawing explanation
Fig. 1 is the principle block diagram of the circuit control part of the present invention；
Fig. 2 is that ultrasound wave follows dolly schematic top plan view；
Fig. 3 is that ultrasound 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 tube for transfusion connection diagram；
Fig. 8 is bottle plug puncture unit cell schematics；
Fig. 9 is the circuit theory diagrams of transfusion temperature supervising device；
Figure 10 is the side view of transfusion temperature supervising device；
Figure 11 is the top view of transfusion temperature supervising device.
Wherein, 1 is ultrasonic emitting module；2 is ultrasound wave receiver module；3 wheels；4 is that ultrasound wave follows dolly；5 are Drip stand；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 crust of the device；16 is to control box；17 is temperature display；18 is temperature adjustment knob；19 It it is elastic shrinkage band；20 is heating and thermal insulation sheath；21 is dismounting handle；22 is power supply plug cord.
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 by this medicinal liquid in infusion bottle 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 outfan of bottle plug puncture unit, the other end connects intravenous needle；Set gradually on described infusion tube dropping funnel, flow regulator, Liquid medicine filter " belong to existing known technology, it is not described in detail.
Annular cavity except lower surface be provided with infusion hole, in addition to bottom connects with circular cylindrical cavity, remaining is the most all located Place seals, and the upper surface of circular cylindrical cavity is provided with air inlet, 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 tube for transfusion, and air inlet pipe is provided with air filtration and kills Bacterium device, this technology belongs to prior art.
Ultrasound wave is followed dolly and is used front-wheel drive.
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。
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 closure of the lower surface of annular cavity In the degree of depth certainly the most widely different (existing bottle plug puncture unit the most unobstructed the longest parts, it is impossible to fully-inserted enter ), owing to the size of 8 bottle plug puncture units is just the same, and it is provided with stop member, when the resistance of 8 bottle plug puncture units Just cannot be inserted into during the rubber closure of the lower surface that stopper part touches annular cavity.
Embodiment: medicinal intelligent robot based on Internet of Things, including ultrasound wave follow dolly, drip stand, infusion set, Bracelet, terminal control system and far-end control system；Described drip stand is arranged on ultrasound wave and follows above dolly, described Infusion set is arranged at described drip stand upper end；Described bracelet includes bracelet body, ultrasonic emitting module, monolithic Machine, the first input module, wireless communication module；
Described ultrasonic emitting 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 emitting module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；Described Terminal control system include 4 ultrasound wave receiver modules, terminal controller, 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 ultrasound wave receiver modules electrically connect with terminal controller respectively, and terminal controller is driven by motor Module controls left motor 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 controller respectively； 4 described ultrasound wave receiver modules are respectively arranged at ultrasound wave and follow the left front of dolly, right front, left back, right back；
Described camera module is arranged at the top of drip stand；Described terminal control system is arranged at ultrasound wave and follows little Above car；Described battery module outfan is unit module for power supply, and the outfan of charger module connects accumulator The charging input end of module；Described terminal wireless communication module electrically connects with terminal controller；Described remote wireless communications Module electrically connects with remote controller；Communicate between described terminal controller 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 inlet；
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 closure；
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 outfan 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 closures on surface, the outfan of 8 bottle plug puncture units is converged by flexible pipe and forms an outfan；
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 temperature supervising device；
Described transfusion temperature supervising device includes crust of the device, controls box, temperature controller, temperature sensor, electronics Switch, temperature adjustment knob, temperature display, electrical heating wire, heating and thermal insulation sheath, elastic shrinkage band and power supply plug cord；
Described crust of the device is columnar structured；
The described box that controls is arranged on the outer wall of crust of the device, and at crust of the device inwall corresponding to controlling the installation of box Position is provided with thermal insulation layer；
Described temperature controller and electrical switch are arranged in control box；
Described temperature adjustment knob and temperature display may be contained within controlling box top；
Dismounting handle it is additionally provided with on the outer wall of described crust of the device；
Described heating and thermal insulation sheath is tubular construction, and is arranged in the cylinder of crust of the device；
Described electrical heating wire is embedded in insulation sheath；
Described elastic shrinkage band is around the outside being arranged on heating and thermal insulation sheath；
Described temperature sensor is arranged at the inner side of heating and thermal insulation sheath；
Described temperature controller respectively with temperature sensor, electrical switch, temperature adjustment knob and temperature display Electrical connection；
Described accumulator by power supply plug cord be the temperature controller of transfusion temperature supervising device, temperature sensor, Temperature adjustment knob and temperature display are powered；
Described temperature controller controls the break-make of supply line between electrical heating wire and accumulator by electrical switch；
Described transfusion temperature supervising device is set on infusion set, and heating and thermal insulation sheath is wrapped in circular cylindrical cavity Outer wall on；
Wherein, described remote controller, remote wireless communications module use smart mobile phone to realize.
The present invention substantially operation principle describes: be worn at wrist by bracelet when client need is walked about, by the first input mould Block starts ultrasonic emitting module and starts to launch ultrasonic signal, starts timing, GPS by single-chip microcomputer and terminal controller communication Module, camera module are started working, and the signal of GPS module, camera module output is controlled with far-end by terminal controller Device communicates, and such remote controller can recognize patient's location and patient's field conditions in real time.
The signal that ultrasonic emitting module sends is received by four ultrasound wave receiver modules, and terminal controller surpasses according to four Distance between acoustic receiver module and ultrasonic emitting module, it is judged that the position of patient, thus control ultrasound wave and follow dolly Direction.
The present invention is capable of transfusion robot medicinal liquid during movement and remains able to defeated along tube for transfusion evenly Enter the internal principle explanation to patient: infusion set includes circular cylindrical cavity and annular cavity, due to circular cylindrical cavity Highly far above the height of annular cavity, and the bottom of circular cylindrical cavity connects with the bottom of annular cavity；So circle Liquid height within annular housing is the most constant (except medicinal liquid is totally lost the moment soon), when ultrasound wave follow dolly rock time, 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 closure；Described bottle plug puncture unit has 8 inputs and 1 outfan, 8 Input is inserted respectively in 8 rubber closures of the lower surface of 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 the most 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 outfan, 8 Input is inserted respectively in 8 rubber closures of the lower surface of described annular cavity, the therefore outfan of bottle plug puncture unit The pressure at place is almost unchanged.
The transfusion temperature supervising device of the present invention in use, can directly be set in outside the circular cylindrical cavity of infusion set On wall；Simultaneously because the effect of elastic shrinkage band, heating and thermal insulation sheath is tightly wrapped on the outer wall of circular cylindrical cavity；Carry out During temperature control, first by temperature adjustment knob design temperature, and shown real time temperature by temperature display；Temperature controller uses arteries and veins Rush square wave and control disconnection and the Guan Bi of electrical switch, thus control the circuit connected state between electrical heating wire and accumulator；Temperature Degree sensor Real-time Feedback temperature is to temperature controller, thus realizes heated at constant temperature.
The overall diameter of described crust of the device is less than the annular diameters of annular cavity outer wall；So that outside device Shell is enclosed between circular cylindrical cavity and annular cavity just.
The present inventor's robot ambulation control method i.e. ultrasound wave of infusing follows the control method of carriage walking:
The first step, patient follows dolly by the first input module input ultrasound wave of bracelet and starts walking order, monolithic After machine receives this order, single-chip microcomputer sends wireless signal to terminal controller, and terminal controller opens when receiving wireless signal simultaneously Dynamic 4 intervalometers start timing；
Second step, single-chip microcomputer is spaced 2s, Single-chip Controlling ultrasonic emitting mould after terminal controller sends wireless signal BOB(beginning of block) launches ultrasonic signal；
3rd step, left front, right front, left back, four ultrasound wave receiver modules of right back receive ultrasound wave letter Time interval between the moment that number moment distance terminal controller starts 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 controller control ultrasound wave follows dolly craspedodrome；
If Δ t1 > Δ is t2, Δ t3 > Δ t4, then terminal controller control ultrasound 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 controller control ultrasound wave follows the near front wheel deceleration of dolly, before the right side Wheel accelerates.
Illustrate: 4 intervalometers can use hardware timer, it would however also be possible to employ software simulation intervalometer；Left front, Right front, left back, the most corresponding intervalometer of four ultrasound wave receiver modules of right back, ultrasound wave receiver module receives Timing, the timing time of such four intervalometers the most respectively Δ t1 is stopped respectively to intervalometer corresponding during ultrasonic signal Second, the Δ t2 second, the Δ t3 second, the Δ t4 second.
Medicinal intelligent robot system based on Internet of Things, it is characterised in that include that multiple ultrasound wave follows cart system And far-end control system；
Described ultrasound wave is followed cart system and is included that ultrasound wave follows dolly, drip stand, infusion set, bracelet, terminal Control system；
Described drip stand is arranged on ultrasound wave and follows above dolly, and described infusion set is arranged at described transfusion Frame upper end；
Described bracelet includes bracelet body, ultrasonic emitting module, single-chip microcomputer, the first input module, radio communication mold Block；
Described ultrasonic emitting 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 emitting module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；
Described terminal control system includes 4 ultrasound wave receiver modules, terminal controller, 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 ultrasound wave receiver modules electrically connect with terminal controller respectively, and terminal controller is driven by motor Module controls 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 controller respectively；
4 described ultrasound wave receiver modules are respectively arranged at ultrasound wave and follow the left front of dolly, right front, left back Side, right back；
Described camera module is arranged at the top of drip stand；
Described terminal control system is arranged at ultrasound wave and follows above dolly；
Described battery module outfan is unit module for power supply, and the outfan of charger module connects accumulator The charging input end of module；
Described terminal wireless communication module electrically connects with terminal controller；
Described remote wireless communications module electrically connects with remote controller；
Communicate between described terminal controller 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 inlet；
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 closure；
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 outfan 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 closures on surface, the outfan of 8 bottle plug puncture units is converged by flexible pipe and forms an outfan；
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 temperature supervising device；
Described transfusion temperature supervising device includes crust of the device, controls box, temperature controller, temperature sensor, electronics Switch, temperature adjustment knob, temperature display, electrical heating wire, heating and thermal insulation sheath, elastic shrinkage band and power supply plug cord；
Described crust of the device is columnar structured；
The described box that controls is arranged on the outer wall of crust of the device, and at crust of the device inwall corresponding to controlling the installation of box Position is provided with thermal insulation layer；
Described temperature controller and electrical switch are arranged in control box；
Described temperature adjustment knob and temperature display may be contained within controlling box top；
Dismounting handle it is additionally provided with on the outer wall of described crust of the device；
Described heating and thermal insulation sheath is tubular construction, and is arranged in the cylinder of crust of the device；
Described electrical heating wire is embedded in insulation sheath；
Described elastic shrinkage band is around the outside being arranged on heating and thermal insulation sheath；
Described temperature sensor is arranged at the inner side of heating and thermal insulation sheath；
Described temperature controller respectively with temperature sensor, electrical switch, temperature adjustment knob and temperature display Electrical connection；
Described accumulator by power supply plug cord be the temperature controller of transfusion temperature supervising device, temperature sensor, Temperature adjustment knob and temperature display are powered；
Described temperature controller controls the break-make of supply line between electrical heating wire and accumulator by electrical switch；
Described transfusion temperature supervising device is set on infusion set, and heating and thermal insulation sheath is wrapped in circular cylindrical cavity Outer wall on；
Wherein, described remote controller, remote wireless communications module use smart mobile phone to realize.

Claims (2)

1. medicinal intelligent robot ambulation control method based on Internet of Things, it is characterised in that include that multiple ultrasound wave is followed little Car system and far-end control system；
Described ultrasound wave is followed cart system and is included that ultrasound wave follows dolly, drip stand, infusion set, bracelet, terminal control System；
Described drip stand is arranged on ultrasound wave and follows above dolly, and described infusion set is arranged on described drip stand End；
Described bracelet includes bracelet body, ultrasonic emitting module, single-chip microcomputer, the first input module, wireless communication module；
Described ultrasonic emitting 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 emitting module, the first input module, wireless communication module electrically connect with single-chip microcomputer respectively；
Described terminal control system includes 4 ultrasound wave receiver modules, terminal controller, 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 ultrasound wave receiver modules electrically connect with terminal controller respectively, and terminal controller 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 controller respectively；
4 described ultrasound wave receiver modules are respectively arranged at ultrasound 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 drip stand；
Described terminal control system is arranged at ultrasound wave and follows above dolly；
Described battery module outfan is unit module for power supply, and the outfan of charger module connects battery module Charging input end；
Described terminal wireless communication module electrically connects with terminal controller；
Described remote wireless communications module electrically connects with remote controller；
Communicate between described terminal controller 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, cylinder altogether 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 inlet；
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 outfan 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 closures in, the outfan of 8 bottle plug puncture units by flexible pipe converge formed an outfan；
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 multiple transfusion temperature supervising device；
Described transfusion temperature supervising device include crust of the device, control box, temperature controller, temperature sensor, electrical switch, Temperature adjustment knob, temperature display, electrical heating wire, heating and thermal insulation sheath, elastic shrinkage band and power supply plug cord；
Described crust of the device is columnar structured；
The described box that controls is arranged on the outer wall of crust of the device, and at crust of the device inwall corresponding to controlling the installation site of box Place is provided with thermal insulation layer；
Described temperature controller and electrical switch are arranged in control box；
Described temperature adjustment knob and temperature display may be contained within controlling box top；
Dismounting handle it is additionally provided with on the outer wall of described crust of the device；
Described heating and thermal insulation sheath is tubular construction, and is arranged in the cylinder of crust of the device；
Described electrical heating wire is embedded in insulation sheath；
Described elastic shrinkage band is around the outside being arranged on heating and thermal insulation sheath；
Described temperature sensor is arranged at the inner side of heating and thermal insulation sheath；
Described temperature controller is electrically connected with temperature sensor, electrical switch, temperature adjustment knob and temperature display respectively Connect；
Described accumulator is the temperature controller of transfusion temperature supervising device, temperature sensor, temperature by power supply plug cord Adjusting knob and temperature display are powered；
Described temperature controller controls the break-make of supply line between electrical heating wire and accumulator by electrical switch；
Described transfusion temperature supervising device is set on infusion set, and heating and thermal insulation sheath is wrapped in outside circular cylindrical cavity On wall；
Transfusion robot ambulation control method i.e. ultrasound wave follows the control method of carriage walking:
The first step, patient follows dolly by the first input module input ultrasound wave of bracelet and starts walking order, and single-chip microcomputer is received After this order, single-chip microcomputer sends wireless signal to terminal controller, starts 4 when terminal controller receives wireless signal simultaneously Intervalometer starts timing；
Second step, single-chip microcomputer is spaced 2s after terminal controller sends wireless signal, and Single-chip Controlling ultrasonic emitting module is opened Originate and penetrate ultrasonic signal；
3rd step, when left front, right front, left back, four ultrasound wave receiver modules of right back receive ultrasonic signal Carving the time interval between the moment that distance terminal controller starts 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 controller control ultrasound wave follows dolly craspedodrome；
If Δ t1 > Δ is t2, Δ t3 > Δ t4, then terminal controller control ultrasound 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 controller control ultrasound wave follows the near front wheel deceleration of dolly, and off-front wheel adds Speed.
2. according to claim 1, it is characterised in that described remote controller, remote wireless communications module use smart mobile phone Realize.
CN201610737980.2A 2016-06-14 2016-06-14 Medicinal intelligent robot ambulation control method based on Internet of Things Pending CN106237427A (en)

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CN201610737980.2A Pending CN106237427A (en) 2016-06-14 2016-06-14 Medicinal intelligent robot ambulation control method based on Internet of Things
CN201610416441.9A Pending CN105879148A (en) 2016-06-14 2016-06-14 IoT (Internet of Things)-based medical intelligent robot
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